scholarly journals Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs

2022 ◽  
pp. 1-1
Author(s):  
Martin Jacquet ◽  
Max Kivits ◽  
Hemjyoti Das ◽  
Antonio Franchi
Keyword(s):  
Active Perception

Tire Rolling Kinematics Model for an Intelligent Tire Based on an Accelerometer

2020 ◽  
Vol 48 (4) ◽  
pp. 287-314
Author(s):  
Yan Wang ◽  
Zhe Liu ◽  
Michael Kaliske ◽  
Yintao Wei
Keyword(s):  
Elastic Deformation ◽  
Estimation Algorithm ◽  
Force Sensor ◽  
Euler Method ◽  
Rolling Contact ◽  
Body Motion ◽  
Identification Algorithm ◽  
Active Perception ◽  
Kinematics Model ◽  
Ring Model

ABSTRACT The idea of intelligent tires is to develop a tire into an active perception component or a force sensor with an embedded microsensor, such as an accelerometer. A tire rolling kinematics model is necessary to link the acceleration measured with the tire body elastic deformation, based on which the tire forces can be identified. Although intelligent tires have attracted wide interest in recent years, a theoretical model for the rolling kinematics of acceleration fields is still lacking. Therefore, this paper focuses on an explicit formulation for the tire rolling kinematics of acceleration, thereby providing a foundation for the force identification algorithms for an accelerometer-based intelligent tire. The Lagrange–Euler method is used to describe the acceleration field and contact deformation of rolling contact structures. Then, the three-axis acceleration vectors can be expressed by coupling rigid body motion and elastic deformation. To obtain an analytical expression of the full tire deformation, a three-dimensional tire ring model is solved with the tire–road deformation as boundary conditions. After parameterizing the ring model for a radial tire, the developed method is applied and validated by comparing the calculated three-axis accelerations with those measured by the accelerometer. Based on the features of acceleration, especially the distinct peak values corresponding to the tire leading and trailing edges, an intelligent tire identification algorithm is established to predict the tire–road contact length and tire vertical load. A simulation and experiments are conducted to verify the accuracy of the estimation algorithm, the results of which demonstrate good agreement. The proposed model provides a solid theoretical foundation for an acceleration-based intelligent tire.

scholarly journals Cuatro iniciativas de agricultura en la ciudad frente a la banalización del paisaje histórico urbano | Four urban agriculture initiatives against the banalization of urban historical landscape

ZARCH ◽  
2017 ◽  
pp. 228
Author(s):  
David Arredondo Garrido
Keyword(s):  
Citizen Participation ◽  
Urban Agriculture ◽  
Social Relations ◽  
Urban Landscape ◽  
Right To The City ◽  
Active Perception ◽  
Historical Landscape ◽  
Historical Heritage ◽  
The City ◽  
City Centres

En ciudades con un importante patrimonio histórico son cada vez más frecuentes los procesos de homogeneización del paisaje urbano. Una dinámica que conduce a la transformación de determinados entornos históricos en espacios en donde apenas queda lugar para la singularidad, las actividades no reguladas o la participación ciudadana. Este estudio propone analizar una serie de iniciativas desarrolladas en la última década en centros de cuatro ciudades españolas, concretamente en Sevilla, Barcelona, Madrid y Zaragoza. Proyectos que se apoyan en la agricultura y la jardinería urbanas para sortear la banalización imperante, creando espacios para la cultura, las relaciones sociales y la imaginación. Pese a las dificultades en su gestión y su repercusión minoritaria, estas intervenciones ejemplifican un modo de reconfigurar el paisaje urbano, planteando esquemas de activación, percepción activa y participación en lugares centrales de la ciudad en proceso de abandono, donde las actividades agrícolas y jardineras adquieren un peso importante.PALABRAS CLAVE: paisaje urbano, acupuntura urbana, agricultura urbana, participación ciudadana, derecho a la ciudad.Processes of homogenization of the urban landscape are becoming more frequent in cities with an important historical heritage. A dynamic that leads to the transformation of certain historical environments in spaces where there is hardly any room for uniqueness, unregulated activities or public participation. This study aims to analyse a number of initiatives developed in the last decade in four Spanish city centres, particularly in Seville, Barcelona, Madrid and Zaragoza. Projects that are using urban agriculture and gardening to escape form current banality, creating spaces for culture, social relations and imagination. Despite the difficulties in its management and its minor impact, these interventions exemplify a way to reshape urban landscape, through schemes of activation, active perception and participation in abandoned places in the city, where agricultural activities and gardening are now playing an important role.KEYWORDS: urban landscape, urban acupuncture, urban agriculture, citizen participation, right to the city.

scholarly journals The Development of Active Binocular Vision under Normal and Alternate Rearing Conditions

2020 ◽  
Author(s):  
Lukas Klimmasch ◽  
Johann Schneider ◽  
Alexander Lelais ◽  
Bertram E. Shi ◽  
Jochen Triesch
Keyword(s):  
Visual Cortex ◽  
Binocular Vision ◽  
Cortical Neurons ◽  
Orientation Tuning ◽  
Active Perception ◽  
Efficient Coding ◽  
Rearing Conditions ◽  
Active Binocular Vision ◽  
Experimental Findings ◽  
Visual Cortical

AbstractThe development of binocular vision is an active learning process comprising the development of disparity tuned neurons in visual cortex and the establishment of precise vergence control of the eyes. We present a computational model for the learning and self-calibration of active binocular vision based on the Active Efficient Coding framework, an extension of classic efficient coding ideas to active perception. Under normal rearing conditions, the model develops disparity tuned neurons and precise vergence control, allowing it to correctly interpret random dot stereogramms. Under altered rearing conditions modeled after neurophysiological experiments, the model qualitatively reproduces key experimental findings on changes in binocularity and disparity tuning. Furthermore, the model makes testable predictions regarding how altered rearing conditions impede the learning of precise vergence control. Finally, the model predicts a surprising new effect that impaired vergence control affects the statistics of orientation tuning in visual cortical neurons.

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