this work is concerned withthe analysis of 3-d (3-dimensional) systems. the aim is to establish conditions that guarantee the asymptotic stability of these kinds of systems. To accomplish it, the Lagrange candidate s...
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ISBN:
(纸本)9789897580390
this work is concerned withthe analysis of 3-d (3-dimensional) systems. the aim is to establish conditions that guarantee the asymptotic stability of these kinds of systems. To accomplish it, the Lagrange candidate solutions method for partial difference equations is adopted here. We show that the systems are asymptotically stable if the entries of the matrices of their state space descriptions yield a solution in the Lagrange solution sense. Furthermore, the particular cases in which the matrices can be turned into a diagonal matrix by means of the canonical transformation is studied in order to figure out the role of the eigenvalues on the stability conditions.
An advanced approach to the waypoint-based navigation for near-bottom survey of a cruising AUV is presented. Pursuing vehicle safety as well as high-definition bottom survey data, we apply GDS-based optimization techn...
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ISBN:
(纸本)9789897583803
An advanced approach to the waypoint-based navigation for near-bottom survey of a cruising AUV is presented. Pursuing vehicle safety as well as high-definition bottom survey data, we apply GDS-based optimization technique for achieving waypoint-based minimum-altitude flight of an underactuated cruising AUV. While the objective of our optimization is minimizing average altitude of a vehicle throughout its flight interval, depth or altitude references on waypoints are used as control inputs. In our optimization, bottom bathymetry is incorporated as a constraint used for bottom collision avoidance. As another constraint, dynamic model of an AUV is included. By solving the dynamic model in time domain, motion responses of the vehicle following reference waypoints are derived. Our approach of the optimal waypoint navigation is validated by not only simulation but also at-sea deployment of an AUV.
In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential...
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ISBN:
(纸本)9789728865832
In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G(1) continuity is obtained. the blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.
Small sized robotic systems have operational advantages compared to large systems. they can also operate in fields of application where bigger systems would fail. this paper describes the specifications and the design...
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ISBN:
(纸本)9789897581984
Small sized robotic systems have operational advantages compared to large systems. they can also operate in fields of application where bigger systems would fail. this paper describes the specifications and the design of the autonomous underwater vehicle mu AUV(2). Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification process and the implemented controller structure. Possible scopes of the mu AUV(2) are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.
this paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. the main idea is to consider a differential robot model directly in polar coordinates a...
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ISBN:
(纸本)9789897583803
this paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. the main idea is to consider a differential robot model directly in polar coordinates and not in Cartesian coordinates which makes it possible to obtain simpler expressions of the outputs. then two nonlinear output state feedback controllers are proposed to track two shapes based on spirals allowing to go from one row of fruit trees to another. these controllers are based on an input to output linearization and proved to be very efficient on simulations.
this paper proposes a new approach for feature importance of neural networks and subsequently a methodology using the novel feature importance to determine useful sensor information in high performance controllers, us...
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ISBN:
(纸本)9789897584428
this paper proposes a new approach for feature importance of neural networks and subsequently a methodology using the novel feature importance to determine useful sensor information in high performance controllers, using a trained neural network that predicts the quasi-optimal gain in real time. the neural network is trained using the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm, in order to lower a given objective function. the important sensor information for robotic control are determined using the described methodology. then a proposed improvement to the tested control law is given, and compared withthe neural network's gain prediction method for real time gain tuning. As a results, crucial information about the importance of a given sensory information for robotic control is determined, and shown to improve the performance of existing controllers.
this paper presents an experimental evaluation of the performance of a laser range finder, AccuRange 4000 by Acuity Research, a popular distance sensor in robotics research and industrial automation. Our study determi...
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ISBN:
(纸本)0780386531
this paper presents an experimental evaluation of the performance of a laser range finder, AccuRange 4000 by Acuity Research, a popular distance sensor in robotics research and industrial automation. Our study determines the performance of the ranging device under various operating crating conditions, including lighting, temperature, and surface color, and orientation. Based on the empirical data, a calibration model is developed to allow one to interpret the range measurements accurately.
the accuracy of a pose measurement system, called PosEye, is investigated. PosEye is a system for real time measurement of the position and orientation, the pose, of a camera (sensor) using the information in its imag...
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ISBN:
(纸本)9781424403417
the accuracy of a pose measurement system, called PosEye, is investigated. PosEye is a system for real time measurement of the position and orientation, the pose, of a camera (sensor) using the information in its image. this sensor is aimed to be mounted on an industrial robot for welding. the investigation was done by comparing the PosEye system position output to that of a coordinate measuring machine. Sources of errors are identified, and suggestions for improvements are made.
the classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following ...
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ISBN:
(纸本)9789897581984
the classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. the present paper proposes a modern approach that treats this non-convex problem in task space. this novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.
the main contribution of this paper is a method for optimizing the layout of workcells taking into consideration boththe reachability of the robot as well as the expected cycle time. To analyse the reachability for s...
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ISBN:
(纸本)9789897583049
the main contribution of this paper is a method for optimizing the layout of workcells taking into consideration boththe reachability of the robot as well as the expected cycle time. To analyse the reachability for systems using sensors to pose estimate objects, the method uses a combination of discrete samples over the space in which objects are located and a manipulability measure based on the determinant of the manipulator Jacobian. To compute the expected cycle time for the robot, the method includes a simulated controller, which is optimized to estimate the performance of the physical robot. For the optimization of the workcell layout the proposed method based on applying Gaussian penalties in local minima is compared to three existing methods for global optimization. For the optimization of the simulated controller three different local methods are compared along with one global.
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