This paper proposes a Dead-reckoning (DR) method for vehicles using Lie theory. This approach treats the pose (position and attitude) and velocity of the vehicle as elements of the Lie group SE 2 (3) and follows compu...
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ISBN:
(数字)9788993215380
ISBN:
(纸本)9798331517939
This paper proposes a Dead-reckoning (DR) method for vehicles using Lie theory. This approach treats the pose (position and attitude) and velocity of the vehicle as elements of the Lie group SE
2
(3) and follows computations based on Lie theory. Previously widely used DR methods suffer from cumulative errors over time due to inaccuracies in the calculated changes from velocity during the motion of the vehicle or small errors in modeling assumptions. By treating the pose and velocity of the vehicle as elements of the Lie group, the proposed method allows for accurate solutions without errors introduced by linearization. Experimental results confirm that the proposed method improves the accuracy of DR, particularly as the motion prediction time interval of the vehicle increases.
Gray mold, powdery mildew and tip burn are common diseases on strawberries, directly or indirectly affecting annual strawberry yield. Due to the serious damage caused by these diseases, the identification to control t...
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Location Detection Technology (LDT), which accurately estimates the location of a mobile station (MS), is one of core techniques for the modern communication system. Among various LDTs, Time of arrival (TOA) and Time ...
Location Detection Technology (LDT), which accurately estimates the location of a mobile station (MS), is one of core techniques for the modern communication system. Among various LDTs, Time of arrival (TOA) and Time Difference of Arrival (TDOA) are the most commonly employed method, which calculates the location of MS based on at least three signals from base stations (BSs). In the urban environment, many repeaters have been installed for overcoming the radio shadow area problem of a receiver, but they cause the serious errors of the location estimation when we utilize signals passed through repeaters. In order to enhance this problem, in this paper, we introduce the combined location estimation approach with TDOA and TOA considering the repeater, based on signals from two repeaters and one BS.
Detecting the location of high-speed moving objects is a critical issue in various fields including the medical, emergence service, aerospace, defense areas, etc. In general, Time Difference of Arrival (TDOA) and Freq...
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ISBN:
(数字)9798350373332
ISBN:
(纸本)9798350373349
Detecting the location of high-speed moving objects is a critical issue in various fields including the medical, emergence service, aerospace, defense areas, etc. In general, Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) techniques are primarily used for estimating the location of a moving object. Although these techniques provide excellent estimation performance for the stationary or low speed moving object, they may have significant location estimation errors for the high-speed object moving. In order to improve this problem, this paper introduces the combined localization method based on TDOA and FDOA for estimating the location of high-speed moving objects efficiently.
This paper presents trajectory following of a 6 degrees of freedom (DOFs) underwater vehicle using a robust generalized super-twisting algorithm (GSTA)-based sliding mode controller (SMC) (GSTA-SMC). A Lyapunov stabil...
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ISBN:
(数字)9788993215380
ISBN:
(纸本)9798331517939
This paper presents trajectory following of a 6 degrees of freedom (DOFs) underwater vehicle using a robust generalized super-twisting algorithm (GSTA)-based sliding mode controller (SMC) (GSTA-SMC). A Lyapunov stability analysis framework was applied to verify the finite-time convergence of the system trajectories to the sliding manifold. Numerical simulations, both with and without the presence of external disturbances, were conducted using MATLAB/Simulink software. The tracking and chattering effect suppressing capabilities of the proposed controller were compared with the standard super-twisting algorithm (STA)-based sliding mode controller (STA-SMC). The simulation results demonstrated the effectiveness and the robustness of the proposed control method.
Volumetric muscle loss(VML)frequently results from traumatic incidents and can lead to severe functional *** have been widely employed for VML tissue regeneration,which are unfortunately ineffective because of the lac...
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Volumetric muscle loss(VML)frequently results from traumatic incidents and can lead to severe functional *** have been widely employed for VML tissue regeneration,which are unfortunately ineffective because of the lack of intimate contact with injured tissue for structural and mechanical *** hydrogels allow for strong tissue connections for wound ***,conventional adhesive hydrogels exhibit poor tissue adhesion in moist,bleeding wounds due to the hydration layer at the tissue–hydrogel interfaces,resulting in insufficient *** this study,we developed a novel,biocompatible,wet tissue adhesive powder hydrogel consisting of dextran-aldehyde(dex-ald)and gelatin for the regeneration of *** powder absorbs the interfacial tissue fluid and buffer solution on the tissue,spontaneously forms a hydrogel,and strongly adheres to the tissue via various molecular interactions,including the Schiff base *** particular,the powder composition with a 1:4 ratio of dex-ald to gelatin exhibited optimal characteristics with an appropriate gelation time(258 s),strong tissue adhesion(14.5 kPa),and ***-ald/gelatin powder hydrogels presented strong adhesion to various organs and excellent hemostasis compared to other wet hydrogels and fibrin glue.A mouse VML injury model revealed that the dex-ald/gelatin powder hydrogel significantly improved muscle regeneration,reduced fibrosis,enhanced vascularization,and decreased ***,our wet-adhesive powder hydrogel can serve as an effective platform for repairing various tissues,including the heart,muscle,and nerve tissues.
Dysfunctional blood vessels are implicated in various diseases,including cardiovascular diseases,neurodegenerative diseases,and *** studies have attempted to prevent and treat vascular diseases and understand interact...
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Dysfunctional blood vessels are implicated in various diseases,including cardiovascular diseases,neurodegenerative diseases,and *** studies have attempted to prevent and treat vascular diseases and understand interactions between these diseases and blood vessels across different organs and *** studies were conducted using 2-dimensional(2D)in vitro and animal ***,these models have difficulties in mimicking the 3D microenvironment in human,simulating kinetics related to cell activities,and replicating human pathophysiology;in addition,3D models involve remarkably high ***,in vitro bioengineered models(BMs)have recently gained *** created through biofabrication based on tissue engineering and regenerative medicine are breakthrough models that can overcome limitations of 2D and animal *** can also simulate the natural microenvironment in a patient-and target-specific *** this review,we will introduce 3D bioprinting methods for fabricating bioengineered blood vessel models,which can serve as the basis for treating and preventing various vascular ***,we will describe possible advancements from tubular to vascular ***,we will discuss specific applications,limitations,and future perspectives of fabricated BMs.
The genus Streptomyces is one of the primary sources of valuable compounds,such as anticancer and antibacterial ***,their application in controlling soil-borne fungal pathogens is *** this study,we screened 39 Strepto...
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The genus Streptomyces is one of the primary sources of valuable compounds,such as anticancer and antibacterial ***,their application in controlling soil-borne fungal pathogens is *** this study,we screened 39 Streptomyces isolates against fungal phytopathogens,including 4 species of Sclerotinia,3 species of Rhizoctonia,Fusarium,and the bacterial pathogens Clavibacter michiganensis and Ralstonia solanacearum,using a dual-culture assay.
The control of large-scale dynamic systems, such as field robots, requires a more modular and scalable approach than traditional control theory. Recently, we designed modular supervisory controllers for field robots i...
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The control of large-scale dynamic systems, such as field robots, requires a more modular and scalable approach than traditional control theory. Recently, we designed modular supervisory controllers for field robots in agricultural applications based on a hybrid system that combines continuous-time and discrete-event systems. We verified that the developed hybrid system could control field robots and observe all the events while meeting the behavioral specifications. In contrast, all possible events cannot be monitored by a supervisor in a real-field robot system because of the presence of sensors, noise, disturbances, and failure. Therefore, in this study, we expanded the modular supervisor presented in previous studies by considering partial observations. Specifically, we proposed a process for designing an appropriate modular supervisor by considering the observability. The experimental results demonstrated that only observable events could cause state changes, verified by dynamic simulations representing a natural field environment. The effects of the proposed hybrid system-based modeling and control methodology are discussed in light of our systematic results. (c) 2021 Elsevier Inc. All rights reserved.
Drones are widely used in industries because drones perform tasks in various environments. Drones are highly utilized because drones are not affected by ground conditions. Estimating the position of the drone is impor...
Drones are widely used in industries because drones perform tasks in various environments. Drones are highly utilized because drones are not affected by ground conditions. Estimating the position of the drone is important for the successful completion of the missions that are assigned to the drone. In wireless communication environments, data missing often occurs between the anchors serve as the transmitter and the drone-attached tag serves as the receiver. In this paper, we propose a localization algorithm that can accurately estimate the location of the drone in the case of data missing. The proposed algorithm can estimate the position of the drone using the residuals of the predicted measurements in the case of data missing. The proposed algorithm aimed to estimate the position of the drone in the case of data missing using distance information between the anchors and the drone-attached tag and verified the performance of the proposed algorithm through simulation.
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