We study the deployment of a first-order multi-agent system (MAS) onto a curve in $\mathbb{R}^{n}$. The MAS has a chain topology and two types of agents: leaders and followers. The leaders know their positions relativ...
We study the deployment of a first-order multi-agent system (MAS) onto a curve in $\mathbb{R}^{n}$. The MAS has a chain topology and two types of agents: leaders and followers. The leaders know their positions relative to the target curve. Neighboring leaders can communicate with one another. Each follower is aware of the intended and existing differences between its state and the states of its two nearest neighbors. To solve the formation control problem, we derive a semi-linear parabolic PDE describing the system when the number of agents is sufficiently large. We derive the stability condition in terms of linear matrix inequalities (LMIs). Using numerical simulations, we demonstrate that increased connectivity between the leaders improves the deployment speed of the MAS.
The modern monitoring and controlsystems that are currently used in most fields are based on intelligent algorithms, distributed management systems, and a new generation of communication buses. For the monitoring and...
The modern monitoring and controlsystems that are currently used in most fields are based on intelligent algorithms, distributed management systems, and a new generation of communication buses. For the monitoring and control of the processes inside a greenhouse, the use of sophisticated algorithms or complex devices is not required. However, in order to make the activity more efficient and increase the production of a greenhouse, a proposed solution is to use data management and control devices such as PLCs, and the data acquired from the greenhouse to be retrieved by means of sensors connected to nodes with wireless transmission. The wireless communication variant proved to be the most efficient, in the greenhouse environment being an increased humidity due to the irrigation process of the plants. Also, the need for space for the plants requires giving up the wires drawn through the greenhouse.
Euler-Lagrange (EL) systems represent a crucial and large class of dynamical systems, and a precise model of the true system would be beneficial in planning and tracking problems. This work aims to learn an unknown EL...
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Nowadays there are many research efforts in the field of artificial intelligence applied in all the fields of robotics. There are developed and trained new models both supervised and unsupervised learning. ln order to...
Nowadays there are many research efforts in the field of artificial intelligence applied in all the fields of robotics. There are developed and trained new models both supervised and unsupervised learning. ln order to be able to get a reliable final product, a very important step is modeling and simulation. This paper focuses on the analysis of a quadruped robot, Stanford Pupper type, for which the mathematical model for the locomotor system was developed in order to be then implemented in a simulator that allows the development of machine learning algorithms for training it. There can be implemented in the simulator various use cases, like: learning to walk both supervised and unsupervised scenarios, learning to navigate on a zone with uneven surface and with small obstacles, or learning to climb stairs or other big obstacles.
This paper explores the expansive field of digital games with the objective of identifying a niche for a novel game concept, “Everyday Fantasy,” designed to promote well-being through interactive and immersive gamep...
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ISBN:
(数字)9798350353358
ISBN:
(纸本)9798350353365
This paper explores the expansive field of digital games with the objective of identifying a niche for a novel game concept, “Everyday Fantasy,” designed to promote well-being through interactive and immersive gameplay. The game seeks to integrate physical activity, cognitive stimulation, and social engagement by encouraging users to explore their environment, solve puzzles, and interact with others, thereby harnessing the benefits of walking, brain training, and socialization within a singular platform. Employing User Experience design principles within the Software Development Life Cycle framework, this study outlines the development process and assesses the game's market viability through dynamic simulation. By analyzing four distinct market scenarios based on adoption rates, the research identifies key technical components essential for the game's functionality, including a step counter, map generator, database management system, network mirroring technologies, and Unity game mechanics. The findings from this study not only affirm the potential market space for “Everyday Fantasy” but also set a foundational base for future development efforts, highlighting the game's capacity to make a meaningful impact on users' wellbeing.
The implementation of robotics and human support technologies has opened up new possibilities for recovering the mobility impaired and increasing human productivity in the last few decades. Exoskeletons have been deve...
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ISBN:
(数字)9798350377224
ISBN:
(纸本)9798350377231
The implementation of robotics and human support technologies has opened up new possibilities for recovering the mobility impaired and increasing human productivity in the last few decades. Exoskeletons have been developed as a major component of this progress in order to capture any form of arm motion be it passive or active. Motion capture systems, employing different sensors like IMU sensors, EMG sensors, motion sensors, fiber optic sensors are used to capture arm movements. These sensors provide information on position, movement, muscle contraction, and movement intent of the arm. The use of multiple sensor types allows for redundancy and accurate outcomes. Potentiometer position sensor can be combined with other types of sensors to measure acceleration, orientation, force exerted and arm bendability. The combinations improve accuracy and adaptability for arm motion capture during rehabilitation. Various combinations of adapted sensors can be used for each joint of the hand depending on the peculiarities of application. Sensors enable precise and natural control over recovery devices or exoskeletons which is especially important in terms of rehabilitation process improvement.
The problem with finite element analysis is that each analysis is run separately, so any variation in geometry requires a new analysis. When performing finite element analysis for generating fault diagnosis data, the ...
The problem with finite element analysis is that each analysis is run separately, so any variation in geometry requires a new analysis. When performing finite element analysis for generating fault diagnosis data, the frequent geometry variations that occur to consider numerous fault levels lead to a long time. In this paper, to solve these problems, an analysis using a physics-informed neural network is proposed to solve the differential equation that was solved by a numerical method using a neural network. Transfer learning is used, which enables fast analysis based on the analysis experience before the geometry is varied. In addition, nonlinear magnetic material characteristics and electronic systems in the saturated region are analyzed to evaluate whether the physics-informed neural network can cope with some numerical analysis problem.
Accurate vehicle localization is a key technology for autonomous driving tasks in indoor parking lots,such as automated valet ***,infrastructure-based cooperative driving systems have become a means to realizing intel...
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Accurate vehicle localization is a key technology for autonomous driving tasks in indoor parking lots,such as automated valet ***,infrastructure-based cooperative driving systems have become a means to realizing intelligent *** this paper,we propose a novel and practical vehicle localization system using infrastructure-based RGB-D cameras for indoor parking *** the proposed system,we design a depth data preprocessing method with both simplicity and efficiency to reduce the computational burden resulting from a large amount of ***,the hardware synchronization for all cameras in the sensor network is not implemented owing to the disadvantage that it is extremely cumbersome and would significantly reduce the scalability of our system in mass ***,to address the problem of data distortion accompanying vehicle motion,we propose a vehicle localization method by performing template point cloud registration in distributed depth ***,a complete hardware system was built to verify the feasibility of our solution in a real-world *** in an indoor parking lot demonstrated the effectiveness and accuracy of the proposed vehicle localization system,with a maximum root mean squared error of 5 cm at 15Hz compared with the ground truth.
This paper deals with the 2-dimensional paddle juggling where a racket hit a ball vertically and iteratively. The racket rebound model is considered where both the translational and rotational velocities of the ball c...
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This paper deals with the 2-dimensional paddle juggling where a racket hit a ball vertically and iteratively. The racket rebound model is considered where both the translational and rotational velocities of the ball change at the rebound due to the effect of the racket rubber. The LQ servo controller is derived based on the complete ball transition with the racket rebound model. In addition, a whole observer system to estimate all the ball states is proposed which consists of a continuous one for the free flying ball and a discrete one for the ball rebound. Note that it is essential that the rotational velocity can be only estimated by the discrete observer at the rebound. A numerical simulation is performed in order to verify the effectiveness of the total discrete output feedback controller.
Renewable energy power is influenced by the atmospheric system, which exhibits nonlinear and time-varying features. To address this, a dynamic temporal correlation modeling framework is proposed for renewable energy s...
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