Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted fr...
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ISBN:
(纸本)9781467353199
Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. The rover started from a point 70 m away and approached to within 1.5 m of sensor A in 4-5 min. This navigation method is useful when GPS is not usable.
Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot...
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This paper investigates the problem of robust D-stabilization for polynomial matrix polytopes. By employing proportional-derivative (PD) state-feedback controllers, a new sufficient condition is formulated in terms of...
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In order for an autonomous vehicle to move, object detection is required to recognize the surrounding environment. The sensors used for object detection mainly use a camera and lidar. However, it is difficult to detec...
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This paper introduces a stabilization condition for polynomial fuzzy systems that guarantees H∞ performance under the imperfect premise matching. An H∞ control of polynomial fuzzy systems attenuates the effect of ex...
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In autonomous vehicles, lidar and camera are used for object recognition. Because cameras are difficult to recognize at night, there is a lot of research on object recognition using lidar. Generally, it uses high chan...
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The use of multiple robots to manufacture composite components represents a critical development direction for fiber placement systems (FPSs). In multi-robotic fiber placement systems (MRFPSs) with heterogeneous mecha...
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The use of multiple robots to manufacture composite components represents a critical development direction for fiber placement systems (FPSs). In multi-robotic fiber placement systems (MRFPSs) with heterogeneous mechanical structures, robots collaborate to perform fiber placement tasks. Consequently, robot synchronization emerges as a primary factor in determining the performance of the fiber placement process. However, the difficulty in establishing accurate system models and the presence of disturbances are two significant challenges to achieving precise robot synchronization. Additionally, the system is expected to exhibit desirable dynamic characteristics, such as finite-time error convergence. To address these issues and requirements, we propose a novel adaptive finite-time synchronization control (AFSC) algorithm for the system. Specifically, a finite-time sliding mode observer is developed to handle kinematic uncertainty. A novel fast non-singular terminal sliding mode (FNTSM) manifold is constructed in the AFSC algorithm. Moreover, the control algorithm integrates an adaptive law to handle dynamic uncertainty and an adaptive term to counteract disturbances. Performance analysis demonstrates that the AFSC ensures that the coupled, synchronization, and tracking errors converge to zero within finite time. Furthermore, simulations and experiments are conducted to validate the effectiveness of the AFSC algorithm.
In recent years, various investigations have been conducted on microrobots by many researchers, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types ...
In recent years, various investigations have been conducted on microrobots by many researchers, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types of microrobots have been proposed including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. To date, the author's research group has been studying a locomotion mechanism and a control method for an electromagnet-type microrobot, which has a volume of 1cm3. In a previous study by the author, a structure and a control method that enable a microrobot with only one electromagnet coil to turn were proposed, and the characteristics of a running microrobot were investigated through some experiments. Here, theoretical confirmation of the effectiveness of the proposed method requires a mathematical model of the motion of the microrobot and some experiments with sinusoidal signals to indicate the validity of the mathematical model. So, the purpose of this paper is to develop experimental equipment including a controller which can generate sinusoidal signals. The basic function of the developed controller was confirmed through some experiments.
This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot ...
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In this study, fist, we conducted a study on the navigation control for a rover using microwave Doppler sensors. Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation s...
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In this study, fist, we conducted a study on the navigation control for a rover using microwave Doppler sensors. Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. The rover started from a point 70 m away and approached to within 1.5 m of sensor A. This navigation method is useful when GPS is not usable. Second, we proposed a method to avoid irregular surfaces on a ground because the prototype rover we have previously developed could not be navigated owing to the cut of the microwave beam by large irregularity of ground surfaces. In this study, second prototype rover with a function of avoiding the irregular ground surfaces was fabricated and we confirmed the effectiveness of the proposed method through some experiments.
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