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Autonomous electric vehicle path following area has known wide improvement during the last previous years especially with the appearance of new sophisticated control algorithms. The main focus of these control algorithms is to guarantee high performance in term of stability and path tracking with small distance error. In this research, an overview about the most common technics used in autonomous...
Accurate prediction of the future locations of the host vehicle as well as that of the surrounding objects is one of the key challenges in improving road traffic safety. The traditional approach for this task has been using physics-based motion models such as kinematic and dynamic models, the result of which is not reliable for long-term prediction. In this paper, we present simulation results demonstrating...
Recently, Simultaneous Localization And Mapping (SLAM) problem becomes an active research field in mobile robotics. In addition, Rao-Blackwellized Particle Filter (RBPF) has been introduced as an effective means to solve this problem. This paper describes the implementation of a RBPF-SLAM to estimate the mobile robot pose while building the map of its surrounding indoor environment. In this approach,...
This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment...
Currently deployed wireless and cellular positioning techniques are optimized for outdoor operation and cannot provide highly accurate location information in indoor environments. Meanwhile, new applications and services for mobile devices, including the recent Enhanced 911 (E911), require accurate indoor location information up to the room/suite level. In this work, a new system for improving indoor...
The paper analyzes the problem of drinking water pollution, as well as a brief overview of known methods and means for its purification. The general structure is proposed and the corresponding mathematical analysis of the original technology of controlled magneto hydrodynamic separation of liquids in strong transverse magnetic fields is performed, which is quite suitable for solving the problem of...
In this paper some of the problems related to electrical drives in modern elevators are presented. These are the modeling of jerk and the definition of the motion trajectory, power savings, efficiency optimization and possibilities for energy storage in generator mode, and application of suitable converters and control techniques for the implementation in elevator drives. Suggested solutions are tested...
In this paper, we present a general quadruped locomotion planning method for traversing unstructured terrain. Novel features of our method include the procedure that a body trajectory optimizer based on the Zero Moment Point (ZMP) stability criterion and Linear Inverted Pendulum Model (LIPM). The ZMP trajectory optimizer can be applied to any legged robot which can be approximated by the LIPM model...
Multi-target tracking is a challenging problem in video surveillance. The paper presents a multi-target tracking algorithm based on optical flow histogram and Kalman filtering. The method we proposed can effectively improve the tracking accuracy. First, targets are detected by Gaussion mixture model in real time. Second, a trajectory is initialized when a new target appears. Meanwhile, Kalman filtering...
The landing accuracy of a Mars entry vehicle will be degraded duo to uncertain factors in the atmospheric entry process and a novel composite guidance law, having a composite hierarchical framework, is presented to improve the landing accuracy in this paper. It could eliminate the constraint that maximum boundary value of uncertain factors must be known in advance in the multiple sliding surface guidance...
Flatness approach is a straightforward method to solve the control problems of flat systems which are a class of systems whose states and control inputs can be expressed by the so-called flat outputs. Some results about flatness of systems and the advantages of studying flatness approach are presented in this paper. By using flatness approach, the controllability and other control problems for some...
This paper proposes plume-tracing strategy for an autonomous underwater vehicle (AUV) in the deep-sea environment. In order to dynamically adapt the complex environment and optimize the policy during interaction, reinforcement learning (RL) with continuous state and action domain is applied in this problem. Different from traditional strategies which have predesigned and stationary actions, this learning-based...
In this paper, a generalized biased proportional navigation (PN) guidance law to intercept higher-speed nonmaneuvering targets at a desired impact angle is presented. Inspired by controlling the turn rate of the relative velocity vector, the biased relative PN is introduced to design the relative heading angular rate, which is required to be proportional to the LOS rate as in the case of PN but with...
Sperm activity is one of the important factors affecting male reproductive capacity. Computer assisted semen analysis (CASA) has a high clinical value for judging sperm motility. In this paper, sperm-related motion parameters were obtained by image preprocessing, dynamic and static target segmentation, minimum neighborhood matching sperm motions. In addition, a complete sperm trajectory detection...
A Getz-Masden dynamic system 2 (GMDS2) is investigated in this paper. For the purpose of solving time-varying complex matrix inverse, we propose a TZ-type (i.e., Taylor-Zhang type) discrete Getz-Masden dynamic system 2; i.e., the proposed TZ-type discrete Getz-Masden dynamic system 2 is discretized by Taylor-Zhang discretization formula. The results of numerical experiments not only show the efficacy...
A time synchronization algorithm for hidden mobile node (HMB), which can only receive signals, joining an existing synchronized underwater Acoustic (UWA) sensor network (UASN) is proposed. In order to obtain the location of the HMB or communicate with it, the local time of the HMB should synchronize with the UASN. However, the propagation delay in UWA channels could not be ignored compared to electromagnetic...
Polishing is a precision machining method to improve the material surface quality. This paper presents a new polishing method based on Position-velocity-time (PVT) interpolation in computer-controlled optical surface (CCOS). In order to verify the machining performance of the proposed technology, a series of analytical and experimental investigations were conducted. From the experimental results,...
For underactuated overhead cranes, this paper designs a novel sliding mode control method. Specifically, similar to the idea of backstepping method, the overall dynamic system is divided into two cascaded subsystems; thus the control algorithm consists of two steps. At first, the payload swing angle is kept in a bounded area by tracking a target trajectory. Second, the positioning error is indirectly...
We show that walls, and other obstructions with edges, can be exploited as naturally-occurring “cameras” that reveal the hidden scenes beyond them. In particular, we demonstrate methods for using the subtle spatio-temporal radiance variations that arise on the ground at the base of a wall's edge to construct a one-dimensional video of the hidden scene behind the wall. The resulting technique can be...
In this paper, we propose a CNN-based framework for online MOT. This framework utilizes the merits of single object trackers in adapting appearance models and searching for target in the next frame. Simply applying single object tracker for MOT will encounter the problem in computational efficiency and drifted results caused by occlusion. Our framework achieves computational efficiency by sharing...
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