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This paper explores the predictive power of perhaps the most well-supported human performance model in the context of a complex ecological task. The model is Fitts Law, which describes the classic speed-accuracy tradeoff of goal-directed motor behavior. The task is modern pistol shooting competition, which demands explicit cognitive strategy and full-body biomechanical coordination. Data obtained...
The vehicular inverted pendulum (VIP) system is one of the most important issues in dynamics and control theory, and has been widely used as a benchmark for testing control algorithms. However, the tracking control and swing-up control of the VIP system have often been investigated separately. In this paper, by combining the Zhang dynamics (ZD) method and the traditional gradient dynamics (GD) method,...
This paper presents a solution with reduced computational complexity for path planning of a team of robots that should satisfy a mission expressed as a Boolean formula. It is assumed that the robots move in a partitioned environment containing some regions of interest. The robots should reach some final regions such that a Boolean formula expressed using the regions of interest is satisfied. Moreover,...
The purpose of this research is to develop a control strategy for a differential drive autonomous mobile robot. The robotic task is to move in a straight trajectory in the workspace despite powered by two non-identical electric motors. A developed controller was designed to control the rotational speed of the motors independently in order to achieve a straight trajectory of the motion despite the...
This paper focuses on solving the ship course tracking problem by using Zhang dynamics (ZD) method and a new Zhang finite difference (ZFD) formula. Via ZD method, which is a powerful class of dynamics to solve online time-varying problems, the so called ZD controller of ship course tracking is designed. Then, a 1-node-ahead differentiation formula within ZFD framework termed as 4-node g-square finite...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
This paper proposes a trajectory planning method with neural networks that learn model predictive control for dynamic manipulation. The novelty of this method is that target positions and model parameters are added to the input of the neural network. The proposed method solves the dynamic trajectory planning issues with low calculation cost. This paper shows the effectiveness of the proposed method...
This paper proposes a novel control scheme for hybrid energy storage system(HESS) in electric vehicles. The HESS above is composed of two parts: fuel cell (FC) and super capacitor(SC). FC, as the main power supply, provides a large proportion of required power. Whereas, SC, as the auxiliary energy storage source, plays a great role when starting and braking an electric vehicle(EV). Both energy sources...
Recent advances in robotics have led to the development of exoskeleton robots that are becoming extensively used in the medical domain, to assist and help people suffering from physical impairments recover mobility. Most of existing controllers designed for position control of exoskeleton robots are linear which may not be suitable for exoskeleton robots having complex structures under heavy uncertainties...
Anti-torpedo torpedoes (ATT), as a kind of new defense underwater weapon, are widely applied on the active defense systems. In order to effectively combat the target, ATT needs better manipulation and faster navigation strategy. In the present paper, the guided trajectory of ATT is studied in detail by motion simulation. In order to study the guided trajectory characteristics of ATT, the kinematics...
To research the effect on the canard rudder aerodynamic layout for the projectile correction, the steering gear model under different aerodynamic layout was established. Various kinds of aerodynamic parameters were obtained through simulation. Through the establishment of the ballistic model of suitable for less spin correction projectiles, the capability of correcting has been received under the...
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 proposes a motion trajectory control method of underground intelligent scraper based on particle swarm optimization. The simulation model of whole system was established in simulink according to autonomous navigation bivariate PID control algorithm and scraper motion control model. The process of particle swarm optimization was designed based on MATLAB platform. The parameter optimization...
Differential equation is a useful way to describe nonlinear systems. In general, integration is used to solve them, which is a forward method using current information to get the future information. In some special occasions where the system has a fix final condition and a free initial condition, a new kind of integration method with a backward direction is needed. This paper presents a new kind of...
In order to describe the inherent hysteresis nonlinearity of the piezo-actuated stages, a Krasnosel'skii-Pokrovskii (KP) model is presented in the paper. The parameters of the KP model are identified by a modified bat optimization algorithm based on Levy fights trajectory. The modified bat optimization algorithm uses the Levy fights trajectory to improve the global searching ability and break away...
In this paper, the displacement control and angle control of helicopter sling load system are investigated respectively by using zeroing-dynamics (ZD) method and zeroing-gradient (ZG) method, through which we yield corresponding ZD controller and ZG controller. More importantly, the recently new formula termed Taylor-Zhang discretization (TZD) formula is derived and applied to the discrete control...
This paper first establishes the kinematic model and dynamic model of Selective Compliance Assembly Robot Arm(SCARA) robot based on Denavit-Hartenberg method and Lagrange equation. Then the model is simplified to reduce the computation, the kinetic equation is transformed into a linear form to get the observation matrix and the parameters to be identified. An incentive trajectory is designed to finish...
Mobile robotics became an important knowledge area. Led by the technological advances, the life spectancy increases, rising the senior citizens ratio. At the same hand, the cities growth turn on a more intense and dangerous traffic. Autonomous mobile robots can help in these situations, but still have a jeopardized application. In this sense, this work presents a contribution to development of nonholonomic...
Electric vehicles (EVs) are one of the key technolgies for a sustainable mobility, reducing fuel consumption and traffic related emissions. Until today the energy density of the traction battery is low compared to fossil fuels, resulting in a limited range of EVs. Therefore, an optimization of the overall energy consumption of an electric vehicle is crucial. This paper proposes an optimized velocity...
In this paper we consider 2D single-input/singleoutput behaviors described by linear partial difference equations with (2,2)-periodically varying coefficients, and present a method to obtain 2D Roesser state-space representations (or realizations) for such behaviors. Since these cannot be obtained by separately realizing each shiftinvariant system resulting from “freezing” the varying coefficients,...
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