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This paper analyzes the application of admittance control to quadrocopters, focusing on physical human-vehicle interaction. Admittance control allows users to define the apparent inertia, damping, and stiffness of a robot, providing an intuitive way to physically interact with it. In this work, external forces acting on the quadrocopter are estimated from position and attitude information and then...
Given multiple widespread stationary data sources such as ground-based sensors, an unmanned aircraft can fly over the sensors and gather the data via a wireless link. To minimize delays and system resources, the unmanned aircraft should collect the data at each node via the shortest trajectory. The trajectory planning is hampered by the complex vehicle and communication dynamics. We present a method...
This paper deals with the geometric issue of the contact between a wheel and a rail joint. A new model in this field is proposed. Actually, the wheel and rail elasticity is introduced in order to overcome the singularity of the contact force that is met in the classical approaches. The coordinates of the bicontact zone are calculated from nonlinear set equations derived from the Hertz's theory. This...
The performance optimization of many man-made systems belong to simulation-based constrained optimization (SBCO), where the evaluation of both the performance and the constraint have no closed form expression and are based on simulation. The simulation-based estimate of both the performance and the feasibility are usually time-consuming and noisy. So it is of great practical interest to study how...
By combining a low-order model of forecast errors, the extended Kalman filter, and classical continuous optimization, we develop an integrated methodology for planning mobile sensor paths to sample continuous fields. Agent trajectories are developed that specifically take into account the fact that data collected will be used for near real-time assimilation with large predictive models. This aspect...
Based on the review of researches on the vibration and noise related to automobile brake, a four degrees of freedom nonlinear dynamics model of brake disk and pads is established, the stability of vibration system at the equilibrium points is analyzed. Finally the numerical method is taken to study the impacts of brake pressure, shape parameter and the brake disk's initial velocity on the vibration...
We investigate several coordinate systems and dynamical vector fields for target tracking to be used in driver assistance systems. We show how to express the discrete dynamics of maneuvering target vehicles in arbitrary coordinates starting from the target's and the own (ego) vehicle's assumed dynamical model in global coordinates. We clarify the notion of ldquoego compensationrdquo and show how non-inertial...
This paper presents an algorithm to iteratively drive a system quickly from one state to another. A simple model which captures the essential features of the system is used to compute the reference trajectory as the solution of an optimal control problem. Based on a lifted domain description of that same model an iterative learning controller is synthesized by solving a linear least-squares problem...
Automobile makers have been developed and commercialized safety-driving systems to reduce the number of traffic accidents, especially with cameras or radars. This paper presents a new vehicle detecting system in a blind spot, which identifies the diffracted sound emitted from the blind vehicles behind obstacle. We show that our system works efficiently in a noisy real environment.
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