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In this paper, we present a path planning algorithm of a 7DOF manipulator with RRT(Rapidly-exploring Random Trees). The method presents a occlusion-free and collision-free path planning algorithm. First, we present a basics of RRT algorithm which is a basic searching method for a path planning of this paper. Second, the implementation of a occlusion-free path constraints is presented. Third, the collision-avoiding...
In this paper, a technique for detecting the locations of one or more persons, as well as their breath patterns, using an ultra-wideband radar sensor network, is proposed. Technical problems that occur in the estimation process, such as false detection due to indirect reflection and ambiguity problem, are introduced. Maximum-likelihood estimation is suggested as the solution to these problems and...
In this study, we examine the effect of spreading sequence matched filtering on the power parameters of ultrawideband (UWB) multiuser interference (MUI) under different multiple access (MA) scenarios. In many applications, a UWB receiver averages the received signal over multiple pulse transmissions to increase the signal-to-noise ratio. This can be done by employing a spreading sequence matched filter...
Ultra-wideband propagation measurement results for body area network scenarios are presented. We assumed several different scenarios for around-body and on-body propagations, and for each scenario, we conducted both time domain and frequency domain measurements in an anechoic chamber. For the around-body case, we investigated the effects of human body parts blocking line-of-sight, which could be accounted...
In this paper, the effect of multiple access (MA) schemes of impulse radio on the power parameters of multiuser interference (MUI) is examined. More specifically, we investigate the ways in which the different MA schemes affect the average power, peak power, and the peak-to-average ratio (PAR) of the matched filtered version of the MUI signal. The results of the analysis performed for a simplified...
In this paper, we present a balance control strategy for a walking biped robot in an unexpected external applied force. We assume that a sudden lateral and longitudinal force could be applied at the center of the pelvis of the biped robot during walking with a walking trajectory which is predesigned in advance by considering the energy-efficiency. With this situation, an balance control strategy is...
In this paper, a vision based direction determination of a mobile robot in indoor environment is defined to detect the robot direction normal to the surrounding wall in indoor environment. For this purpose, we propose the direction determination algorithm using the Hough transformation and horizontal line search with vision information. Our proposal shows that this scheme can be used in any indoor...
In this paper, We made an algorithm for a mobile robot to determine direction normal to the wall with two cameras in an indoor environment without any direction-notification marks. Furthermore, with this direction determination ability, made a method with which a mobile robot can navigate and search through an indoor corridor path without any predefined map information is made. the direction determination...
This paper addresses a planning method to generate well distributed multiple paths in a control space. For this purpose, we employ and combine rapidly-exploring random tree (RRT), evolutionary algorithm (EA) to compose a diverse multi-path planning (DMPP) algorithm. A population is composed of individuals which represent a path-set. Each individual includes a predefined number of feasible path generated...
This paper presents the sensor deployment method to design a RFID sensor network for the mobile robot localization using evolutionary approach. For this purpose, we employ the differential evolution (DE), which is well-known for promising performance. We propose two variation methods, the direct optimization strategy for the maximum usage of initial information intuitively and the full coverage optimization...
Chromosome representation to search the optimal intersection points between adjacent fuzzy membership functions is originally presented for optimal design of fuzzy classifiers. Since the proposed representation contains the intersection points directly related to the boundary of classification, it is intuitively expected that redundancy of the search space is reduced and the performance is better...
This paper presents a decoupled sliding mode controller with fuzzy logic adaptive tuner for a class of under actuated systems with mismatched uncertainties. By using the concept of hierarchical decoupling method, the coupled nonlinear system can be decoupled into several subsystems. Each subsystem has a separate control target expressed in terms of a sliding surface. From sliding surface of subsystems,...
We present a noble encoding method for designing an optimal fuzzy classifier with evolutionary optimization. Evolutionary designs of fuzzy classifiers is divided into design of fuzzy rules and design of fuzzy membership functions. Among these design problems, for an evolutionary design of membership functions, the shapes of each membership function are mainly considered in the previous related works...
The characteristics of ultra-wideband (UWB) channels in vehicular environments are explored. A set of propagation measurements were conducted on roadways and in underground parking garages and the resulting propagation data consists of approximately 1,200 multipath profiles. The channel impulse responses are estimated from the measured data using generalized maximum likelihood. The statistics of channel...
We present a non-parametric compact genetic algorithm (cGA) employing a new update strategy of the probability vector (PV) based on Bayesian networks. Since the cGAs use the PV of the current population to reproduce offsprings of the next generation instead of the genetic operators such as crossover and mutation, the cGA needs no parameter tuning. Besides, the cGA has some advantages that the cGA...
This paper presents how to manager walking trajectories obtained by using multiobjective optimization algorithm. In the previous work, we have already obtained the multiple walking trajectories by using the multiobjective evolutionary algorithm. However, there was no guideline to manage and use these walking trajectories according to the given situations. In this paper, in order to make an extension...
The presence of multiuser interference (MUI) can seriously impact the accuracy of ultra-wideband (UWB) time delay estimation. This is especially true for the probability of an early false alarm error, which is strongly affected by the peak-to-average ratio (PAR) of the MUI signal. The averaging process used to achieve processing gain can affect the PAR of MUI differently in different multiple access...
In this paper, we experimented how the performance of compact genetic algorithms (cGAs) become different according to two competitive encoding schemes: binary encoding and gray encoding scheme. We apply two encoding schemes to original cGA in various numerical problems including continuous and multimodal problems as well as unimodal problems. Experimental results unexpectedly show that the binary...
This paper proposes an automatic method to design a fuzzy logic multiple controllers for the automated car parking problem. To tackle the problem, design of a fuzzy logic controller is solved using multi-objective evolutionary optimization framework, which requires three factors: an encoding scheme, design of multi-objective evaluation criteria, and design of proper evolutionary operations. Along...
The presence of a line-of-sight (LoS) blockage is one of the major causes of error for ultra-wideband (UWB) localization. LoS blockage degrades the accuracy of the time of arrival (ToA) estimation of the direct path signal by making the multipath structure complex. Furthermore, propagation through the obstructing material introduces excess propagation delay, which causes ranging errors. In this paper,...
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