An integrated simulation system is proposed in the paper,which considers the universal runtime platform environment,the resource management mechanism,and the aerospace oriented model software *** platform is compatibl...
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ISBN:
(纸本)9781509009107
An integrated simulation system is proposed in the paper,which considers the universal runtime platform environment,the resource management mechanism,and the aerospace oriented model software *** platform is compatible with the HLA protocol and support both synchronous and asynchronous modes for data *** simulation execution is established on the specifically formulated scenarios,which provides flexibilities in customizing the organization of the simulation *** resource framework is designed by combining the characteristics of both aerospace engineering and software engineering,and the modeling objects are expanded from the entities of satellites,sub-systems and equipments,to the non-entity relationships of the system *** the developed model database and management software,the simulation can be applied either in the visible and non-programming way,or in a secondary development way with ***,the proposed system is user-friendly to engineers with various disciplinary backgrounds.
The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped r...
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ISBN:
(纸本)9781467374439
The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.
Accurate terrain estimation is essential for unmanned ground vehicle (UGV) to achieve autonomous navigation. However, some existing approaches are difficult to reconstruct the 3D surface in real-time because of seriou...
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ISBN:
(纸本)9781509041039
Accurate terrain estimation is essential for unmanned ground vehicle (UGV) to achieve autonomous navigation. However, some existing approaches are difficult to reconstruct the 3D surface in real-time because of serious amount of computation. A method of environmental terrain estimation based on multi-scale radial basis function with a 3D lidar mounted on a moving vehicle was proposed in this paper. By combining kernel template with terrain grid map, the approach is applicable to the non-uniform density distribution of laser point cloud with the increasing detection range and improves the efficiency of calculation. What's more, the estimation of culverts and trees will be more accurate if treat the point cloud in separate layers for suspended obstacles problem. All terrain estimation approaches were verified with good performance in an interactive system, which is set up with Virtual Robot Experimentation Platform (VREP) and actual vehicle.
In the field of target tracking and navigation,multi-sensor data fusion has been widely *** of the data fusion algorithms are built on the premise that the sensor observation information is ***,in practical problems,d...
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ISBN:
(纸本)9781509009107
In the field of target tracking and navigation,multi-sensor data fusion has been widely *** of the data fusion algorithms are built on the premise that the sensor observation information is ***,in practical problems,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen *** addition,at present a lot of research is aimed at the situation where measurement noise between various sensors is not relevant,and process noise and measurement noise is *** correlation is more *** this paper,a multi-rate multi-sensor data fusion state estimation algorithm with unreliable observations under correlated noises is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.
At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selec...
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Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site...
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ISBN:
(纸本)9781467374439
Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.
This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established i...
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ISBN:
(纸本)9781467374439
This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established in the *** component library contains different types of system components which may be essential for controller *** components can be selected from the library and then combined to form a controller with richer *** performance criteria library includes some common control performance *** can choose one from it according to performance ***,the differential evolution algorithm is utilized to optimize the parameters of each component in order to find the optimal solution and ultimately obtain the controller structure and parameters which meet *** were done on different types of control *** results show that the controllers designed by the proposed method for different types of control objects generally have better comprehensive performance than the PID controllers designed by conventional methods,differential evolution and genetic ***,stability and generalizability of the proposed method were also tested and verified.
The state estimation problem for hidden Markov models subject to event-based sensor measurement updates is considered in this work, using the change of probability approach. We assume the measurement updates are trans...
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This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs....
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In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all t...
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ISBN:
(纸本)9781467386838
In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.
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