Abstract--In this paper, we discuss how to develop an appropriate collision avoidance strategy for car-following. This strategy aims to keep a good balance between traffic safety and efficiency while also taking into ...
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Abstract--In this paper, we discuss how to develop an appropriate collision avoidance strategy for car-following. This strategy aims to keep a good balance between traffic safety and efficiency while also taking into consideration the unavoidable uncertainty of position/speed perception/measurement of vehicles and other drivers. Both theoretical analysis and numerical testing results are provided to show the effectiveness of the proposed strategy. Index Terms--Collision avoidance, safety, traffic efficiency, uncertainty.
The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complex...
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The use of conventional actuators in robotic systems (electric motors in particular), while often offering advantages in terms of flexibility and controllability, suffer from primary actuator failure, due to unexpecte...
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This paper presented a characterization of TEC and TEG for a road thermal energy harvesting system (RTEHs) purposes. Five modules are chosen randomly from unknown manufacturer to reputable ones where the prices range ...
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Based on the regularity nature of lower-limb motion,an intent pattern recognition approach for above-knee prosthesis is proposed in this paper. To remedy the defects of recognizer based on electromyogram(EMG), we deve...
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Based on the regularity nature of lower-limb motion,an intent pattern recognition approach for above-knee prosthesis is proposed in this paper. To remedy the defects of recognizer based on electromyogram(EMG), we develop a pure mechanical sensor architecture for intent pattern recognition of lower-limb motion. The sensor system is composed of an accelerometer, a gyroscope mounted on the prosthetic socket, and two pressure sensors mounted under the sole. To compensate the delay in the control of prosthesis, the signals in the stance phase are used to predict the terrain and speed in the swing phase. Specifically, the intent pattern recognizer utilizes intraclass correlation coefficient(ICC) according to the Cartesian product of walking speed and terrain. Moreover, the sensor data are fused via DempsterShafer's theory. And hidden Markov model(HMM) is used to recognize the realtime motion state with the reference of the prior step. The proposed method can infer the prosthesis user's intent of walking on different terrain, which includes level ground,stair ascent, stair descent, up and down ramp. The experiments demonstrate that the intent pattern recognizer is capable of identifying five typical terrain-modes with the rate of 95.8%. The outcome of this investigation is expected to substantially improve the control performance of powered above-knee prosthesis.
Quantization rate is a crucial measure of complexity in determining stabilizability of control systems subject to quantized state *** paper investigates quantization complexity for a class of nonlinear systems which a...
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Quantization rate is a crucial measure of complexity in determining stabilizability of control systems subject to quantized state *** paper investigates quantization complexity for a class of nonlinear systems which are subjected to disturbances of unknown statistics and unknown *** class of systems includes linear stablizable systems as special *** lower bounds on the quantization rates are derived which guarantee input-to-state stabilizability for continuous-time and sampled-data feedback strategies,*** examples are provided to validate the results.
This paper proposes a holistic framework for the development of models for the assessment of research activities and their impacts. It distinguishes three dimensions, including in an original way, data as a main dimen...
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This paper proposes a holistic framework for the development of models for the assessment of research activities and their impacts. It distinguishes three dimensions, including in an original way, data as a main dimension, together with theory and methodology. Each dimension of the framework is further characterized by three main building blocks： education, research, and innovation （theory）; efficiency, effectiveness, and impact （methodology）; and availability, interoperability, and ＂unit-free＂ property （data）. The different dimensions and their nine constituent building blocks are attributes of an overarching concept, denoted as ＂quality.＂ Three additional quality attributes are identified as implementation factors （tailorability, transparency, and openness） and three ＂enabling＂ conditions （convergence, mixed methods, and knowledge infrastructures） complete the fi-amework. A framework is required to develop models of metrics. Models of metrics are necessary to assess the meaning, validity, and robustness of metrics. The proposed framework can be a useful reference for the development of the ethics of research evaluation. It can act as a common denominator for different analytical levels and relevant aspects and is able to embrace many different and heterogeneous streams of literature. Directions for future research are provided.
Pose-Graph optimization is a crucial component of many modern SLAM systems. Most prominent state of the art systems address this problem by iterative non-linear least squares. Both number of iterations and convergence...
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Modular reconfigurable robots are touted for their flexibility, as their bodies can assume a wide range of shapes. A particular challenge is to make them move efficiently in 3D without compromising the scalability of ...
Modular reconfigurable robots are touted for their flexibility, as their bodies can assume a wide range of shapes. A particular challenge is to make them move efficiently in 3D without compromising the scalability of the system. This paper proposes decentralized and fully reactive controllers for pose control of 3D modular reconfigurable robots. The robots operate in liquid environments, and move by routing fluid through themselves. Each module uses only two bits of sensory information per face. Additionally, the modules can use up to five bits of information that are exchanged via shared power lines. We prove that robots of convex shape are guaranteed to reach a goal object with a preferred orientation. Using computer simulations of Modular Hydraulic Propulsion robots, all controllers are assessed for different environments, system sizes and noise, and their performances compared against a centralized controller. Given the simplicity of the solutions, modules could be realized at scales below a millimeter-cube, where robots of high spatial resolution could perform accurate movements in 3D liquid environments.
In this paper, we present a novel solution for realtime, Non-Linear Model Predictive control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal control Problem (OCP) in t...
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