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In this paper, online path optimization method for Unmanned Aerial Vehicles (UAV) by adjusting parameters of flight path is proposed. Especially, the energy efficient path for UAVs under the presence of steady wind is discussed. Although the relation between the energy consumption and the flight path parameters is hard to model explicitly in general, which induces the difficulty to adopt gradient...
When human exercises multi-degrees of freedom (DOF) motion, they just pay attention to only part of the body motion and can control the whole body motion. By consciously adjusting low-DOF movements, it is possible to induce multi-DOF motion, which is referred as a “knack” in the sport. Acquiring knacks can drastically improve multi-DOF motor skills by low-DOF information presentation, and it is also...
In this paper, we deal with duplex and quasi-duplex operations in automated food packing systems known as so-called automatic combination weighers. A typical food packing system possesses n weighing hoppers. Some amount of foods is thrown into each hopper, and it is called an item. In a duplex operation, two disjoint subsets I′ and I″ are simultaneously chosen from the set I of current n items to...
An inspection robot needs the ability to move freely on transmission lines. However, these lines may contain various obstacles. Therefore, a new structure that would allow inspection robots to easily pass these obstacles is necessary. In this study, inspection robot is designed that moves on a four-conductor transmission line. Using the structure of the robots used for exploration on Mars as reference,...
In this paper, multi-vehicle formation control with collision avoidance based on model predictive control (MPC) is proposed. Since there exist the uncertainty arise from the localization in the real environments, it is difficult to guarantee collision avoidance among vehicles by the standard MPC based methods. Furthermore, since MPC based methods can only consider collision avoidance at discrete time...
Walking through narrow space for multi-legged robot is optimized using reinforcement learning in this paper. The walking is generated by the virtual repulsive force from the estimated obstacle position and the virtual impedance field. The resulted action depends on the parameter of the virtual impedance coefficients. The reinforcement learning is employed to find an optimal motion. The temporal walking...
The fuel efficiency and emission reductions are the two consistent drivers for diesel engine development. Although many control devices mounted in diesel engine and in addition to the development of individual emission control methods, optimization techniques are required to utilize these methods in finding optimal engine operating conditions efficiently. This research was focused on the minimization...
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