In recent years there have been intensive efforts in robotics researches from the earliest stages of education. Subject of this paper is a powerful mobile robot communication and control framework for USARSim simulato...
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In recent years there have been intensive efforts in robotics researches from the earliest stages of education. Subject of this paper is a powerful mobile robot communication and control framework for USARSim simulator that can be used both for research and education. Mobile Robots Communication and control Framework (MCCF) is developed in order to offer faster and easier communication process with the USARSim server within Matlab that differentiates it from most existing basic open source control interfaces. Most notably, it takes the advantages of easy integration with other analysis and control methods that have been provided in Matlab tool-boxes. MCCF enables communication and control of a wide range of robots platforms including but not limited to wheeled-robots, legged-robots, submarine robots and aerial robots. In this paper we describe its general architecture, features and examples of utilization for researchers who are interested in mobile robot simulations for education and research.
Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the e...
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Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the execution order constraints,and the dynamic environment *** address it,a coordinated dynamic mission planning scheme is proposed utilizing the method of the weighted AND/OR tree and the *** the scheme,the mission is decomposed into a time-constraint weighted AND/OR tree,which is converted into an AOE-Network for mission ***,a dynamic planning algorithm is designed which uses task subcontracting and dynamic re-decomposition to coordinate *** scheme can reduce the task complexity and its execution time by implementing real-time dynamic *** simulation proves the effectiveness of this approach.
The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S(GIS,RS and GPS;Geograph...
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The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S(GIS,RS and GPS;Geographic Information System,Remote Sensing,and Global Positioning System),computer,mathematics,communication,and their application in
Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic e...
Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.
＜正＞Agriculture is essentially important as the earth has to support the huge population and to promote sustainable *** technology plays an important role for the development of advanced modern *** modern agricultur...
＜正＞Agriculture is essentially important as the earth has to support the huge population and to promote sustainable *** technology plays an important role for the development of advanced modern *** modern agriculture already said goodbye to the slash-and-bum cultivation,the self-sufficient age,with the development of information technologies such as 3S,
It is known that bipedal robots with passive compliant structures have obvious advantages over stiff robots, as they are able to handle the potential energy management. Therefore, this paper is aimed at presenting a j...
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It is known that bipedal robots with passive compliant structures have obvious advantages over stiff robots, as they are able to handle the potential energy management. Therefore, this paper is aimed at presenting a jumping pattern generation method that takes advantage of this property via the utilization of the base resonance frequency, which is of special importance. To begin with, the resonance frequency is determined through a system identification procedure on our actual robot. Consequentially, the vertical component of the CoM is generated via a periodic function in which the resonance frequency is employed. The horizontal component of the CoM is obtained using the ZMP criterion to guarantee the dynamic balance. Having obtained the necessary elements of the CoM trajectory within an analytical manner, joint motions are computed with the help of translational and angular momenta constraints. In order to validate the method, two legged jumping experiments are conducted on our actual compliant robot. In conclusion, we observed repetitive, continuous, and dynamically equilibrated jumping cycles with feasible landing phases.
Recently several multi-frequency imaging techniques have been proposed that have opened up a multitude of information channels to probe surface properties in atomic force microscopy (AFM). However, the dynamics involv...
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Recently several multi-frequency imaging techniques have been proposed that have opened up a multitude of information channels to probe surface properties in atomic force microscopy (AFM). However, the dynamics involved are significantly more complicated than in the traditional AFM modes, and hence quantitative multi-frequency AFM (MF- AFM) remains a key challenge. In this paper, we introduce custom-made micro-cantilevers with integrated actuators and a systems-theoretic modeling framework for MF-AFM, which together provide powerful experimental and theoretical tools for quantitative measurement of tip-sample interaction forces and sample properties.
This paper is concerned with leader-follower synchronization of complex dynamical networks with sampled-data control. By sampling the signal from the leader at some discrete time instants and using a zero-order hold f...
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This paper is concerned with leader-follower synchronization of complex dynamical networks with sampled-data control. By sampling the signal from the leader at some discrete time instants and using a zero-order hold f...
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ISBN:
(纸本)9781467325813
This paper is concerned with leader-follower synchronization of complex dynamical networks with sampled-data control. By sampling the signal from the leader at some discrete time instants and using a zero-order hold function, synchronization is achieved between the network and a desired orbit, known as the leader. By applying Lyapunov functional approach and the property of the network topology matrix, a delay-dependent criterion is derived. It is shown that synchronization of N coupled dynamical systems with a leader can be recast into the stability of N decoupled systems, in which eigenvalues of the network topology matrix are involved. Finally, a chaotic neural network is used to illustrate the effectiveness of the proposed method.
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