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China has carried out five massive investigation and selection work on tidal energy and the latest survey results show that China's theoretical potentiality of the tidal energy within 10m depth contour offshore is estimated to be 192.86 GW. 171 potetial sites that have over 500 kW installed capacity add up to 22.83GW in total, with an annual energy output of 62.6 TWh. These potential sites of large...
This paper deals with motion planning problems for spherical rolling robots driven by a two degree of freedom pendulum. A full dynamic model for this system is first introduced. Then, assuming that the contact path is specified and the sphere moves in pure rolling mode, the full dynamic model is reduced by imposing virtual constraints. A timing control law, based on the Beta function, for tracing...
This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First a dynamic model for the rolling robot is established. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on...
Navigation through an intersection is a fundamental task that will enable an autonomous car to operate in a real traffic environment. Previous studies about intersection navigation generally assume vehicle to vehicle communication ability for all of the vehicles. Since this is unattainable in the near future, we focus on the scenario that vehicles on the road cannot communicate with each other. A...
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