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In order to realize lateral control of vehicles on an automated highway system (AHS), it is necessary to measure and/or predict vehicle deviation from the path to be followed (reference line). In this study, a simple multiple look-ahead distance scheme is proposed; in particular, simple feedback control that uses vehicle lateral deviations at three look-ahead points is proposed. Simulations are conducted...
This paper concerns the trajectory tracking control for AGV. Considering the differences between the simulation and the practical situation and to improve the performance of AGV, this paper proposes a novel tracking control method for AGV. After presenting the kinematical model of AGV, the method proposed is explicated. In minimizing the time spent, the method, which is applicable for any given tracking...
An approach to design of electromechanical system control based on the speed bi-gradient method is considered. The design procedure is applied for a control system consisting of Lagrangian output subsystem and affine input subsystem. The simulation results show well-enough tracking of output subsystem trajectories to reference signal under parametric uncertainties.
This paper introduces a blur kernel refinement method that produces a more accurate kernel estimation based on the best light streak that is selected from a motion blurred image. The best image patch that contains a clear light streak is firstly selected and the blur kernel is estimated from the patch by solving an optimization problem. Then, a kernel refinement method based on region growing is proposed...
Collision free navigation in dynamic environments, where motion of moving obstacles is unknown, still presents a significant challenge. Sampling based algorithms are well known for their simplicity and are widely used in many real time motion planning problems. While many sampling based algorithms for dynamic environments exist, assumptions taken by these algorithms such as known trajectories of moving...
This paper proposes model predictive control (MPC)-based cruise control method. A two-wheeled vehicle is a nonlinear system with nonholonomic constraints. Therefore, a large number of computations is required for optimization-based control. Most conventional studies have assumed that the leader vehicle runs along a predefined trajectory.
Program slicing has seen a plethora of applications and variations since its introduction over thirty years ago. The dominant method for computing slices involves significant complex source-code analysis to model the dependences in the code. A recently introduced alternative, Observation-Based Slicing (ORBS), sidesteps this complexity by observing the behavior of candidate slices. ORBS has several...
Bipedal walking may be a difficult task to execute by a bipedal robot. Different factors such as the arm movement or the constant changing of the Center of Mass may lead to an unstable gait. This may be one of the reasons the trajectory of the Center of Mass should be calculated before making the next step. This paper presents a walking algorithm based on Zero Moment Point for the NAO robot. NAO is...
In this paper, we propose and implement the data mining techniques for verification of hand-writing recorded in an image. The captured images are considered independent of writing material in this system. This system consists of six sub-modules. Namely, i) Sample image data acquisition and preprocessing; ii) Vectors generation; iii) Computation of clusters; iv) Cluster Head Computation v) Pattern...
We have found ourselves struggling with the design of digital technology to support scripted collaboration in science education. There are two emergent trends that challenge current understanding of collaborative scripts: One is the merging of real and virtual worlds to produce new environments and visualizations where physical and digital objects co-exist and interact in real time. The other is the...
This paper presents a solution for globally optimized trajectory planning with respect to the shortest distance for multicopters, particularly in two dimensional space to avoid restricted airspaces. The presented approach relies on a sparse visibility-graph, a classic roadmap of combinatorial planning in computer geometry which is able to retain the complete-feature of the algorithm. The set of restricted...
Neurological deficits after cerebrovascular accidents very frequently disrupt the kinematics of voluntary movements with the consequent impact in daily life activities. Robotic methodologies enable the quantitative characterization of specific control deficits needed to understand the basis of functional impairments and to design effective rehabilitation therapies. In a group of right handed chronic...
Center of pressure (CoP) progression during level walking in subjects with Adolescents Idiopathic Scoliosis (AIS) was measured. Participants were divided into three groups according to scoliosis severity. CoP progression among groups was compared quantitatively and qualitatively. The results showed that scoliosis severity affects CoP progression significantly in the hind-foot and forefoot areas. This...
To ensure autonomous underground mining vehicles moving smoothly underground, path generation and navigation for vehicles are essential. This paper comes up with a method to generate trajectory and navigate the vehicles with laser beams. To give vehicles planned path, a map of the working area is needed. With the assistance of an offline path planning software, operators can make or modify the path...
This paper introduces an improved method of biped walking. We analyse the walking pattern of Robots based on the theories of 3D-LIPM, with special focus on the velocity and acceleration of its center of mass(CoM) when Robot changes its supporting leg. It finds that both velocity and acceleration are discontinuous. To solve the problem, a fifth-degree polynomial curve is inserted and the solutions...
With the dramatic growth of using video cameras for applications of public surveillances in recent years, detection of public threats or security issues on surveillances becomes possible nowadays. How to identify anomalous behavior from surveillance videos has been identified as an effective manner for detecting critical events in the public avenue. We in this paper discuss a new application paradigm...
Zhang dynamics (ZD) and gradient dynamics (GD) are two types of powerful methods for online problems solving. In this paper, a classic nonlinear system of Van der Pol oscillator in the affine-control form is investigated. By combining the ZD and GD methods, a method called Zhang-gradient (ZG) method is proposed to design a ZG controller for the trajectory generation of the aforementioned nonlinear...
This paper presents a state-space (subspace) method for identification of parallel-cascade joint stiffness from short segments of data. It provides unbiased estimates of stiffness by accounting for the contributions of initial conditions of each segment. The method is important in situations where it is not possible to acquire a long stationary data due to switching or time-varying behavior. The power...
This paper presents a data transform method. It converts nautical test data of rotating modulation inertial navigation system (INS) at low latitude to navigation simulation data in polar area. The simulation data are used to verify the polar navigation algorithm of rotating modulation INS. The proposed method solves the problem which is difficult to reflect the process of rotating modulation or the...
In respect to descent trajectory optimization of stratospheric airships, thermal effects were considered. Basic thermal characteristics of stratospheric airships and energy equations about the film and the internal gas were introduced. Besides, the equations of motion for the airship were described in details. To minimum the flight time, a direct collocation method was adopted to convert the trajectory...
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