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Under GPS-denied conditions, an inertial navigation diverges easily due to integration drift in the measurement of acceleration and angular velocity. Therefore, a terrain relative navigation (TRN) is applied to correct the drift error for precise lunar landing mission. Diverse sensors are used for the TRN in these days, such as a Light and Detection and Ranging (LIDAR), laser altimeter, and optical...
Cable-driven parallel robots have a wide range of applications due to its unique characteristics of large workspace and high payload and dynamics. One of its promising industrial applications is high speed material handling allowed by high dynamics of the cable robots. The high speed material handling has been mostly performed by traditional parallel robots, such as delta robots whose workspace and...
The final goal of our research is to develop a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. To improve the motor function of the patient's paralyzed leg, a guided standing-up training is effective. The therapist controls the patient's left/right load balance by pulling or pushing the patient's waist during standing-up...
Differential Dynamic Programming (DDP) can effectively solve an optimal control problem; however, it cannot deal with temporally changing environments such as an appearance of a moving obstacle. In this paper, we present the segmentation of locally optimal trajectories under an environment with a moving obstacle. The agent finds locally optimal trajectories by sampling Gaussian samples according to...
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression...
In this paper, we prove that the DOB-based feedback controller can guarantee arbitrarily large but bounded gain margin and phase margin. This fact reminds that the DOB-based controller plays the role of robust controller even in the classical sense. We present a design procedure that ensures desired gain/phase margin even for the plants that have parametric uncertainty.
This paper presents a data mining technique for qualitative analysis of Hodgkin-Huxley model of cell excitability. Such problem cannot be solved analytically. Therefore we apply Monte-Carlo techniques for the generation of model parameters, and use data mining algorithm for classification of learning tuples obtained. As a result we attain a decision tree capable of classifying the excitability depending...
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...
This paper describes a gait pattern generation and the mechanisms of a biped humanoid robot that has 42 DOFs in total. The movable angles of the joints of the biped robot are about the same as those of a human. Its height is 1.66 [m] and its weight is 62.5 [kg]. If disturbance forces are applied to the waist when the robot is walking, the robot should change its step length to control its balance...
Cable-driven parallel robot (CDPR) is one of robots hard to dealing with because of their nonlinear characteristics based on the elasticity of cables. This paper suggests a design of sliding-mode controller as a solution to control the over-constrained planar CDPR with consideration of cable stiffness and motor dynamics. The system model has 4 elastic cables with linear stiffness force and motor dynamics...
The Doppler-Bearing Target Motion Analysis (DBTMA) problem arises in various military applications related to target tracking. The DBTMA problem is to estimate the position and velocity of a target using both frequency and bearing measurements. As the method to increase the estimation accuracy in the DBTMA problem, this paper introduces observer motion controls under the following motion constraints:...
An engagement dynamic model is set up for the miniature missile guidance solution under the constraints of field-of-view angle and terminal impact angle. The impact-angle constraint guidance law design is converted into an optimal control problem subjected to terminal constraints. Then a look angle guidance solution without line-of-sight rate is detailed to satisfy the requirement on field-of-view...
This paper presents a neuro-sliding mode control method for a robot manipulator. The sliding mode controller requires to identify robot models to lessen the work of the controller although it can be used as a non model-based nonlinear controller. Selection of the gain for the nonlinear function becomes important and affects the performance. To make it easy of selecting the gain, a neural network is...
To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending...
This paper considers the control problem for a class of sensor delay systems with nonlinear unknown dynamics and external disturbances. The extended state predictor observer (ESPO) based active disturbance rejection control (ADRC) is first proposed to timely estimate and compensate for the "total disturbance" under sensor delay. The timedomain stability of the closed-loop system is rigorously...
This paper investigates a secondary frequency control scheme of micro-grid based on synchronization for a network of multi-agent. The networked multi-agent form is presented by a directed graph theory. Delay could occur when interacting with agents. With the consideration of its problem, consensus control with time-delay is considered. To confirm an effect of time-delay on the secondary frequency...
The main purpose of this paper is to describe the method of group robot control in non-deterministic environments. Here the group structure is proposed for creation with the use of space lattice concept minimizing the computational cost for robot to determine its spatial position in the ranks of the structure. The stages of the solution of two interrelated tasks of robot group motion organization...
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