This paper provides a complete solution for landing a quadrotor Unmanned Aerial Vehicle (UAV) on an Unmanned Ground Vehicle (UGV) in the outdoor environment. An image-based visual servo control law and a GPS-based nav...
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ISBN:
(纸本)9781509023974
This paper provides a complete solution for landing a quadrotor Unmanned Aerial Vehicle (UAV) on an Unmanned Ground Vehicle (UGV) in the outdoor environment. An image-based visual servo control law and a GPS-based navigation method are proposed, and the former method acquires the visual feedback from the camera attached to the quadrotor, while the latter strategy is used when the visual feedback is absent. For achieving more precise and stable performance in visually guided landing process, we design a specific landing marker that can provide different features as the distance between the quadrotor and landing target changes. Meanwhile, the corresponding detection and recognition algorithms are raised. Finally, a simulation experiment is carried out to validate the proposed vision algorithms and control strategies.
This paper introduces an attitude updating method based on a new structure of gyroscope-free inertial navigation system(GFINS), in which the angular accelerometers are used to take the place of gyroscopes. For this ne...
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ISBN:
(纸本)9781509041039
This paper introduces an attitude updating method based on a new structure of gyroscope-free inertial navigation system(GFINS), in which the angular accelerometers are used to take the place of gyroscopes. For this new structure of GFINS, a new mathematical model is developed to determine the general three-dimensional motion of body segments. The mathematical model is mainly based on the direction cosine matrix. A second-order differential equation which is represented by angular acceleration should be calculated to solve this problem using the fourth order Runge-Kutta method combining with the interpolation method. Furthermore, the final result of this approach is shown by applying the mathematical model to some simulation data generated by the trajectory generator. The simulation results indicate that the mathematical model has a good performance.
The state council calls for accelerating the development of science and technology service industry. To improve deficient information of existing domestic arts equipment website, this paper describes a system for the ...
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The state council calls for accelerating the development of science and technology service industry. To improve deficient information of existing domestic arts equipment website, this paper describes a system for the analysis of the relevant integrated Information Service system which is basic and essential. This paper outlines the functions carried out by Ajax engine technology and Apache + PHP + MYSQL built on B/S structure. Emphasis is placed on the construction of a criterion function by which the information service system in achieving the effect of transmission between the front-end interface and information retrieval about performing arts equipment with the server database. In addition, we also further discuss how to optimize and maintain this system.
Aim at a common situation that control Equipment of Stage Visual-Effect has been heavy, this paper proposes Stage Visual-Effect Equipment controlsystem consisting of a mobile terminal based on Android. The system is ...
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Aim at a common situation that control Equipment of Stage Visual-Effect has been heavy, this paper proposes Stage Visual-Effect Equipment controlsystem consisting of a mobile terminal based on Android. The system is a C/S structure. The system satisfies basic and major functions. An android terminal can debug and control those stage visual-effect equipment, supervise programs. It communicates with a PC through the socket in the wireless network(LAN) cover.
The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic w...
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ISBN:
(纸本)9781509006243
The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is with uncertainties, namely the uncertain MWTA (UMWTA) problem, and is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the assumption that each element of the kill probability matrix follows four different probability distributions. In order to tackle the two challenges, i.e., multi-objective and the uncertainty, the multi-objective evolutionary algorithm based on decomposition with adaptive weight adjustment (MOEA/D-AWA) and the Max-Min robust operator are adopted to solve the problem efficiently. Then comparison studies between the MOEA/D-AWA and a single objective solver used for a relaxed formulation on solving both certain and uncertain instances of two different scaled MWTA problems which include four uncertain scenarios are conducted. Numerical results show that MOEA/D-AWA outperforms the single objective solver on solving both certain and uncertain multi-objective MWTA problems discussed in this paper. Comparisons between the results of the certain and uncertain formulation also indicate the necessity of the robust formulation of practical problems.
A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navi...
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A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.
This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to ob...
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ISBN:
(纸本)9781509023974
This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.
In this paper, we propose an approach based on the use of artificial fish swarm algorithm (AFSA) for solving the problem of multicast routing on application layer. Taking delay, stretch, and degree as three optimizati...
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ISBN:
(纸本)9781509040940
In this paper, we propose an approach based on the use of artificial fish swarm algorithm (AFSA) for solving the problem of multicast routing on application layer. Taking delay, stretch, and degree as three optimization objectives, we design the behaviors of artificial fish individual (AF), i.e. moving randomly, preying, following, and use Pareto ranking to evaluate the fitness of AF. The simulation results show that the proposed algorithm is an appropriate method to explore the search space of the complex problem and leads to good solutions in a reasonable amount of time.
A comparative study of two over-constrained 2-RPU+SPR parallel manipulators (PM) is studied in terms of workspace and transmission performance in this paper. The two 2-RPU+SPR PMs have identical kinematics limbs, but ...
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ISBN:
(纸本)9781467384155
A comparative study of two over-constrained 2-RPU+SPR parallel manipulators (PM) is studied in terms of workspace and transmission performance in this paper. The two 2-RPU+SPR PMs have identical kinematics limbs, but some differences exist in terms of the joints distribution. The kinematics, the workspace and the transmission performance are studied and simulation examples are presented to demonstrate the differences between the two PMs. This study provides insights into the two parallel manipulators with identical limbs but with different joints distribution.
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