This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to p...
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This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to path planning in the configuration space, approaches in the workspace save the computationally expensive step of mapping obstacles from the workspace into the configuration space. The method presented here builds on a problem formulation as a mixed-integer program considering time-varying constraints resulting from moving obstacles, as well as state and input constraints depending on the region of the work space. The method is applied to a two-link robot with static and moving obstacles and is evaluated for different situations.
Mining ventilation is an interesting example of a large scale system with high environmental impact where advanced control strategies can bring major improvements. Indeed, one of the first objectives of modern mining ...
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Calculation of the energy losses is a very important problem for the distribution networks exploitation. The paper presents the linear model of the LV distribution network for the energy losses calculation. The compar...
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Calculation of the energy losses is a very important problem for the distribution networks exploitation. The paper presents the linear model of the LV distribution network for the energy losses calculation. The comparison of calculation results for different ways of agregation of energy losses magnitudes are presented in the paper.
In this paper, adaptive state feedback actuator failure compensator for networked control systems(NCSs) with state dependent disturbances are *** obstacles of NCSs such as;transmission delays and data-packets dropout ...
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In this paper, adaptive state feedback actuator failure compensator for networked control systems(NCSs) with state dependent disturbances are *** obstacles of NCSs such as;transmission delays and data-packets dropout induced by the insertion of data networks in the feedback adaptive control loops are also *** laws are designed for updating the controller ***-loop stability is *** results show that the desired performance is achieved with the developed adaptive actuator failure compensation control *** results are given to illustrate the effectiveness of our design approach.
This study presents an effective system for detecting and tracking moving vehicles in nighttime traffic scene for traffic surveillance. The proposed method identifies vehicles based on detecting and locating vehicle h...
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This paper describes an embedded workflow framework (EMWF) that enables flexible personal and home automation and assistive devices and service and social robots (collectively referred to as SISARL) to be built on wor...
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Sound source localization is an important function in robot audition. The existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes t...
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Due to the complexity and high non-linearity of biotechnical process, most simple mathematical models cannot describe the behavior of biochemistry systems very well. Therefore, dynamic modeling of biotechnical process...
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This paper presents several design methods for consensus algorithm in discrete time formulation. To this end, we investigate a consensus condition and design a consensus algorithm based on the condition first. Second,...
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This paper presents a new interface framework which has been added to Easy Java Simualtions' environment in order to improve its graphical features for 3D modeling. These new 3D capabilities provide users a set of...
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ISBN:
(纸本)9783902661562
This paper presents a new interface framework which has been added to Easy Java Simualtions' environment in order to improve its graphical features for 3D modeling. These new 3D capabilities provide users a set of new view elements which can be used to develop models with a high degree of reality. In this way, Easy Java Simulations becomes a powerful tool to easily and quickly create 3D realistic simulations.
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