this paper presents trajectory tracking algorithms for a group of mobile robots. the dynamics of differentially driven mobile robots with nonholonomic constrains is taken into account. the paper describes simulation r...
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Navigation of mobile robots based on video analysis becomes one of the most popular application areas of machine vision in automation and robotics. Recently growing popularity of Unmanned Aerial Vehicles (drones) as w...
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ISBN:
(纸本)9783319238142;9783319238135
Navigation of mobile robots based on video analysis becomes one of the most popular application areas of machine vision in automation and robotics. Recently growing popularity of Unmanned Aerial Vehicles (drones) as well as some other types of autonomous mobile robots leads to rapid increase of their application possibilities e.g. related to exploration of some areas hardly accessible for people, such as caves, underground corridors, bunkers etc. However, such places are specific in view of lighting conditions so many classical image analysis algorithms cannot be applied effectively for navigation of mobile robots in such environments. In order to utilize the image data for robot navigation in such places some modified machine vision algorithms should be applied such as fast line detection based on statistical binarization discussed in this paper.
Nuclear power plant (NPP) outages involve maintenance and repair activities of a large number of workers in limited workspaces, while having tight schedules and zero-tolerance for accidents. During an outage, thousand...
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ISBN:
(纸本)9783319402475;9783319402468
Nuclear power plant (NPP) outages involve maintenance and repair activities of a large number of workers in limited workspaces, while having tight schedules and zero-tolerance for accidents. During an outage, thousands of workers will be working around the NPP. Extremely high outage costs and expensive delays in maintenance projects (around $1.5 million per day) require tight outage schedules (typically 20 days). In such packed workspaces, real-time human behavior monitoring is critical for ensuring safe collaboration among workers, minimal wastes of time and resources due to the lack of situational awareness, and timely project control. Current methods for detailed human behavior monitoring on construction sites rely on manual imagery data collection and analysis, which is tedious and error-prone. this paper presents a framework of automatic imagery data analysis that enables real-time detection and diagnosis of anomalous human behaviors during outages, through the integration of 4D construction simulation and object tracking algorithms.
Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence condit...
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ISBN:
(纸本)9781509035502
Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence conditions of the open-loop iterative learning schemes is presented.
this research work describes an approach to count trees in an urban environment. Furthermore it addresses the problems involved in detection of trees in aerial imagery. this work can be used to solve the problem of fo...
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this research work describes an approach to count trees in an urban environment. Furthermore it addresses the problems involved in detection of trees in aerial imagery. this work can be used to solve the problem of forest degradation and deforestation. Right now forest man labor isn't efficient enough to detect or prevent this problem. A multi-rotor UAV equipped with high resolution RGB camera was used to acquire aerial images and to count number of trees in surveyed area. Various issues involved in the robust implementation of proposed algorithm are discussed. the result of successful implementation of the proposed algorithm on multiple scenarios are also presented and we show that our naive approach is able to achieve approximate to 0.72 accuracy within reasonable amount of time. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.
this paper studies optimal tracking control design for a single input single output (SISO) linear feedback discrete-time systems with multiplicative noises in control inputs. Such multiplicative noise can be used to c...
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ISBN:
(纸本)9781509035502
this paper studies optimal tracking control design for a single input single output (SISO) linear feedback discrete-time systems with multiplicative noises in control inputs. Such multiplicative noise can be used to characterize quantization errors or packet loss in a fading channel. Optimal mean-square control in tracking unit step reference signal is formulated and solved. It is shown that this optimal control design problem is an eigenvalue problem (EVP). the optimal design algorithm is developed.
Spacecrafts, which are used for stereoscopic mapping, imaging and telecommunication applications, require fine attitude and stabilization control which has an important role in high precision pointing and accurate sta...
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ISBN:
(纸本)9781509035502
Spacecrafts, which are used for stereoscopic mapping, imaging and telecommunication applications, require fine attitude and stabilization control which has an important role in high precision pointing and accurate stabilization. the conventional techniques for attitude and stabilization control are thrusters, reaction wheels, control moment gyroscopes (CMG) and magnetic torquers. Since reaction wheel can generate relatively smaller torques, they provide very fine stabilization and attitude control. Although conventional PID framework solves many stabilization problems, it is reported that many PID feedback loops are poorly tuned. In this paper, a model reference adaptive LQR control for reaction wheel stabilization problem is implemented. the tracking performance and disturbance rejection capability of proposed controller is found to give smooth motion after abnormal disruptions.
In this study, a motor feedback control system for education using a microcomputer called ARM32 was developed. this system is comprised of easily available electronic parts. the development functions and the control r...
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ISBN:
(纸本)9781509035502
In this study, a motor feedback control system for education using a microcomputer called ARM32 was developed. this system is comprised of easily available electronic parts. the development functions and the control response examples are shown in this paper.
this article presents two methods for setting up a scanning unit with low bandwidth radar sensors with a wide opening angle of the main beam and evaluates their suitability for robotic mapping. Both approaches, namely...
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this paper is concerned with a system for detecting and tracking multiple 3D bounding boxes based on information from multiple sensors. Our framework is built around an inference engine similar to the probability hypo...
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ISBN:
(纸本)9781509035502
this paper is concerned with a system for detecting and tracking multiple 3D bounding boxes based on information from multiple sensors. Our framework is built around an inference engine similar to the probability hypothesis density (PHD) filter, where the state space consists of stochastic bounding boxes with constant velocity dynamics. We outline measurement equations for two modalities (vision and radar). the result is a flexible inference system suitable for use on autonomous vehicles.
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