This paper addresses the problem of underwater navigation of autonomous underwater vehicles via a Monte Carlo estimation approach that relies on the use of a prior digital elevation map of the seabed and bathymteric d...
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ISBN:
(纸本)9781665427883
This paper addresses the problem of underwater navigation of autonomous underwater vehicles via a Monte Carlo estimation approach that relies on the use of a prior digital elevation map of the seabed and bathymteric data acquired with a Multibeam Echosounder. The Monte Carlo estimation procedure is implemented in the form of a particle filter, as part of a multi-sensor fusion framework for underwater geophysical navigation. The contribution of this paper focuses on two main topics: i) development of a particle filter as a solution to a terrain-based Bayesian vehicle positioning problem, followed by filter implementation and simulation and ii) integration of the particle filter structure in a multi-sensor fusion architecture for vehicle navigation with a view to increasing navigation accuracy. The results of realistic simulations with a dedicated marine robotics system simulator illustrate the navigation performance achieved with the proposed solution.
The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that refl...
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The effectiveness of the ellipsoid representation for geometrical reasoning is demonstrated in the context of robotics. Specifically, a robot collision-detection problem that consists of computing a quantity that reflects, as a function of the geometrical data, the amount of clearance between the robot and its environment is discussed. The method consists of two algorithms. The first computes the optimal ellipsoid surrounding a convex polyhedron. The second computes an analytic formula for the free margin about one ellipsoid with respect to another, as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is proposed. This system has been implemented, and preliminary simulation results are provided.< >
This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremen...
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Average-consensus protocol is one of the ways to develop distributed time-synchronization algorithms in Internet of Things (IoT) networks. However, the large number of iteration leads to a common time notion issue in ...
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Water-air trans-media navigators have multi-media motion modes, breaking through the limitation that traditional robots can only operate in a single medium. Autonomous navigation is an indispensable component of the p...
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Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, espec...
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ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, especially when it comes to climbing obstacles. This paper introduces an adaptive pneumatic soft robot designed based on snake-like locomotion, which effectively addresses this issue. The robot utilizes four corrugated tubes as its soft actuators, complemented by silicone-made feet with bidirectional friction anisotropy, enabling it to adapt to various terrains and exhibit climbing capabilities. Experiments demonstrate that the robot can traverse different surfaces such as sand, gravel, and slopes, and can climb obstacles up to 20 centimeters high. Additionally, it features a self-regulation mechanism that allows it to recover from accidental overturns. This study presents a soft robot design with multi-terrain adaptability and self-recovery capabilities.
Dear Editor,This letter deals with a solution for time-varying problems using an intelligent computational(IC)algorithm driven by a novel decentralized machine learning approach called isomerism *** order to meet the ...
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Dear Editor,This letter deals with a solution for time-varying problems using an intelligent computational(IC)algorithm driven by a novel decentralized machine learning approach called isomerism *** order to meet the challenges of the model’s privacy and security brought by traditional centralized learning models,a private permissioned blockchain is utilized to decentralize the model in order to achieve an effective coordination,thereby ensuring the credibility of the overall model without exposing the specific parameters and solution process.
Social navigation datasets are necessary to assess social navigation algorithms and train machine learning algorithms. Most of the currently available datasets target pedestrians’ movements as a pattern to be replica...
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Soft robotics has significantly impacted many fields in the last decades. However, their current fabrication methodologies are limited by the assemble complexity, limited materials, or long duration. A monolithic ther...
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ISBN:
(纸本)9781665481106
Soft robotics has significantly impacted many fields in the last decades. However, their current fabrication methodologies are limited by the assemble complexity, limited materials, or long duration. A monolithic thermal casting method for fabrication of elastomer and soft robotics based on thermoset polymer is introduced. In this work, we used simple heating cores to manufacture elastomers and soft actuators. By controlling the heating current and duration, we can adjust the thermal field and consequently change the configuration of the generated elastomer. Due to its short duration (several minutes), this method can benefit the mass production of soft robots for high efficiency. Also, this work offers a new way to design soft robotics without complex molds.
Game environments provide a good domain for serious simulations such as those used in training navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and th...
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Game environments provide a good domain for serious simulations such as those used in training navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their realtime response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results
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