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The capability of avoiding static obstacles independently is the premise for air cushion vehicle (ACV) operating safely. In this article, an ACV collision avoidance control based on improved artificial potential field method is designed as auxiliary operating system to ensure safe navigation of ACV. It builds mathematical model of the ACV and searches the data of static obstacles. Besides, the collision...
In this paper, we proposed a sensor structure that can be used to measure the tactile force of robot fingertip. The structure of the sensor was composed of a cylinder-shaped finger and a circular base. First, we analyzed the relationship between the contact position and the stress with elastic mechanics theory. Then the corresponding spline curve algorithm was designed to calculate the contact position...
This paper deals with distributed and cooperative control algorithm to make each agents to form a formation for a second-order system. However, when forming a formation with a multi-agent system, there is a possibility that the agents collide with each other or collide with obstacles other than the agent. Also, if the agents avoid other agents and obstacles, the distance between agents may be temporarily...
A driver assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize the turning performance and realize the collision avoidance simultaneously under the constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for...
The struggle of technology to understand natural language has been one of the greatest hurdles of humankind. Various techniques and algorithms have contributed to significant advancements in the field of NLP. One of the most primary challenges that NLP faces is being able to determine the meaning and essence of a sentence which may have multiple variations of syntax and semantics. Crossword solving...
Although unmanned aerial vehicle (UAV) shows great advantages and some new potential applications in recent years as an effective tool for investigation, fighting and defense, yet, how to give full play to its role still remains the focus of attention. To improve the fighting efficiency of UAV and expand the range of its applications, the obstacle avoidance problem of UAV during autonomous cruise...
A novel sensorless speed control algorithm based on sliding mode observer (SMO) for permanent magnet synchronous motors (PMSM) is proposed. By utilizing a phase locked loop algorithm (PLL) based on synchronous reference frame and an embedded low pass filter, the drawback of SMO called “chattering phenomenon” is effectively attenuated, with no phase delay caused by the filter. The active back electromotive...
A novel parametric model of the stiifened shell is developed by Python language with Abaqus in this paper. As an effective analysis method in the optimal design, explicit finite element method (FEM) is used to design and optimize the skin thickness and stiffener size of Stiffened Shells. The optimization objectives and constraints are mainly the minimum mass subject to the structural performance and...
In this paper, the distributed adaptive finite-time consensus tracking control algorithm is proposed for multi-AUV(autonomous underwater vehicle) systems. Firstly, the graph theory is used to describe the communication topology of multi-AUV system. Secondly, a nonsingular fast terminal sliding mode is designed and the distributed control law is constructed for the multi-AUV system based on the force...
The global path planning is one of key technologies of autonomous underwater vehicle's intelligent control. For the problems as low efficiency of searching optimal solution and insufficient objectives decision in path planning in three-dimensional environment, the rule of resistance and velocity is obtained first, then a new hybrid based on genetic-ant algorithm is proposed. In the new algorithm,...
This paper presents a collision-free decentralized random algorithm for robots to search an unknown 2D area with obstacles. Assumptions in this paper are based on real robots instead of particles so collisions between robots are considered. Robots move along edges of a grid and randomly choose the next steps in sequence based on local sensing, communication, and the repulsive force method. A rigorous...
Contrast to the two-dimensional directional sensor networks, the three-dimensional directional sensor networks increases complexity and diversity. External environment and sensor limitations impact the target monitoring and coverage. Adjustment strategies provide better auxiliary guide in the process of self-deployment, while strengthen the monitoring area coverage rate and monitoring capability of...
We investigate the problem of distributed source seeking with velocity actuated and force actuated vehicles by developing distributed Kiefer-Wolfowitz algorithm. First, based on stochastic approximation algorithm with expanding truncations, we present the distributed Kiefer-Wolfowitz algorithm, in which two noisy observations of each agent's objective function is used to estimate its gradient and...
In three-dimensional space, the traditional algorithm of virtual force applies to continuous target tracking process is prone to problems of distraction and short time in keeping tracking of the target in the process of. This paper proposed a three-dimensional space deployment algorithm applies to continuous target tracking to solve these problems. The combine virtual force in this algorithm is generated...
I Ching (Chinese characters: $$$) philosophy, stemming from ancient Chinese culture, is Chinese view of empiricism, world outlook and dialectics. Over thousands of years of evolving and interpretation, its cosmological wisdom has broad and profound influences not only on Chinese prevailing philosophy, but also on westerns. I Ching concentrates on the virtue of being moderate and appropriate, representing...
A belt region is said to be k-barrier covered by a set of sensors if all paths crossing the width of the belt region intersect the sensing regions of at least k sensors. Barrier coverage can be achieved from a random initial deployment of mobile sensors by suitably relocating the sensors to form a barrier. Reducing the movement of the sensors is important in such scenarios due to the energy constraints...
In this paper, a novel control algorithm for a microrobot is proposed, which is Two-degree-of-freedom control based on dynamic model. Two-degree-of-freedom control which consists of Disturbance observer (DOB), feedback controller and feedforward controller, has been utilized widely in industry. For the application of this controller for the microrobot, dynamic characteristics of a microrobot is analyzed...
Force-directed algorithms are devoted to creating network visualization that better meet aesthetic standards but rarely consider interactive requirements, making it difficult to place certain nodes with semantic clustering features together through interactive operations. To solve this problem, we realize the interactive semantic clustering visualization through implicit connection. The key steps...
This paper solves the problem of computing the best grasp in a discrete point set based on a popular grasp quality measure, namely the largest origin-centered ball contained in the grasp wrench set. So far, the solution to this problem is very limited. Noticing that the quality measure for a grasp is equal to the minimum value of the support function of its grasp wrench set over all directions and...
This paper presents an interaction control algorithm for a dielectric elastomer (DE) membrane actuator. The proposed method permits to efficiently exploit the controllable stiffness of the material, and use it as a “programmable spring”, thus enhancing its use in applications such as robotic manipulation or haptic devices. To achieve this goal, a design algorithm based on linear matrix inequalities...
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