Many applications of mobile robotics necessitate the safe execution of a collision-free motion to a defined place. Real-time obstacle avoidance strategies enable reactive motion in dynamic and unpredictable situations...
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Many applications of mobile robotics necessitate the safe execution of a collision-free motion to a defined place. Real-time obstacle avoidance strategies enable reactive motion in dynamic and unpredictable situations, whereas planning approaches are best suited for achieving a goal position in known static environments. A ROS-based approach is presented to address the challenge of robot SLAM, which has been used in real-time applications to map the environment, localize the robot within the environment, plan paths, and avoid obstacles. It is demonstrated that all navigation modules can coexist and work together to reach the destination without colliding with static and dynamic obstacles. This paper provides a platform for guiding a mobile robot in a real-world environment autonomously for different waypoints while avoiding static and dynamic obstacles using the Graphical User Interface (GUI). The developed GUI-based navigation simplifies the complex ROS navigation system control to an easy user-friendly interface so that anyone can control the mobile robot platform. Our results were validated at Chosun University in South Korea, through the experimental test in an indoor environment.
Robotics has been hailed as a solution for repetitive, tedious, and dangerous physical activities. One such activity which has a need for robotics is Vehicle Refuelling. Automatic Vehicle Refuelling systems have been ...
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This paper presents a method which detects faults in the measurement required for navigation of an unmanned surface vehicle. The measurement includes acceleration and angular rate by an inertial measurement unit (IMU)...
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This paper presents a method which detects faults in the measurement required for navigation of an unmanned surface vehicle. The measurement includes acceleration and angular rate by an inertial measurement unit (IMU), and the location by global navigation satellite system (GNSS). The method uses Kalman filter to estimate the state variables which represent the amount of faulty measurements. The method is tested by the experiment in which a boat equipped by commercial IMU and GNSS navigates in a sea trial. The result verifies that faults in acceleration and angular rate measurements are detected robustly and the GNSS position fault is detected when there is considerable location error.
Wireless electroencephalography (EEG) systems have been attracting increasing attention in recent times. Both the number of articles discussing wireless EEG and their proportion relative to general EEG publications ha...
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We sought to revolutionize the classification of Attention-Deficit/Hyperactivity Disorder (ADHD) by pioneering an innovative approach that seamlessly integrated auditory and visual tests with electroencephalogram (EEG...
We sought to revolutionize the classification of Attention-Deficit/Hyperactivity Disorder (ADHD) by pioneering an innovative approach that seamlessly integrated auditory and visual tests with electroencephalogram (EEG) coherence analysis, forming the foundation for our Support Vector Machine (SVM) models. Our primary objective was to achieve precise differentiation between individuals with ADHD and those without, aiming to reshape the landscape of ADHD diagnosis and early intervention. We constructed an SVM model based on CATA coherence, incorporating a carefully selected set of 180 features, and another grounded in CPT coherence with 70 features. Astonishingly, our exploration uncovered that a model incorporating CATA's coherence and Power Spectral Density (PSD) as features achieved an astounding accuracy rate of 97.7%, using only half the number of features. This revelation hints at untapped potential for multivariate advancements in the realm of ADHD classification. The landscape of ADHD diagnosis and intervention is perpetually evolving, most notably with the FDA's approval of game therapy for ADHD. Leveraging the transformative power of our findings, we envision the development of user-friendly game therapies for in-home use, empowering both clinicians and parents alike. This marks a paradigm shift in the realm of ADHD intervention, offering objective, data-driven tools for the early management of ADHD. Gamified therapy not only enhances accessibility but also fosters engagement and compliance, all of which are pivotal in the long-term care of individuals with ADHD. In summary, our study represents a significant advancement in our comprehension and classification of ADHD. By fusing auditory and visual tests with EEG coherence analysis, fortified by state-of-the-art machine learning techniques, we have achieved an unprecedented level of accuracy in identifying individuals with ADHD. Our findings, aligned with the FDA-approved game therapy, offer a glimpse into a
In this paper a different view on the classical Terminal Sliding Mode (TSM) control is presented. The backstepping procedure is used to synthesize a new TSM-like control law for the second and third order integrator c...
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ISBN:
(数字)9781728171401
ISBN:
(纸本)9781728171418
In this paper a different view on the classical Terminal Sliding Mode (TSM) control is presented. The backstepping procedure is used to synthesize a new TSM-like control law for the second and third order integrator chain. A strict Lyapunov function (LF) for the entire closed loop dynamics is given naturally by design. Further, it is shown, under a certain choice of parameters, that the LF is valid for the classical TSM control law, as well. Finite-time convergence of all states to the origin is proven for both control algorithms using this LF. Finally, the new TSM-like control law is validated in simulations for the third order case.
Generative Diffusion Models (GDMs) have emerged as a transformative force in the realm of Generative Artificial Intelligence (GenAI), demonstrating their versatility and efficacy across various applications. The abili...
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Environmental pollution is escalating due to rapid global development that often prioritizes human needs over planetary *** global efforts to mitigate legacy pollutants,the continuous introduction of new substances re...
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Environmental pollution is escalating due to rapid global development that often prioritizes human needs over planetary *** global efforts to mitigate legacy pollutants,the continuous introduction of new substances remains a major threat to both people and the *** response,global initiatives are focusing on risk assessment and regulation of emerging contaminants,as demonstrated by the ongoing efforts to establish the UN’s Intergovernmental Science-Policy Panel on Chemicals,Waste,and Pollution *** review identifies the sources and impacts of emerging contaminants on planetary health,emphasizing the importance of adopting a One Health *** for monitoring and addressing these pollutants are discussed,underscoring the need for robust and socially equitable environmental policies at both regional and international *** actions are needed to transition toward sustainable pollution management practices to safeguard our planet for future generations.
This study aimed to integrate magnetic resonance imaging (MRI) and related somatosensory evoked potential (SSEP) features to assist in the diagnosis of spinal cord compression (SCC). MRI scans were graded from 0 to 3 ...
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