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The possibility of increasing flight duration, particularly for small and micro fixed-wing Unmanned Aerial Systems (UAS), is typically hindered by the payload and size of the platform. In maritime missions, Atmospheric Energy Harvesting (AEH) near the Marine Atmospheric Boundary Layer (MABL), is a low-cost solution, with very promising results, that may allow drastic increases in flight duration by...
This paper proposes a new approach for analysing crowded video scenes. The proposed approach decomposes the scene motion dynamics into a graph of interconnected atomic elements of coherent motions named Motion Units (MUs). Different MUs cover scene's local regions with different size and shape, which can even overlap. MUs relationships are analysed to discover the scene entrances and exits. Dominant...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
In dynamic manipulation, robots can manipulate objects without grasping by utilizing inertia effect. However, the trajectory planning for dynamic manipulation is a difficult issue due to dynamic constraint. Trajectory deformation considering dynamic constraint after original trajectories are generated is necessary for the issue. To realize such deformation methods, we introduce on sequence-to-sequence...
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states, either relative position or velocity. In this paper, the proposed control method is extended to a general hybrid motion control form. We are using the paradigm of...
This paper addresses the problem of steering Underactuated Surface Vessels (USVs) along given paths. Due to dynamical uncertainty and ocean disturbances induced by unknown wind, waves and ocean currents, there exist some imperfections in dealing with this non-linear systems with traditional control algorithms. A novel trajectory following controller based on Active Disturbance Rejection Control (ADRC)...
This paper investigates the contour control problem of an X-Y table driven by two permanent magnet linear motors based on terminal sliding mode control method. By introducing a non-singular terminal sliding mode control(NTSMC), a novel contour controller is designed for biaxial motion control system. A variable exponential reaching law based on equivalent error was designed in order to eliminate the...
This work addresses a technique for robot motion planning and navigation in dynamic environments. First, a model to represent the future evolution of the moving obstacles in the environment is defined in a robocentric reference, which maps the obstacle motion on the control space, the velocity-time space, of the robot. Second, a planning technique working on that model for navigation and maneuvering...
We perform a comparative analysis of energy-based performance criteria for the dynamics-based optimization of robot trajectories. The performance criteria considered include minimum torque, electrical power loss, approximation to mechanical work, and energy loss due to friction. Our dynamics model takes into account rotor inertias and gearing, and also considers robots subject to a range of motion...
We present a method to model and classify trajectory data that come from surveillance videos. Observations of the locations of moving entities are used to estimate their expected velocity in the scene. Such estimation is performed by a Gaussian process regression that enables to approximate probabilistically the expected velocity of entities given some observed evidence in the scene. Subsequently,...
Online multi-object tracking generally addressed in tracking-by-detection paradigm. Multi-object tracking is more complicated when a frame consists of abrupt motion and similar appearance of objects. The abrupt motion and similar appearance cause ambiguity to the cost function, which gradually reduces assignment performance of the tracker. In this paper, we exploit the object appearance and dynamics...
In this paper, a new method for learning robotic debarring process motor skills from human skill model is presented. The skill of a human expert is obtained by using the human skill model. This model is implemented in robot control systems that make robots imitate human skills in deburring process tasks. Based on deburring process, family of basic pattern motions are listed by identifying the movement...
The aim of this study is to develop a new method for hand gesture recognition using Leap Motion via deterministic learning. Efficient and accurate extraction and representation of gesture features are achieved. The recognition approach consists of two stages: a training stage and a recognition stage. In the training stage, hand gesture features representing hand motion dynamics, including spatial...
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D reconstruction of a single moving point with known motion dynamics. Our main contribution is a new bundle adjustment procedure, which in addition to optimizing the camera...
We develop predictive models of pedestrian dynamics by encoding the coupled nature of multi-pedestrian interaction using game theory and deep learning-based visual analysis to estimate person-specific behavior parameters. We focus on predictive models since they are important for developing interactive autonomous systems (e.g., autonomous cars, home robots, smart homes) that can understand different...
Accurately and reliably tracking the 3D position and orientation of individuals in large flying swarms is valuable not only for scientific researches but also practical applications. However, large quantity, frequent occlusions, similar appearance, tiny body size and abrupt motion make it remain an open problem. The 3D flying swarm tracking method proposed in this paper tracks both position and orientation...
The location of node is a research focus in wireless sensor networks (WSNs), and it is the foundation of the service based on the node location. In this paper, we propose a new localization method to improve the moving-baseline localization(MBL) performance by using second-order system. This method takes advantage of precise properties of MBL. We improve the localization accuracy by accurate fitting...
Halo orbit nearby the Earth-Moon libration points is valuable to explore the lunar farside, which however must frequently be controlled to stay in the vicinity of libration points because of instability. With a consideration of the high fidelity force models, this paper focuses on maintenance of halo orbit nearby the Earth-Moon libration points. First, based on the dynamic characteristic of libration...
A new exponentially stable nonlinear control law is presented for trajectory tracking, hovering, and yaw motion tracking problems. Since linear motion of quadrotors is achieved via roll and pitch angles, a relationship between roll and pitch accelerations and motion trajectory is developed. An exponentially stable trajectory error dynamics is then formulated to derive the roll and pitch moments and...
Crustal movement is a key factor affecting water cycle and related land surface processes. In this paper, the principle of a class of crustal movement simulation system (CMSS) is introduced. The CMSS proposed in this study is composed of twelve sets of four-legged parallel manipulator with three degrees of freedom. The structure of the parallel manipulator with actuation redundancy is analyzed. In...
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