This paper presents a new method for designing an optimal harvesting agriculture manipulator. The novelty in our approach is the re-configurability of the robot's joints, i.e., the ability to assemble a given set ...
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An innovative approach of gaining an insight into motor skills involved in human body flight is proposed. Body flight is the art of maneuvering during the free fall stage of skydiving, which is a rapidly developing sp...
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Lean construction (LC) and Building Information Modeling (BIM) support an integrated vision for short cycle plan-do-check-act cycles of planning and control in construction. However, operations control tasks, such as ...
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We present some improvements on interpolation based control (IC) for linear discrete-time systems with polyhedral constraints on the control and the states variables. The plant may be uncertain, time-varying, and subj...
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This paper investigates a burrowing robot that can maneuver and steer while being submerged in a granular medium. The robot locomotes using an internal vibro-impact mechanism and steers using a rotating bevel-tip head...
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ISBN:
(数字)9781728173955
ISBN:
(纸本)9781728173962
This paper investigates a burrowing robot that can maneuver and steer while being submerged in a granular medium. The robot locomotes using an internal vibro-impact mechanism and steers using a rotating bevel-tip head. We formulate and investigate a non-holonomic model for the steering mechanism and a hybrid dynamics model for the thrusting mechanism. We perform a numerical analysis of the dynamics of the robot's thrusting mechanism using a simplified, orientation and depth dependent model for the drag forces acting on the robot. We first show, in simulation, that by carefully tuning various control input parameters, the thrusting mechanism can drive the robot both forward and backward. We present several experiments designed to evaluate and verify the simulative results using a proof-of-concept robot. We show that different input amplitudes indeed affect the direction of motion, as suggested by the simulation. We further demonstrate the ability of the robot to perform a simple S-shaped trajectory. These experiments demonstrate the feasibility of the robot's design and fidelity of the model.
An innovative approach of training motor skills involved in human body flight is proposed. Body flight is the art of maneuvering during the free fall stage of skydiving. The key idea is gradually constructing the move...
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An innovative approach of training motor skills involved in human body flight is proposed. Body flight is the art of maneuvering during the free fall stage of skydiving. The key idea is gradually constructing the movement patterns which are the combinations of body degrees-of-freedom that are activated synchronously and proportionally as a single unit, and turning this process into a coaching strategy. The proposed method is iterative: at each skill level an optimal movement pattern is constructed from the basic elements of the current movement repertoire. The free-fall maneuvers of each learning stage can be executed using any one of the basic elements. The construction has two stages: 1. tracking the desired maneuver while the body is actuated by each one of the basic patterns; 2. finding an optimal combination of these patterns to form a new way of body actuation. This hierarchical design resolves stage 2 by Reinforcement Learning with pure exploration and a minimal number of episodes. The method was tested in a Skydiver Simulator and resulted in deriving a movement pattern that showed a superior performance of the studied maneuver. The states and the reward of the Reinforcement Learning algorithm were converted into motor learning aids.
The problem of an autonomous agent moving on a planar surface, such as an aerial drone or a small naval vessel can be treated as navigation between a series of points. While nominally the movement between each pair of...
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The problem of an autonomous agent moving on a planar surface, such as an aerial drone or a small naval vessel can be treated as navigation between a series of points. While nominally the movement between each pair of points can be treated as a 1D projection of the movement on the vector connecting the two points, in the presence of arbitrary constant disturbance the full problem on a plane must be considered. The minimum-time optimal solution is now dependent on the value and direction of the disturbance, which naturally affects the completion of the movement task. In this work, we address the problem of minimum time movement on a 2D plane with quadratic drag, under norm state (velocity), and norm control (acceleration) constraints. The structure and properties of the optimal solution of this nonlinear problem are found and analyzed. The Pontryagin Maximum Principle (PMP) with control and state constraints is utilized. Simulations encouraging the results are presented and compared with those of the academic open-source optimal control solver Falcon.m.
The problem of a planar vehicle moving on a surface, such as an aerial drone or small naval vessel can be treated as series of trajectory planning problems between way-points. While nominally the movement between each...
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The problem of a planar vehicle moving on a surface, such as an aerial drone or small naval vessel can be treated as series of trajectory planning problems between way-points. While nominally the movement between each two four dimensional points (positions and velocities) can be treated as an 1D projection of the movement on the vector connecting the two points, in the presence of arbitrary disturbance, the full problem on a plane must be considered. The combined minimum-time-energy optimal solution is now dependent on the value and direction of the disturbance, which naturally affects the structure and completion of the movement task. In this work, we address the minimum time-energy problem of a movement on a 2D plane with quadratic drag, under norm state (velocity), and norm control (acceleration) constraints. The structure and properties of the optimal solution are found and analyzed. The Pontryagin Maximum Principle (PMP) with control and state constraints is utilized. Simulations supporting the results are provided and compared with those of the open-source academic optimal control solver Falcon.m .
By bonding micron-thin polymer layers with an electrically conductive layer, we can utilize the bi-metal effect to create a soft, thin, electrically-activated thermal actuator (ETA), which can be used in printed soft ...
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This paper presents a linear matrix inequality based algorithm for computation of polyhedral positive invari- ant sets for linear discrete-time systems subject to bounded state and input constraints. While the main al...
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