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We introduce the concept of trajectory-specific sensory manifolds. They are the unique multidimensional and time-varying combinations of afferent signals that obligatorily emerge during a limb movement. We use the example of muscle spindles (i.e., the muscle's proprioceptors for length and velocity) that arise during movements of an arm (a planar 2-DOF 6-muscle model) during the production of straight,...
This paper addresses quadcopter minimum-snap trajectory generation for performing precise aggressive maneuvers. The solution that has been most widely used in recent works relies on using a set of truncated basis functions to generate a trajectory that satisfies waypoint specifications. This is typically performed through solving a quadratic programming problem minimizing translational snap of the...
Outdoor localization is of great importance for driving navigation, attracting many research efforts in past decades. Prevailing GPS achieves meter-level localization accuracy under general outdoor conditions. Yet, GPS service performs poorly in urban canyons where skyscrapers blocks GPS signals and drain mobile phone battery quickly within few hours. In this work, we exploit common city facilities,...
Inspired by the swarming behavior of male mosquitoes that aggregate to attract and subsequently pursue a female mosquito, we study how oscillatory motion in autonomous swarming vehicles helps the success of target capture. We consider the scenario in which multiple guardians with limited perceptual range are deployed to protect an area from an aerial intruder. The intruder becomes a target once it...
An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential convex optimization method. A comparison between the proposed method and dynamic programming is carried out to verify its optimality. In addition, vehicle motion...
A closed-loop optimal line-of-sight (LOS) guidance law is derived for second-order minimum and nonminimum phase control systems with two zeros. To reduce the effect of wind, the square of the velocity component normal to the LOS is added to performance index. The solution is normalized and obtained in one-dimension. The performance analysis is carried out using one-dimensional simulation and 3DOF...
In this paper, In order to improve smoothness of stacking robot end and joint trajectory, The interpolation algorithm based on combination of circular arc and cubic spline is proposed. In Cartesian space, Aiming at the problem of trajectory in the corner, the method of circular arc interpolation is used, and the interpolate points are achieved. Under the joint space, considering joint displacement,...
In order to simulate the whole process of ballistic missile flight, and make the observation of the ballistic target flight better, a multi-target flight scene simulation system is designed using MATLAB and STK in this paper. The related concepts of STK software and the method of multi-target trajectory simulation are introduced. At the same time, the micro-motion characteristics of the ballistic...
Exoskeletons are designed to assist and enhance the human beings ability to move with lesser efforts. The estimation of torque required at joints of an Exoskeleton is having a prior importance, to choose the right actuator. We have used motion analysis software to measure the parameters of motion during sit to stand phase (STS) and back to sit phase (BTS) and the torque is calculated using Lagrangian...
This paper deals with the problem of trajectory generation with a motion profile in joint space, the motion profile is a mathematical function that affect the performances of the robot such as the optimization of energy, optimization of time and especially the continuity of movement, in robotics we have three problems to solve, modeling, control and trajectory planning, in this work we developed a...
Bus transports in the cities of many developing countries are marred with severe problems, like information unavailability, bad road and bus conditions, lack of proper scheduling and timing, and so on. An information service can become extremely handy for the travelers in countries with emerging economy, where public traffic systems are generally riddled with uncertainty. We have developed CrowdMap...
It is conducive to understand the movement of the dummy, the analysis of dummy injury curves and restraint system matching by studying on the trajectory of dummies. By viewing the crash video is difficult to quantitative analysis of dummy motion, so how to get the dummy trajectory through the test data is the urgent thing to solve the problem for engineers. This paper studied the relationship between...
We consider the problem of trajectory planning with geometric constraints for a car-like vehicle. The vehicle is described by its dynamic model, considering such effects as lateral slipping and aerodynamic drag. We propose a modular solution, where three different problems are identified and solved by specific modules. The execution of the three modules can be orchestrated in different ways in order...
This work proposes a novel PI-like composite adaptive control architecture for the uncertain Euler-Lagrange (EL) systems. The composite adaptive law is strategically designed to be proportional to the parameter estimation error in addition to the tracking error, leading to parameter convergence. Unlike conventional adaptive control laws which require the regressor function to be persistently exciting...
We describe the modeling, estimation and control of a quadrotor in 3D environment using the 3DR Pixhawk PX4 as controller through Robot Operating System(ROS). The paper discusses a method to measure moment of inertia of quadrotor about its principal axes to achieve better results in an inexpensive way. We also present the trajectory generation and segment optimization of the trajectory commanded to...
With the availability of the recent human skeleton extraction algorithm introduced by Shotton et al. [1], an interest for skeleton-based action recognition methods has been renewed. Despite the importance of the low-latency aspect in applications, it can be noted that the majority of recent approaches has not been evaluated in terms of computational cost. In this paper, a novel fast and accurate human...
In the foot trajectory planning of quadruped robot with active variable stiffness of flexible joint, the existence of the flexible joints makes quadruped robot legs oscillate in swing phase. In this case, this paper proposes a joint stiffness coefficient adjustment strategy and a new foot trajectory generation method. Simulation experiments show that this method can effectively reduce the volatility...
Wearable devices such as smartwatches have become popular. The accelerometer embedded in smartwatch can record the movement of hand, so that it may lead to privacy compromise when performing sensitive inputting on keyboard with hand wearing smartwatch. The existing inference attack collects smartwatch's accelerometer readings which correspond to the movement of hand when inputting a numeric password,...
Planning of safe trajectories with interventions in both lateral and longitudinal dynamics of vehicles has huge potential for increasing the road traffic safety. Main challenges for the development of such algorithms are the consideration of vehicle nonholonomic constraints and the efficiency in terms of implementation, so that algorithms run in real time in a vehicle. The recently introduced Augmented...
A robot's local navigation is often done through forward simulation of robot velocities and measuring the possible trajectories against safety, distance to the final goal and the generated path of a global path planner. Then, the computed velocities vector for the winning trajectory is executed on the robot. This process is done continuously through the whole navigation process and requires an extensive...
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