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kinematic algorithms for controlling aircraft during flight toward a target and while turning to a new heading

JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL 1996年第4期34卷 153-167页

作者： Molokanov, GF

This article presents analytical relationships and shows the trajectories of aircraft during optimal minimum time of flight toward a target and turning to start the next phase of the flight. When calculating this process, the wind and inertial steering force are frequently not taken into consideration. Errors which result from this omission are pointed out, and equations are given which include these factors. The resulting equations are kinematic algorithms that are traditionally used for program control in aircraft navigation.

关键词： kinematic algorithm

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A comparison of kinematic algorithms to estimate gait events during overground running

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GAIT & POSTURE 2015年第1期41卷 39-43页

作者： Smith, Laura Preece, Stephen Mason, Duncan Bramah, Christopher Univ Salford Sch Hlth Sci Salford M6 6PU Lancs England

The gait cycle is frequently divided into two distinct phases, stance and swing, which can be accurately determined from ground reaction force data. In the absence of such data, kinematic algorithms can be used to estimate footstrike and toe-off. The performance of previously published algorithms is not consistent between studies. Furthermore, previous algorithms have not been tested at higher running speeds nor used to estimate ground contact times. Therefore the purpose of this study was to both develop a new, custom-designed, event detection algorithm and compare its performance with four previously tested algorithms at higher running speeds. kinematic and force data were collected on twenty runners during overground running at 5.6 m/s. The five algorithms were then implemented and estimated times for footstrike, toe-off and contact time were compared to ground reaction force data. There were large differences in the performance of each algorithm. The custom-designed algorithm provided the most accurate estimation of footstrike (True Error 1.2 +/- 17.1 ms) and contact time (True Error 3.5 +/- 18.2 ms). Compared to the other tested algorithms, the custom-designed algorithm provided an accurate estimation of footstrike and toe-off across different footstrike patterns. The custom-designed algorithm provides a simple but effective method to accurately estimate footstrike, toe-off and contact time from kinematic data. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Running Gait events kinematic algorithm Event detection Phase determination

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Automatic identification of gait events during walking on uneven surfaces

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GAIT & POSTURE 2017年 52卷 83-86页

作者： Eckardt, Nils Kibele, Armin Univ Kassel Inst Sports & Sports Sci Damaschkestr 25 D-34121 Kassel Germany

The accurate detection of gait events is essential for clinical gait analysis. Aside from speed, surface characteristics like planarity and compliance can affect gait kinematics. Therefore detection of kinematic gait events on uneven surfaces may be inaccurate. To date, no study has investigated the possible influence of surface characteristics on gait event detection. Thus, the purpose of this study was to assess and compare the performance of four kinematic-based gait event detection algorithms (horizontal heel heel displacement, foot velocity, heel/toe-PSIS displacement, peak hip extension) during walking on three surfaces with different degrees of planarity. kinematic and force plate data were collected on thirteen athletes during two self-selected walking speeds at a normal (1.30 +/- 0.03 m/s) and fast pace (1.70 +/- 0.10 m/s). Footstrike and toe-off events were calculated by the algorithms and compared to vertical ground reaction force as a reference. The main findings of the study were: (1) surface configuration had an effect on algorithm accuracy (p < 0.010, 0.84 < d < 2.79);(2) the vertical foot velocity profile provided the lowest RMSE for footstrike (8.8-14.6 ms) during normal walking and toe-off (15.4-24.9 ms) during normal and fast walking on all surfaces;(3) horizontal heel-ankle displacement provided the lowest RMSE for footstrike during fast walking on all surfaces (RMSE: 8.9-13.8 ms). Overall, the vertical foot-velocity algorithm provided low RMSE for all conditions, is easy to apply and thus recommended for gait event detection. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Footstrike Toe-off Heel-strike kinematic algorithm Instability

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Minkowski Sums of Rotating Convex Polyhedra

Minkowski Sums of Rotating Convex Polyhedra

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24th Annual Symposium on Computational Geometry

作者： Lien, Jyh-Ming George Mason Univ Dept Comp Sci Fairfax VA 22030 USA

No abstract available

ISBN: (纸本)9781605580715

No abstract available

关键词： Minkowski sum polytope kinematic algorithm

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Design and Construction of 9-DOF Hyper-Redundant Robotic Arm

Design and Construction of 9-DOF Hyper-Redundant Robotic Arm

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IEEE National Aerospace and Electronics Conference (NAECON)

作者： Xu, Xingsheng Ananthanarayanan, Hariharan Ordonez, Raul Univ Dayton Sch Elect & Comp Engn Dayton OH 45469 USA

ISBN: (纸本)9781479946891

In this paper, an application robotic platform has been constructed based on the kinematic model of a 9-DOF hyper-redundant manipulator. The efficacy of our kinematic algorithm affects the accuracy and stability of both motion control and path tracking. The result of tracking different paths and error analysis shows that the 9-DOF manipulator works functionally and satisfies all the requirement of experimental design.

关键词： design engineering design of experiments error analysis flexible manipulators motion control path planning redundant manipulators stability 9-DOF hyper-redundant manipulator 9-DOF hyper-redundant robotic arm application robotic platform experimental design kinematic algorithm kinematic model path tracking Error analysis Joints kinematics Manipulators Robot kinematics Tracking Error analysis kinematics Motor Control tracking Experimental Design Redundant manipulators design engineering Robot kinematics flexible manipulators Manipulators Path planning Joints Joints

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Design of Wireless Sensor Network Data Acquisition System via Health Sensor Based on Symmetric Encryption algorithm

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JOURNAL OF TESTING AND EVALUATION 2023年第1期51卷 278-290页

作者： Xuan, Chunqing Zhengzhou Business Univ Coll Informat & Elect Engn Dept Comp Sci & Technol 136 Zijing Rd Zhengzhou 451200 Peoples R China

In order to improve the data collection effect of the wireless sensor network, a data collection system based on symmetric encryption algorithm is designed via health sensor. Upload the received data to the host via RS-232 to get the working mode and clock activity. The data acquisition circuit is designed with MSP430 module. The MapReduce programming model is used to complete data collection, a symmetric encryption algorithm is introduced, and a range data encryption query scheme with privacy protection function is designed. Apply it to the node data of the wireless sensor network to realize the secure data collection of the wireless sensor network. Experimental results show that the system has the advantages of high efficiency, large amount of data collection, and high residual energy of sensor network nodes.

关键词： symmetric encryption algorithm wireless sensor network data acquisition MSP430 analog-to-digital conversion module MapReduce programming model kinematic algorithm

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An algorithm of Long Term Evolution-5G Data Transmission Based on Gray Fuzzy Bayesian Network to Monitor Health Parameters

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JOURNAL OF TESTING AND EVALUATION 2023年第1期51卷 327-339页

作者： Chen, Ying Hebei Software Inst Dept Software Technol Baoding 071000 Peoples R China

Aiming at the problems of poor data transmission accuracy and small transmission bandwidth in mobile communication systems, this paper proposes an Long Term Evolution-5G (LTE-5G) data transmission algorithm based on gray theory. On the basis of LTE-5G data mapping, the constellation graph of LTE-5G data transmission was designed so as to complete the one-time formation of data transmission and reduce the influence of Rayleigh noise on the normal mapping process of data. Aiming at the channel error caused by the crossing phenomenon between projections in the transmission constellation and the regional overlapping phenomenon, the gray fuzzy Bayesian network was used to process the gray fuzzy domain and probability data. The results of fuzzy data evaluation were transformed into knowledge in the probability domain by the theory of probability conversion. In the probability knowledge domain, the Bayesian network reasoning algorithm was used to extract the fuzzy data. And then, a grouped fault-tolerant model of transmission constellation was constructed. The protocol fields were repaired by the maximum posterior estimation of the receiver. Finally, the forward error control without the coding sender was completed. Thus, the accuracy of LTE-5G data transmission was improved. Experimental results show that the proposed algorithm has higher data transmission accuracy and bandwidth.

关键词： gray fuzzy Bayesian network LTE-5G data data transmission constellation error control kinematic algorithm

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