In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were eval...
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In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were evaluated with respect to energy expenditure on controls and speed of its convergence. Based on characteristic features of the task, two modifications of the algorithm were proposed. Simulations were carried out on the unicycle model and an exemplary nilpotent nonholonomic system. Finally, the relevance of the algorithm to possible applications was discussed.
In this paper we propose a new 4-moduli Residue Number System (RNS) {2~k, 2~n - 1, 2~(n-1) - 1, 2~(n+1) - 1} and its respective reverse converter. The new moduli set is characterized by a very efficient way of utilizi...
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ISBN:
(纸本)9781629935867
In this paper we propose a new 4-moduli Residue Number System (RNS) {2~k, 2~n - 1, 2~(n-1) - 1, 2~(n+1) - 1} and its respective reverse converter. The new moduli set is characterized by a very efficient way of utilizing the underlying representation's capacity coming from its two aspects. First, by not including conjugate moduli our set covers the dynamic range of the representation much better than the systems that do include conjugate moduli. Second, independent controlling parameters of the even and odd moduli allow for fine-grained adjustment of the dynamic range to the needs of specific application with a single bit resolution. Our converter capitalizes on the mixed-radix conversion technique augmented to obtain a compact architecture and to reduce critical path delay by careful decomposition of the computations into cricital and non-critical chunks. The synthesis experiment conducted on a 16-tap programmable FIR filter example using STMicro 65nm low-power library shows up to 11.5% improvement in power dissipation against competitive flexible moduli set.
New generations of FPGA devices that are being continuously developed provide the designers with extended capabilities and create new options for implementation of contemporary ciphers. This work presents implementati...
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An original algorithm of locally optimal (w.r.t. the manipulability criterion) motion planning for manipulators is presented. It takes advantage of the Singular Value Decomposition algorithm to decompose the Jacobian ...
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Wheeled mobile platforms constitute an important group of robotic objects. They can be treated as independent robots or as a transportation part of a composite robotic assembly, for instance mobile manipulators. Depen...
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While planning motion of any system, it is desirable to have a reliable and possibly analytic method to perform the task. Usually the analytic (or almost analytic) methods are not offered for general systems but are a...
Wheeled mobile robots are most often assumed to be capable of rolling without slipping, and modeled as nonholonomic systems [3, 7, 19]. Such an assumption is far from realistic in practice. Since friction is the major...
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This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network In...
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We study the approximation problem of Jacobian inverse kinematics algorithms for robotic manipulators. A novel variational formulation of the problem is explored in the context of the optimal approximation of the Jaco...
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The chapter is focused on the methods of network services exploitation. The approach is based on two streams of data: dependability factors and the features defined by the type of business service realized. The depend...
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