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This paper proposes a trajectory-based data forwarding (TBD) scheme, tailored for the data forwarding in light- traffic vehicular ad-hoc networks. State-of-the-art schemes have demonstrated the effectiveness of their data forwarding strategies by exploiting known vehicular traffic statistics (e.g., densities and speeds) in these vehicular networks. These results are encouraging, however, further improvements...
We consider the problem of robust output regulation for nonlinear systems in the following sense: given a system with input disturbances, we are interested in steering one output to zero while tolerating an steady-state error on the second output. In other words, we are interested in input-output (asymptotic) stability for one output and practical (asymptotic) stability for the second. Upon the assumption...
Rather than use external sensors, images of standard calibration samples can be used to model and correct positioning errors, caused by dynamics effects, in scanning probe microscopes (SPMs). The main contribution of the current article is the development of conditions, on the calibration sample and the scan trajectory, that allow for the image-based identification of SPM-nanopositioner dynamics.
This paper describes a mid-course guidance strategy based on the Earliest Intercept Geometry (EIG) Guidance. An analytical solution and performance validation will be addressed for generalized mid-course guidance problem in area air-defence to improve reachability and performance. The EIG is generated for a wide range of possible manoeuvres of the challenging missile based on the guidance algorithm...
Future driver assistance systems will have to cope with complex traffic situations, especially in the road crossing scenario. To detect potentially hazardous situations as early as possible, it is therefore desirable to know the position and motion of the ego-vehicle and vehicles around it for several seconds in advance. For this purpose, we propose in this study a long-term prediction approach based...
This paper deals with the robust metric temporal logic (MTL) testing and verification of linear systems with parametric uncertainties. This is a very general class of systems that includes not only linear time invariant (LTI) systems with unknown constant parameters, but also linear time varying (LTV) systems and certain classes of nonlinear systems through abstraction. The two main tools for the...
Correspondence analysis (CA) has recently been proposed as a superior alternative to PCA for the tasks of monitoring and early event detection. Some of the key merits of CA include improved discrimination due to the inherent nonlinear scaling as well as the ability to capture and elegantly represent the joint variable-sample associations, which make it amenable to accommodate serial correlations in...
This paper proposes a formation control strategy for uncertain Euler-Lagrange mobile agents based on artificial potential functions and robust adaptive control. A desired kinematic model is derived from a given potential function. The system parametric uncertainties and external disturbances are compensated by a robust adaptive control algorithm named binary adaptive control which combines the good...
By using kinematic optical measuring systems in spatiotemporal positioning necessarily all involved sensors of the measuring systems have to be synchronized. Otherwise existing delay times in a measuring system will lead to deviations in space-time position. These delay times will be determinated with a developed time-referenced 4D calibration system, which is qualified for tracking optical measuring...
In designing a large inclined angle hydraulic support, the structure characteristics of four-bar linkage is presented, and ADAMS software is applied to four-bar linkage modeling and simulation. In order to attain optimal results, parameterized modeling and optimization is achieved, and the design results meets the practical requirements very well. By means of this virtual design method, the errors...
The ability to generate discrete movement with distinct and stable time courses is important for interaction scenarios both between different robots and with human partners, for catching and interception tasks, and for timed action sequences. In dynamic environments, where trajectories are evolving online, this is not a trivial task. The dynamical systems approach to robotics provides a framework...
This paper deals with the stealth target-interception problem based on the active prediction planning execution (APPE) strategy. In order to cope with the evasive feature of the invader, we make the robot move stealthily by hiding behind obstacles. We adopt a roadmap-based decoupled approach, which plans the path and the trajectory separately by developing new concept; the detection map. Simulation...
On-line signature verification based on global features in an integration with Fisher Linear Discriminant Analysis (FLD) have been proposed in this paper. In the verification phase, distances of features of test signature are calculated against their corresponding template. Finally, these distances become inputs to FLD. User-dependent threshold has been used to evaluate the performance of our proposed...
A simple, compact, yet powerful robotic winch, called ldquoWinch-Bot,rdquo is presented in this paper. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks,...
In this paper, we propose a framework for unsupervised analysis of human behavior based on manifold learning. First, a pairwise human posture distance matrix is calculated from a training action sequence. Then, the isometric feature mapping (Isomap) algorithm is applied to construct a low-dimensional structure from the distance matrix. The data points in the Isomap space are consequently represented...
Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by sampling-based planners to navigate “narrow passages” can be needlessly complex; furthermore, additional post-processing is required to remove the jerky or extraneous motions from the paths that such planners generate. In this paper,...
We present a search-based planning approach for controlling a quadrupedal robot over rough terrain. Given a start and goal position, we consider the problem of generating a complete joint trajectory that will result in the legged robot successfully moving from the start to the goal. We decompose the problem into two main phases: an initial global planning phase, which results in a footstep trajectory;...
This paper presents a new on-line planner for dynamic environments that is based on the concept of velocity obstacles (VO). It addresses the issue of motion safety, i.e. avoiding states of inevitable collision, by selecting a proper time horizon for the velocity obstacle. The proper choice of the time horizon ensures that the boundary of the velocity obstacle coincides with the boundary of the set...
A Cable-Driven Locomotion Interface employs two independent cable-driven haptic foot platforms constrained in six degrees of freedom (6-DOF). Its control system and its geometry are designed for performing a wide range of trajectories that could generate cable interferences. This paper presents and analyzes computational methods for determining which cable can be released from an active actuation...
This paper considers the problem of sensor self-calibration in mobile robotics by only using a single point feature (e.g. a source of light). In particular, the problem of determining the extrinsic parameters of a bearing sensor mounted on a mobile platform (e.g. a camera) and simultaneously estimating the parameters describing the systematic error in the odometry system is discussed. Special attention...
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