This paper presents fast and efficient method for Multi-Object Tracking. It uses Multi-Agent Reinforcement Learning techniques to create an Interaction Model capturing the dynamics of tracked objects that are treated ...
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We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangifbrm swimming as the primary propulsor. An improved Central Pattern Gene...
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We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangifbrm swimming as the primary propulsor. An improved Central Pattern Generator （CPG） model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming in carangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimming speed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision.
Fast increase of Earth population during the last decades raised a serious problem when it came to providing fresh and good quality food (mainly vegetables) in big quantity over a short period of time. Due to relative...
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In this paper a problem of a dynamic positioning system design for a surface robotic vessel is addressed. The considered plant is represented as a MIMO system which comprised of three independent SISO dynamical channe...
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ISBN:
(纸本)9781467374439
In this paper a problem of a dynamic positioning system design for a surface robotic vessel is addressed. The considered plant is represented as a MIMO system which comprised of three independent SISO dynamical channels. Each of them corresponds to the particular coordinate of the boat. All the SISO channels are controlled by, so called, virtual control inputs generated using a new algorithm of output adaptive control which is an extension of the known robust approach known as "consecutive compensator". Then after an inverse MIMO transformation real control signals are calculated for actuators. To finalize the investigation the proposed algorithm is successfully applied to the robotic complex of vessel motion modelling.
The paper considers some models of a two-level hierarchical system for different-degree awareness of the Center and its subsystems. The authors investigate control procedures through the distribution of resources, the...
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The paper describes the implementation of a software-hardware complex that implements the sorting of objects by colour using computer vision. The algorithm for determining the working area of the robot-manipulator is ...
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Now computer science methods are actively used in different areas of Industry 4.0., including in the postal service to automate the transportation of postal items. The problem of transportation is particularly acute f...
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This paper presents a method for the robotic sorting of objects in automatic mode, which makes use of the Kuka industrial manipulator. The method proposed in this work performs the segmentation of objects using a neur...
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The authors are developing a hardware and software complex that combines the operating layouts of various systems of the 'Smart City': transport, housing and public utilities, industry, agriculture. Sensors an...
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