A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a...
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A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The validity of the proposed method is demonstrated by experiments in different typical environments. Furthermore, two typical localization-related applications, including active global localization and pose tracking, are presented for illustrating the effectiveness of the proposed localizability estimation method.
Because of the complexity of shaped surface structure of those critical high performance work pieces of high-end equipment, the requirement of those work pieces is very high. The main requirement of these parts is abo...
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In order to handle the model uncertainty and the external disturbance, a robust attitude control method for helicopter robots is proposed in this paper. Unscented Kalman Filter (UKF) and backstepping technique are ado...
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ISBN:
(纸本)9781467313971
In order to handle the model uncertainty and the external disturbance, a robust attitude control method for helicopter robots is proposed in this paper. Unscented Kalman Filter (UKF) and backstepping technique are adopted in the attitude control design. Model-based backstepping control is presented to keep the desired helicopter attitude. UKF is employed for online estimation of both motion states and model errors of the helicopter. Such estimation results are further incorporated into the controller of helicopter. The backstepping control enhanced by real time model errors feedback can achieve a robust tracking performance even with the occurrence of external disturbance. Simulations conducted on the helicopter illustrate the effectiveness of the proposed attitude control.
In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control...
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In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control agents, which can move from device to device in a network. The system can reconfigure and replace these agents according to inconstant states of traffic environment and performances of agents. By this way, demand-based control is realized in traffic signal control system. Then we described the details and key technologies in the procession of agent-generation, agent-storage and agent-usage. At last, a prototype of the system is developed and basic functions of this system are tested by simulations. These simulations also confirm extensibility and effectiveness of the system.
A visual monitoring network suitable for robotic systems is presented in this paper. The monitoring network is composed of embedded vision nodes. By interacting with an upper computer as well as the robotic system, th...
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To further enhance emergency management skills of an organisation's emergency response personnel, emergency response training,especially 3D emergency drill, is currently becoming more and more important in the pet...
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In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic...
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In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition, we utilize genetic algorithm (GA) to optimize the controller parameters for obtaining better stabilization performance. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.
Currently, unmanned aerial vehicles (UAVs) are applied to routine inspection tasks of electric distribution networks. As an important information source, machine vision attracts much attention in the area of the UAV&#...
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ISBN:
(纸本)9781467316439
Currently, unmanned aerial vehicles (UAVs) are applied to routine inspection tasks of electric distribution networks. As an important information source, machine vision attracts much attention in the area of the UAV's autonomous control. To this end, real-time algorithms are studied-in this paper to detect the power lines in the UAV video images. First, video images are converted into binary images through an adaptive thresholding approach. Then, Hough Transform is used to detect line candidates in the binary images. Finally, a fuzzy C- means (FCM) clustering algorithm is used to discriminate the power lines from the detected line candidates. The properties of power lines are used to remove the spurious lines, and the length and slope of the detected lines are used as features to establish the clustering data set. Experimental results show that the algorithms proposed are effective and able to tolerate noises from complicated terrain background and various illuminations.
The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equ...
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The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction.
With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in...
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With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in global marketplace. This paper presents the development of profit optimization solution with an integration of profit model and model-based genetic algorithm (GA) optimization, and its industrial case study on an ethanolamine (EA) production line. The proposed methodology and solution may also be applied to other chemical manufacturing enterprises.
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