In the field of skeleton-based gesture recognition, occlusion remains a significant challenge, significantly degrading performance when key joints are occluded or disturbed. To tackle this issue, we propose DiffTrans,...
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Although different multipath error models of Delay lock loop (DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to ge...
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Although different multipath error models of Delay lock loop (DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product (DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression, is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.
In contemporary Multi-Agent Reinforcement Learning (MARL), effectively enhancing the expressive capacity of value functions has been a persistent research focus. Many studies have employed value decomposition methods;...
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Parallel-legged robots are favored by many researchers due to their potent environmental adaptability and load capacity. However, the work efficiency of the parallel leg structure is always confined due to its uptight...
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With the continuous growth of the automobile trade, the inefficiency of traditional cargo transshipment in Roll-On/Roll-Off (RO/RO) terminals has become increasingly pronounced. As a result, the adoption of autonomous...
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A wheel-legged robot is equipped with Stewart parallel mechanism, constituting a reconfigurable robot which can change its wheelbase, robot body height, and achieve omnidirectional steering. The legged character effec...
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ISBN:
(纸本)9798400712647
A wheel-legged robot is equipped with Stewart parallel mechanism, constituting a reconfigurable robot which can change its wheelbase, robot body height, and achieve omnidirectional steering. The legged character effectively improves the terrain adaptability, which concerns our planning concentration. We introduced an optimization-based whole-body trajectory planning algorithm to navigate robot in rugged terrain. The planner combines terrain data and stability, allowing lower-level motion generator and controller to operate more efficiently. The Model Predictive control(MPC)-based method updates the footholds and CoG trajectories, which builds upon the support polygon constraints on optimization. The simulations of methodology working in several structure-obstacle scene demonstrated and compared the availability of approach.
Event-triggered control has attracted considerable attention for its effectiveness in resource-restricted applications. To make event-triggered control as an end-to-end solution, a key issue is how to effectively lear...
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With applying the information technology to the military field, the advantages and importance of the networked combat are more and more obvious. In order to make full use of limited battlefield resources and maximally...
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With applying the information technology to the military field, the advantages and importance of the networked combat are more and more obvious. In order to make full use of limited battlefield resources and maximally destroy enemy targets from arbitrary angle in a limited time, the research on firepower nodes dynamic deployment becomes a key problem of command and control. Considering a variety of tactical indexes and actual constraints in air defense, a mathematical model is formulated to minimize the enemy target penetration probability. Based on characteristics of the mathematical model and demands of the deployment problems, an assistance-based algorithm is put forward which combines the artificial potential field （APF） method with a memetic algorithm. The APF method is employed to solve the constraint handling problem and generate feasible solutions. The constrained optimization problem transforms into an optimization problem of APF parameters adjustment, and the dimension of the problem is reduced greatly. The dynamic deployment is accomplished by generation and refinement of feasible solutions. The simulation results show that the proposed algorithm is effective and feasible in dynamic situation.
A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchro...
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A kind of four degree-of-freedom （DOF） electrohydraulic lift system is studied in this pa- per, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchronization method with load force and synchronization error feedback had been proposed to solve the synchronization problem encountered when realizing the needed roll and pitch attitude of the lift system. In this paper, mathematic model of asymmetric hydraulic cylinder was es- tablished and the lift system had been simplified to a dual-cylinder system. By incorporating the load force and the displacement of each cylinder, a cross-coupled synchronized control method was pro- posed to fit each cylinder＇ s tracking performance and multi-cylinder＇ s trajectory synchronization property. The proposed method not only solved the synchronization problem when multi-cylinder had a same trajectory, but also could fit the coordinated synchronization need when different trajectories of multi-cylinder were desired. Simulations and experiments on a four DOF electrohydraulic lift sys- tem with load of 100 tons verified the effectiveness of the proposed method.
A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also fa...
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A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.
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