Legged motion has significant advantages over traditional locomotion techniques. Research and development on it have been constantly improving over the last couple of decades. Though there are numerous techniques in d...
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This paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficien...
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ISBN:
(纸本)9789728865832
This paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficiently using interval analysis and propagation algorithms. The efficiency of the resulting propagation method is illustrated on the localization of submarine robot, named Redermor. The experiments have been collected by the GESMA (Groupe d'Etude Sous-Marine de l'Atlantique) in the Douarnenez Bay, in Brittany.
This paper proposes an autonomous approach for repairing leakage at the international Space Station (ISS) using the NASA Astrobee robot with the 3rd Kibo Robot Programming Challenge (KRPC) guidelines provided by JAXA....
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ISBN:
(纸本)9798350307573;9798350307566
This paper proposes an autonomous approach for repairing leakage at the international Space Station (ISS) using the NASA Astrobee robot with the 3rd Kibo Robot Programming Challenge (KRPC) guidelines provided by JAXA. We bring into play image processing and analysis from the Astrobee Nav Cam data, circle detection algorithms, AR tag detection techniques, autonomous navigation, and a Visual Projective Localization And Mapping (VPLAM) approach for irradiating lasers with excellent precision at the Astrobee Robot Simulator. In addition, we discuss the various capabilities of the Astrobee Robots onboard the ISS and how they can facilitate the delivery of such an autonomous mission in emergencies. Lastly, we walk through ways to deal with randomness and uncertainty while operating, ensuring robustness and accuracy. Ultimately, we scored a precision of up to 0.03 cm on the KRPC online simulator.
This research applies the grey wolf optimization algorithm which includes the feature selection stage and implements borda count method to optimize the function selection problem in classification. The grey wolf optim...
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ISBN:
(纸本)9781538666630
This research applies the grey wolf optimization algorithm which includes the feature selection stage and implements borda count method to optimize the function selection problem in classification. The grey wolf optimization mimics the characteristics and movement of wolves which have more than one leader in a pack. The proposed algorithm presents the pack can have more than one pack which selects the most relevant features. The performance of proposed algorithm is compared with other classification techniques such as cAnt-Miner, C4.5 and PART. The experimental results show that the proposed algorithm is capable to optimized feature selection in classification problems.
Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications inc...
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ISBN:
(纸本)9789898111319
Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.
This paper proposes a robust sliding mode controller, which is derived based on the extended state observer and the sliding mode control techniques for a roll-to-roll machine to deal with the system uncertainty proble...
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ISBN:
(纸本)9789898565709
This paper proposes a robust sliding mode controller, which is derived based on the extended state observer and the sliding mode control techniques for a roll-to-roll machine to deal with the system uncertainty problem of unknown system nonlinear functions, and external disturbances. It is worth noting that the proposed sliding mode control scheme can be implemented without the condition that the system nonlinear functions, and the upper bounds of external disturbances must be known in advance and it can achieve the web transmitting speed and tension control goals satisfactorily, which are validated by numerical simulation results.
In continuous vertical descent, multi-rotor UAVs39; attitude will meet the problem of attitude fluctuation and tends to divergence. The problem comes from the flight controller instead of vortex-ring state. Based on...
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ISBN:
(纸本)9781510873377
In continuous vertical descent, multi-rotor UAVs' attitude will meet the problem of attitude fluctuation and tends to divergence. The problem comes from the flight controller instead of vortex-ring state. Based on an eight-rotor UAV's nonlinear model in hovering mode, the control law is analysed by using transfer function. The first reason is that the inner ring and outer ring bandwidths of the PID cascade controller do not match well. And the other one is that the lower linear operating point and lower average rotor speed during descent lead to less thrust and torque per propeller, which make it more difficult to resist wind disturbances. By adjusting the position loop's parameters in descent, the eight-rotor UAV reduced the requirement of horizontal position accuracy, and the stability of horizontal attitude control increased, which finally obtained a better performance.
This paper presents the formulation of the ingot cutting problem, which consists in the need to produce a set of blanks from an ingot in an optimal way. The main difference from the classical packaging problems is the...
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Acceleration(G), in physics, is the rate of change of velocity of an object. Advanced missiles are capable of generating the axial acceleration(Gx), the tangential acceleration(Gy) and the normal acceleration(Gz) duri...
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ISBN:
(纸本)9789897581496
Acceleration(G), in physics, is the rate of change of velocity of an object. Advanced missiles are capable of generating the axial acceleration(Gx), the tangential acceleration(Gy) and the normal acceleration(Gz) during aerial combat manoeuvres, which has seriously threatened flight reliability. In order to improve the reliability of missiles, it is necessary to carry out acceleration tests on the ground. Testers usually separately simulate the acceleration with the centrifuge, but the complex effect of 3-axial accelerations can not be reflected. This paper introduces a new 3-axial centrifuge, which can effectively and synchronously simulate the 3-axial acceleration. The paper also designs the structure and the synchronization control system of the 3-axial centrifuge. At last, the paper shows the result of the simulation and the result shows that the system is reliable, and it's synchronization among 3 axial accelerations is very high. The analysis can also provide a reference for similar centrifuge designers.
Cooperative encirclement in swarm robotics has become an active research field. How to find the target in advance through local communication is an important problem in cooperative encirclement in swarm robotics, beca...
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ISBN:
(纸本)9781728186382
Cooperative encirclement in swarm robotics has become an active research field. How to find the target in advance through local communication is an important problem in cooperative encirclement in swarm robotics, because it can bring many important benefits, such as avoiding relying on global information, reducing communication load and completing the task faster and more efficiently. Unfortunately, many of the current researches are done without considering the global information or the local communication to find the target in advance, so it is difficult to achieve better practical results in the application of large-scale cooperative encirclement in swarm robotics. In order to solve this problem, a triangle antenna model and a local interaction strategy are designed. On this basis, a local communication algorithm is developed: antenna communication model algorithm, which is used to complete the task of cooperative encirclement in swarm robotics. In order to verify the feasibility of the antenna communication model algorithm and the effectiveness of the local interaction strategy, we present a scene based on the triangle antenna model for the cooperative encirclement of the local communication swarm robots, and carry out simulation experiments and comparative experiments. The experimental results show that the antenna communication model algorithm and the local interaction strategy can find the target in advance, and complete the task better and faster.
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