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We propose in this paper an autonomous motion planning framework for companion robots to accompany humans in a socially desirable manner, which takes safety and comfort requirements into account. The overall framework consists of two parts: first, a novel parallel interacting multiple model-unscented Kalman filter (PIMM-UKF) approach is developed to simultaneously estimate human motion states and...
A novel scheme to solve the trajectory planning problem for quadrotors with model and state constraints is proposed. First the RRT (Rapidly-exploring Random Tree) algorithm is employed to generate an initial route in context of a 3D environment. Then with the model of quadrotoer, the MPC (Model Predictive Control) method is used to construct an inner simulator which can generate the trajectories satisfying...
Spinning reserve (SR) allocation problem is of vital importance in maintaining power systems security and reliability. Considering forecast uncertainties, unit commitment problem and contingencies on the failure of transmission lines, a general probabilistic model for expected total cost is established and its corresponding solution for optimal SR allocation strategy is proposed. The objective function...
In this paper, we present a novel target-tracking control scheme based on model predictive control for a faithful dynamics model of a carangiform robotic fish, aiming to solve the robust control problem of such under-actuated systems with control input constraints. We first discretize the dynamics model of the robot by transforming the nonlinear state-space representation into the linear time-varying...
Motion planning of human-companion robots is a challenging problem and its solution has numerous applications. This paper proposes an autonomous motion planning framework for human-companion robots to accompany humans in a socially desirable manner, which takes into account the safety and comfort requirements. An Interacting Multiple Model-Unscented Kalman Filter (IMM-UKF) estimation and prediction...
As the core of the supply chain management, the inventory management deserves more of our attention, and in the complicated supply chain, especially under the circumstance of spending a long cycle, the inventory management becomes very difficult, which we need to balance the amount of circulating funds used by overmuch inventory and the loss of stock-out. The demand of marketing is viewed as the foundation...
A difference exists between the software testing environment and operating environment, which has a crucial impact on the software reliability assessment, testing costs and optimal release time. The software cost model is an effective tool used to help software developers control software costs and determine the release time. However, the current studies have not taken the difference of the environment...
Forecasting economic quantities can bring high benefits to business planning and operation. To provide accurate forecasts and to investigate the factors behind the trends, we present a new prediction system in this paper. Applying it to the Number of Mobile Subscribers (NMS) in the United States, China, and Germany, we observe interesting differences between saturated and emerging markets. Moreover,...
The goal of this study was to examine detection thresholds of three Chinese vowels in long-term speech-shaped (LTSS) noise. Results showed that vowel detection thresholds were significantly affected by Mandarin tones, but not by vowel category. An auditory simulation model based on excitation-pattern computation was conducted to predict detection thresholds in LTSS noise and indicated that the pattern...
An auditory model, excitation-pattern model, was used in the present study to interpret the effects of signal frequency on intensity discrimination of tonal signals and vowel formant frequency discrimination. Excitation patterns were computed for standard and intensity-changed tones and for standard and formant-shifted vowels. Simulation models based on these excitation patterns were used to predict...
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