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A navigation algorithm to Enable Sustainable Control of Insect-Computer Hybrid Robot with Stimulus Signal Regulator and Habituation-Breaking Function

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SOFT ROBOTICS 2024年第3期11卷 473-483页

作者： Li, Rui Lin, Qifeng Kai, Kazuki Nguyen, Huu Duoc Sato, Hirotaka Nanyang Technol Univ Sch Mech & Aerosp Engn 50 Nanyang Ave Singapore Singapore

The insect-computer hybrid soft robots are receiving increasing attention due to their excellent motor capabilities, small size, and low power consumption. However, the effective control of insects is limited to minutes since the response from insects is reduced as the number of stimulus signal increase. This phenomenon is known as habituation, which causes the loss of control of robots and hinders their application in practical tasks such as search and rescue missions that require several hours. It has been shown that constantly switching the pattern of stimulus signals can slow down the onset of habituation. Moreover, when habituation occurs, applying a different stimulus signal can break the habituation. Based on this, we have designed a navigation algorithm that can extend the control time of insects to several hours. The algorithm is composed of a stimulation decision-making core responsible for deciding on the type of stimulus signal (left, right, acceleration), a stimulation parameters adjustment (SPA) core responsible for adjusting the stimulus signal voltage constantly to delay the occurrence of habituation, and a reactivation function (RF), as a different stimulus signal from the normal stimulus signal, is used to break insects' habituation to the normal stimulus signal. Experiments have shown that our SPA regulator and RF can significantly extend the control time of insects. navigation experiments demonstrating effective control of the insects for up to 3 h verified the effectiveness of the navigation algorithm, which strikes a balance between control accuracy and control time.

关键词： insect-computer hybrid robot sustainable control habituation navigation algorithm

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Performance Verification System for navigation algorithm∼Simulation of Flight Evaluation Profile Specified in RTCA DO-334 MOPS∼

Performance Verification System for Navigation Algorithm∼Si...

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Asia-Pacific International Symposium on Aerospace Technology (APISAT)

作者： Satsuka, Kohei Sakurai, Yosuke Yanagihara, Masaaki Ohsawa, Sohshi Fujiwara, Takeshi Shinshu Univ Iida Nagano Japan Japan Aerosp Explorat Agcy Chofu Tokyo Japan

ISBN: (纸本)9789811926358;9789811926341

Shinshu University has been developing a computer simulation-based navigation algorithm verification system. The system performs the final confirmation of a subject navigation algorithm by executing the flight test items specified in Table 2-9 of the RTCA DO-334 MOPS by computer simulation of an aircraft's flight along a reference trajectory. Generating a high-precision reference trajectory requires many aircraft parameters and is computationally intensive. To alleviate these burdens, we developed a program that generates a simplified trajectory from takeoff to landing that includes turning maneuvers. In this paper, dynamic motions such as pitch up/down and lateral-directional motions such as steady sideslip, which are required in DO-334, were newly incorporated into the trajectory generation program, and inertial navigation and GPS navigation were performed along the output trajectory to confirm the usefulness of the verification system. The obtained navigation outputs were consistent with the characteristics of true data, and confirmed that the influence of flight test maneuvers on the navigation could be evaluated. It was therefore demonstrated that the system can simulate the DO-334-based verification of a navigation algorithm.

关键词： navigation algorithm Inertial navigation GPS navigation Numerical simulation DO-334

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A navigation algorithm for UUVs to Avoid Shape Changeable Obstacles 14

A Navigation Algorithm for UUVs to Avoid Shape Changeable Ob...

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14th International Conference on Computer and Automation Engineering (ICCAE)

作者： Zhang, Yang Zhang, Jian Univ New South Wales Sch Elect Engn & Telecommun Sydney NSW Australia

ISBN: (纸本)9781665483797

In order to guide an undersea unmanned vehicle (UUV) avoiding obstacles in an underwater environment, an navigation algorithm is proposed in this paper. It can be applied to planar environment, the shape of obstacles could be changeable. This method combines local path planning and global path planning together, switching between two modes so as to safely navigate the UUV' s way. In order to show the performance of the proposed algorithm, the simulation results are presented by Matlab. The reason why we promoting this algorithm is that it is a computational efficient algorithm, comparing with the prior ones, the cost could be saved while achieving the expected results successfully.

关键词： undersea unmanned vehicle navigation algorithm obstacle avoidance shape changeable obstacles non-convex constraints

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Development of the Autonomous navigation algorithm based on the Geometric Method for Skid Steering Vehicles: Convergence of Skid Steering and Pure Pursuit Methods Using Compensation Coefficients 22

Development of the Autonomous Navigation Algorithm based on ...

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22nd International Conference on Control, Automation and Systems (ICCAS)

作者： Kim, Junghyun Crane, Carl D. Kim, Jungha Kookmin Univ Grad Sch Automot Engn Seoul 02707 South Korea Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA Kookmin Univ Dept Automobile & IT Convergence Seoul 02707 South Korea

ISBN: (纸本)9788993215243

This article aims to propose the navigation algorithm for autonomous driving of the skid steering vehicles based on the geometric method. The navigation system consists of two main concepts: the Skid Steering and Pure Pursuit methods. This study combines two concepts into one formula. And adds the two-compensation coefficient at the combined formula and organizes the concepts through mathematical proofs. The proposed formula has the advantage of being similar to the control of the ordinary vehicle with an Ackerman steering hardware system in a simple way and it doesn't necessary the modeling process of the vehicle and various road environments. In the experiments section of this article, Simulations were conducted several times by varying the compensation coefficients to examine how to change the steering characteristics of the vehicle.

关键词： Autonomous Driving Compensation Coefficient Geometric Path Tracking navigation algorithm Pure Pursuit Skid Steering.

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Development of a Spoon Motion navigation algorithm for the Mealtime Assistant Simulator

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JOURNAL OF ROBOTICS AND MECHATRONICS 2021年第4期33卷 768-776页

作者： Mitani, Atsushi Muramatsu, Masumi Sapporo City Univ Sch Design Minami Ku 1 Geijutsunomori Sapporo Hokkaido 0050864 Japan Sapporo City Univ Sch Nursing Chuo Ku Kita 11Nishi 13 Sapporo Hokkaido 0600011 Japan

In aging society like Japan, maintaining the quality of life (QOL) is an important objective. The oral cavity has various significant functions that contribute to the QOL. Elderly people are susceptible to the swallowing disorders owing to various factors associated with advancing age. In such cases, mealtime assistance can provide elderly persons appropriate eating situations. Thus, mealtime assistance skills are essential for students in nursing and caregiver education. Recently, simulation education has attracted attention as an effective educational process for nursing and caregiver students before their clinical practice in a hospital or care house. In this educational process, a patient model that mimics specific symptoms called the simulation model, is used to learn the symptoms and its care process in the same clinical environment as actual. We have attempted to develop several oral care simulation models, and we have earlier developed a prototype of mealtime assistance simulation model. This simulation model had a tongue model with a sensor system to detect spoon motions, and its fundamental functions were evaluated via spoon detection experiments. Based on the earlier achievements, in this study, we develop an evaluation system of feeding skill using a spoon. The pressing force and position by spoon on the tongue model were estimated by transfer functions derived from experiments. In addition, we developed an algorithm that leads students' spoon position and pressing force in the correct position.

关键词： simulation model nursing and caregiver education sensing navigation algorithm simulation education

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Adaptive navigation algorithm with Deep Learning for Autonomous Underwater Vehicle

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SENSORS 2021年第19期21卷 6406-6406页

作者： Ma, Hui Mu, Xiaokai He, Bo Shanghai Marine Elect Equipment Res Inst Shanghai 201108 Peoples R China Harbin Engn Univ Coll Shipbldg Engn Harbin 150001 Peoples R China Harbin Engn Univ Qingdao Innovat & Dev Ctr Qingdao 266000 Peoples R China Ocean Univ China Coll Informat Sci & Engn Qingdao 266000 Peoples R China

Precise navigation is essential for autonomous underwater vehicles (AUVs). The measurement deviation of the navigation sensors, especially the microelectromechanical systems (MEMS) sensors, is a crucial factor that affects the localization accuracy. Deep learning is a novel method to solve this problem. However, the calculation cycle and robustness of the deep learning method may be insufficient in practical application. This paper proposes an adaptive navigation algorithm with deep learning to address these questions and realize accurate navigation. Firstly, this algorithm uses deep learning to generate low-frequency position information to correct the error accumulation of the navigation system. Secondly, the chi 2 rule is selected to judge if the Doppler velocity log (DVL) measurement fails, which could avoid interference from DVL outliers. Thirdly, the adaptive filter, based on the variational Bayesian (VB) method, is employed to estimate the navigation information simultaneous with the measurement covariance, improving navigation accuracy even more. The experimental results, based on AUV field data, show that the proposed algorithm could realize robust navigation performance and significantly improve position accuracy.

关键词： autonomous underwater vehicle navigation algorithm deep learning variational Bayesian

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Target detection for multi-UAVs via digital pheromones and navigation algorithm in unknown environments

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Frontiers of Information Technology & Electronic Engineering 2020年第5期21卷 796-808页

作者： Yan SHAO Zhi-feng ZHAO Rong-peng LI Yu-geng ZHOU College of Information Science and Electronic Engineering Zhejiang UniversityHangzhou 310027China Zhejiang Lab Hangzhou 311121China Institute of Wanfeng Jinyuan Holding Group Co. Ltd.Shaoxing 312000China

Coordinating multiple unmanned aerial vehicles(multi-UAVs)is a challenging technique in highly dynamic and sophisticated *** on digital pheromones as well as current mainstream unmanned system controlling algorithms,we propose a strategy for multi-UAVs to acquire targets with limited prior *** particular,we put forward a more reasonable and effective pheromone update mechanism,by improving digital pheromone fusion algorithms for different semantic pheromones and planning individuals’probabilistic behavioral decision-making ***,inspired by the flocking model in nature,considering the limitations of some individuals in perception and communication,we design a navigation algorithm model on top of Olfati-Saber’s algorithm for flocking control,by further replacing the pheromone scalar to a *** results show that the proposed algorithm can yield superior performance in terms of coverage,detection and revisit efficiency,and the capability of obstacle avoidance.

关键词： Collective intelligence Digital pheromones Artificial potential field navigation algorithm

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A Novel Hybrid navigation algorithm for Autonomous Robotic Vacuum Cleaners 6

A Novel Hybrid Navigation Algorithm for Autonomous Robotic V...

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6th International Conference on Computer Applications In Electrical Engineering-Recent Advances (CERA)

作者： Singh, Saurabh Shetkar, Vinay K. Siddiqui, Faisal Soman, Dawnee Ramaiah Inst Technol Elect & Elect Engn Bengaluru India

ISBN: (纸本)9781509048748

An autonomous robotic vacuum cleaner, also known as Robovac, performs the task of vacuuming a room autonomously without the need of human supervision. One of the major parts of the working of such a Robovac is its navigation. The Robovac discussed in this paper achieves this task with the help of an array of 4 ultrasonic sensors, which help prevent collisions, and a camera module for computer vision. A caterpillar wheel arrangement, powered by geared dc motors ensures smooth motion over different kinds of surfaces. The hybrid navigation algorithm uses four different algorithms in the same system, namely - Spiral, Wall follower, S-Shaped, and Random Walk, to ensure maximum area coverage in unit time. The proposed algorithm is efficient and simpler as compared to those reported in the earlier literature.

关键词： autonomous computer vision navigation algorithm vacuum cleaner complete coverage Robovac

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Design of Outdoor Following Vehicle System based on GPS-INS Fusion navigation algorithm

Design of Outdoor Following Vehicle System based on GPS-INS ...

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IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference

作者： Zhimin Li Daolin Zhou Yipeng Huang School of Automation Wuhan University of Technology Wuhan P.R. China

To obtain accurate positioning of the autonomous following vehicles in a complex environment, this paper develops a following system considering both the following vehicle and the mobile terminal, which is based on the precise location calculated by fusion navigation algorithm from GPS and INS. An outdoor following vehicle platform is set up and experiments are conducted with single INS sensor, single GPS sensor and combined GPS-INS sensor. The result shows that the system based on the proposed fusion algorithm can get more accurate location than the results calculated by information from single sensor. It also indicates that the proposed algorithm can eliminate the noise and accidental errors and improves the response efficiency. By tracking the vehicles movement of the following system, the proposed following system outperforms the existing system on flat ground and gentle slope.

关键词： Outdoor Following system Vehicle Sensor fusion navigation algorithm

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Inertial navigation algorithm Based on Modified Kalman Filter and Wavelet Technique for Intelligent Vehicle 8

Inertial Navigation Algorithm Based on Modified Kalman Filte...

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8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC)

作者： Duan, Jianmin Song, Zhixue Wang, Changren Liu, Dan Beijing Univ Technol Coll Metropolitan Transportat Beijing Peoples R China

ISBN: (纸本)9781509007684

Aimed at solving the problems of GPS outage or deterioration of accuracy, the strap-down inertial navigation system (SINS) is proposed to provide reliable positioning or attitude information for intelligent vehicle. A set of mathematical transformations and integrations with respect to time are applied to these measurements of SINS to calculate position, velocity and attitude information. More importantly, in allusion to the deterioration with time of SINS accuracy, caused by the possible noise, this paper analyzes the stochastic mathematical model of SINS, uses two de-noising methods to preprocess the raw experimental data of the intelligent vehicle for eliminating integrated error. By comparing the position errors calculated with three sets of data: the raw data, the wavelet de-noised data and the adaptive fading Kalman filtered data based on the current statistical model of acceleration in the experiment, we draw a conclusion that inertial navigation algorithm with data preprocessed by the two de-noising methods can improve the position accuracy considerably. And the proposed adaptive fading Kalman filter method based on the current statistical model of acceleration is better than the wavelet de-noising method.

关键词： SINS navigation algorithm wavelet de-noising technique adaptive fading Kalman filter current statistical model intelligent vehicle

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