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Efficient local sampling for motion planning of a robotic manipulator 1

Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress

作者： Byrne, S. Naeem, W. Ferguson, R.S. Intelligent Systems and Control School of Electronics Electrical Engineering and Computer Science Queen's University of Belfast United Kingdom

ISBN: (数字)9783642325274

ISBN: (纸本)9783642325267

Most of the current motion planning algorithms for robotic manipulators are designed to work within the robot's configuration space using an offline global planning method. This restricts their usage to a priori known environments. Using Artificial Potential Fields (APFs) for local planning allows for real-time motion planning in unknown environments and are used successfully for point-mass robots. However, local minima are a well-documented problem associated with APFs. When APFs are applied to more complex robots, such as robotic manipulators, these local minima arise more frequently and they greatly reduce the effectiveness of the APF approach. This paper identifies one such local minima problem specifically related to robotic manipulators, the reach-around local minima, and presents a variant of the subgoal selection method, based on local sampling of the configuration space, to solve it. Simulation results are presented for a number of scenarios demonstrating the efficacy of the proposed approach. © 2012 Springer-Verlag.

关键词： Motion planning

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Improved potential energy-shaping for port-controlled Hamiltonian systems

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控制理论与应用（英文版） 2012年第3期10卷 385-390页

作者： Liangcheng CAI Yong HE Min WU Jinhua SHE School of Information Science and Engineering Central South UniversityChangsha Hunan 410083China Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha Hunan 410083China School of the Computer Science Tokyo University of TechnologyTokyo 192-0982Japan

This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.

关键词： Port-controlled Hamiltonian （PCH） systems Improved potential energy-shaping （IPES） Asymptoticalstabilization

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Cylindrical particulate internal flows: A review

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机械工程前沿 2012年第4期7卷 385-393页

作者： Lizhong HUANG Xiang GAO Jianzhong LIN State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 China School of Computer Engineering and Science Shanghai UniversityShanghai 200072 China

The study of cylindrical particulate internal flows has wide industrial applicability hence received much attention. This article reviews the cylindrical particulate internal flows over the past twenty years. The research is related to the cylindrical particulate flows in the straight channel, curved channel and rotational channel. Finally, several open research issues have been identified.

关键词： cylindrical particulate flow internal flow

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ESICM LIVES 2016: part two

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Intensive Care Medicine Experimental 2016年第1期4卷 205-404页

作者： S. Sivakumar F. S. Taccone K. A. Desai C. Lazaridis M. Skarzynski M. Sekhon W. Henderson D. Griesdale L. Chapple A. Deane L. Williams R. Strickland K. Lange D. Heyland M. Chapman M. J. Rowland P. Garry J. Westbrook R. Corkill C. A. Antoniades K. T. Pattinson G. Fatania A. J. Strong R. B. Myers C. M. Jermaine C. S. Robertson C. G. Rusin J. Hofmeijer L. Sondag M. C. Tjepkema-Cloostermans A. Beishuizen F. H. Bosch M. J. A. M. van Putten L. Carteron C. Patet D. Solari M. Oddo M. A. Ali C. Dias R. Almeida A. Vaz-Ferreira J. Silva E. Monteiro A. Cerejo A. P. Rocha A. A. Elsayed A. M. Abougabal B. N. Beshey K. M. Alzahaby S. Pozzebon A. Blandino Ortiz S. Cristallini O. Lheureux A. Brasseur J. L. Vincent J. Creteur M. Hravnak K. Yousef Y. Chang E. Crago R. M. Friedlander S. A. Abdelmonem S. A. Tahon T. A. Helmy H. S. Meligy F. Puig I. Dunn-Siegrist J. Pugin S. Gupta D. Govil S. Srinivasan S. J. Patel J. K. N A. Gupta D. S. Tomar M. Shafi R. Harne D. P. Arora N. Talwar S. Mazumdar E. E. Papakrivou D. Makris E. Manoulakas B. Tsolaki B. Karadodas E. Zakynthinos I. Palacios Garcia A. Diaz Martin V. Sanchez Encinares M. Pachón Ibañez J. Garnacho Montero G. Labrador T. Cebrero Cangueiro V. Poulose J. Koh J. W. Kam H. Yeter A. Kara O. Aktepe A. Topeli I. Tsolakoglou G. Intas P. Stergiannis A. A. Kolaros E. Chalari E. Athanasiadou A. Martika G. Fildisis V. Faivre C. Mengelle B. Favier D. Payen A. Poppe M. S. Winkler E. Mudersbach J. Schreiber M. L. Wruck E. Schwedhelm S. Kluge C. Zöllner T. Tavladaki A. M. Spanaki H. Dimitriou E. Kondili C. Choulaki E. Meleti D. Kafetzopoulos D. Georgopoulos G. Briassoulis A. García-de la Torre M. V. de la Torre-Prados T. Tsvetanova-Spasova P. Nuevo-Ortega C. Rueda-Molina A. Fernández-Porcel E. Camara-Sola L. Salido-Díaz A. García-Alcántara D. E. Meleti B. Suberviola J. Riera L. Rellan M. Sanchez J. C. Robles E. Lopez R. Vicente E. Miñambres M. Santibañez M. Le Guen J. Moore N. Mason M. Windpassinger O. Plattner E. Mascha D. I. Sessler Outcomes Research U. Melia J. Fontanet J. P. van den Berg M. Baylor College of Medicine Neurology/Neurocritical Care Houston USA Erasmus Hospital Intensive Care Medicine Brussels Belgium Centre Hospitalier Régional Orléans Réaimation Médicale Orléans France University of British Columbia Vancouver Canada University of Adelaide Discipline of Acute Care Medicine Adelaide Australia Royal Adelaide Hospital Intensive Care Adelaide Australia Griffith University Menzies Health Institute of Queensland Gold Coast Australia University of Adelaide Discipline of Medicine Adelaide Australia Kingston General Hospital Clinical Evaluation Research Unit Kingston Canada University of Oxford Nuffield Department of Clinical Neurosciences Oxford UK Oxford University Hospitals NHS Foundation Trust Neurosciences Intensive Care Unit Oxford UK King’s College Hospital Department of Neurosurgery London UK King’ College London Institute of Psychiatry Psychology and Neuroscience Department of Clinical Neuroscience London UK Rice University Computer Science Houston USA Baylor College of Medicine Neurosurgery Houston USA Baylor College of Medicine Pediatric Cardiology Houston USA University of Twente Clinical Neurophysiology Enschede Netherlands Rijnstate Hospital Neurology Arnhem Netherlands Medical Spectrum Twente Clinical Neurophysiology Enschede Netherlands Medical Spectrum Twente Intensive Care Enschede Netherlands Rijnstate Hospital Intensive Care Arnhem Netherlands CHUV Department of Intensive Care Medicine Neuroscience Critical Care Research Group Lausanne Switzerland Aga Khan University Hospital Anaesthesiology Karachi Pakistan Centro Hospitalar São João Intensive Care Porto Portugal Faculty of Medicine University of Porto Medicine Porto Portugal Faculdade de Ciências Universidade do Porto Departamento de Matemática Porto Portugal Centro de Matemática Universidade do Porto Porto Portugal The Biomedical Research Networking Center in Bioengineering Biomaterials and Nanomedicine Zaragoza Spain Centro Hospitalar

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A molecular computing model for maximal clique problem using circular DNA length growth

A molecular computing model for maximal clique problem using...

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2012 International Conference on Measurement, Information and control, MIC 2012

作者： Yang, Jing Xu, Jin School of Control and Computer Engineering North China Electric Power University Beijing China School of Electronics Engineering and Computer Science Peking University Key Laboratory of High Confidence Software Technologies Beijing China

ISBN: (纸本)9781457716027

A novel DNA computing model based on circular DNA length growth (CDLG) is developed to solve a maximal clique problem (MCP) with n-vertices. The time complexity of biological operations required is O(n+m) (m is the number of edges of the complementary graph), and the space complexity is O(n+m). The main feature of this model is using circular single-stranded DNA (c-ssDNA) to implement the computation on the nano-scale. By the CDLG method, the target DNA molecules will grow in length just when they satisfy the conditions. To verify the algorithm, a small paradigm is calculated by the nano-scale DNA computing model. The computing achievement by circular DNA demonstrates the potential ability of DNA computing to solve NP-complete problems. © 2012 IEEE.

关键词： Computational complexity

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A new criteria on pth moment asymptotic stability on a class of neutral stochastic functional differential equations

A new criteria on pth moment asymptotic stability on a class...

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2012 IEEE International Conference on Information science and Technology, ICIST 2012

作者： Feng, Lizhu Shen, Yi Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China School of Mathematics and Computer Science Jianghan University Wuhan 430056 China

ISBN: (纸本)9781457703454

关键词： Stochastic systems

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Delay-dependent stabilization of uncertain distributed systems with interval time-varying delay 1

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19th International Conference on Neural Information Processing, ICONIP 2012

作者： Feng, Lizhu Shen, Yi Wang, Cheng Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China School of Mathematics and Computer Science Jianghan University Wuhan 430056 China

ISBN: (数字)9783642344817

ISBN: (纸本)9783642344800

This paper considers the problem of delay-dependent stabilization criterion for uncertain distributed systems with time-varying delay. The time-varying delay considered is assumed to belong to a given interval in which lower bound of delay is not restricted to zero. Through constructing a suitable Lyapunov-Krasovskii functional, the delay-dependent stabilization criterion is established in terms of linear matrix inequality which can be efficiently solved with available computational software. © 2012 Springer-Verlag.

关键词： Stabilization

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Suppression of functional system with Markovian switching 1

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19th International Conference on Neural Information Processing, ICONIP 2012

作者： Feng, Lizhu Shen, Yi Li, Zhuguo Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China School of Mathematics and Computer Science Jianghan University Wuhan 430056 China

ISBN: (数字)9783642344817

ISBN: (纸本)9783642344800

In this paper, we will investigate a class of functional system whose coefficient satisfies the local Lipschitz condition and the one-sided polynomial growth condition under Markovian switching. We introduce two appropriate intensity Brownian noise to perturb the system so as to suppress its potential explosion. © 2012 Springer-Verlag.

关键词： Stochastic systems

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Research on energy efficiency of embedded systems: A systematic mapping study

Research on energy efficiency of embedded systems: A systema...

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2012 International Conference on Advances in Mechanics Engineering, ICAME 2012

作者： Ahmad, Ehsan Dong, Yunwei Gu, Bin School of Computer Science Northwestern Polytechnical University Xi'an 710129 Shaanxi China Institute of Control Engineering Beijing 100190 China

ISBN: (纸本)9783037855287

The main object of this study is to systematically review existing research on energy efficiency of embedded systems in order to identify investigated aspects and needs for future research. We have conducted a systematic mapping study of the state-of-the-art on energy efficiency of embedded systems. 186 papers have been identified as primary studies from year 1994 to 2011 and classified by research focus, research type, and contribution type. 71% of the research papers are solutions proposals;power estimation is the most investigated aspect in terms of research focus (34%) and majority of the studies contributed in terms of methods. © (2012) Trans Tech Publications, Switzerland.

关键词： Energy efficiency

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A rule-based heuristic method for COLREGS-compliant collision avoidance for an unmanned surface vehicle

A rule-based heuristic method for COLREGS-compliant collisio...

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9th IFAC Conference on Manoeuvring and control of Marine Craft, MCMC 2012

作者： Campbell, S. Naeem, W. Energy Power and Intelligent Control School of Electronics Electrical Engineering and Computer Science Queen's University Belfast United Kingdom

ISBN: (纸本)9783902823601

With an increasing demand throughout industry for autonomous vehicles with more intelligent decision-making features, the issue of Unmanned Surface Vehicle (USV) navigation is addressed with respect to automatic obstacle avoidance. This Obstacle Detection and Avoidance (ODA) system design approach addresses the primary concern, the safety of a USV in operation. Due to the desire for improved autonomy and thus reduced human interaction, it is essential to incorporate vessel avoidance protocols into the ODA architecture for operation amongst maritime traffic, implementing the marine Rules of the Road. A heuristic Rule-based Repairing A* (R-RA*) algorithm is proposed, which is integrated within a decision-making framework. The integrated system has proven effective in simulations for path planning in real-time, in accordance with the International Regulations for Preventing Collisions at Sea. © IFAC.

关键词： Collision avoidance

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