scholarly journals An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Jun Dai ◽  
Naohiko Hanajima ◽  
Toshiharu Kazama ◽  
Akihiko Takashima
Keyword(s):  
Control Method ◽  
Convergence Property ◽  
Tangential Direction ◽  
Navigation Problem ◽  
Wheeled Robots ◽  
Robot Trajectory ◽  
Look Ahead ◽  
Straight Line ◽  
The Family ◽  
Straight Lines

The improved path-generating regulator (PGR) is proposed to path track the circle/arc passage for two-wheeled robots. The PGR, which is a control method for robots so as to orient its heading toward the tangential direction of one of the curves belonging to the family of path functions, is applied to navigation problem originally. Driving environments for robots are usually roads, streets, paths, passages, and ridges. These tracks can be seen as they consist of straight lines and arcs. In the case of small interval, arc can be regarded as straight line approximately; therefore we extended the PGR to drive the robot move along circle/arc passage based on the theory that PGR to track the straight passage. In addition, the adjustable look-ahead method is proposed to improve the robot trajectory convergence property to the target circle/arc. The effectiveness is proved through MATLAB simulations on both the comparisons with the PGR and the improved PGR with adjustable look-ahead method. The results of numerical simulations show that the adjustable look-ahead method has better convergence property and stronger capacity of resisting disturbance.

Experiments for Performance Evaluation of a Mobile Robot Trajectory Tracking

2012 ◽  
Vol 162 ◽  
pp. 302-307 ◽  
Author(s):  
Mircea Nitulescu
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Smooth Curve ◽  
Robot Trajectory ◽  
Circular Arcs ◽  
Straight Line ◽  
Turning Motion ◽  
Polygonal Shape ◽  
Path Planner ◽  
Straight Lines

Generally, the path given by the 2D global path planner is a complex trajectory concerning straight lines, circular arcs, quick turning motion or lane change motion, but in the simplest case, the trajectory can be a polygonal shape. For the case of a differential wheeled mobile robot without spin motions, this paper presents and analyzes the real continuous evolution of the robot between two adjacent straight line of a polygonal rote, concerning different angles. For the same model of the robot, the control uses alternatively two different algorithms: the first one is a classical solution in path tracking control and the second one is an algorithm based on a smooth curve function.

Automatic Tread Gaging Machine

1979 ◽  
Vol 7 (1) ◽  
pp. 31-39
Author(s):  
G. S. Ludwig ◽  
F. C. Brenner
Keyword(s):  
Experimental Tests ◽  
Automatic Machine ◽  
Wear Rates ◽  
Handling Device ◽  
Straight Line ◽  
Component Systems ◽  
Before And After ◽  
Good Repeatability ◽  
The Difference ◽  
Straight Lines

Abstract An automatic tread gaging machine has been developed. It consists of three component systems: (1) a laser gaging head, (2) a tire handling device, and (3) a computer that controls the movement of the tire handling machine, processes the data, and computes the least-squares straight line from which a wear rate may be estimated. Experimental tests show that the machine has good repeatability. In comparisons with measurements obtained by a hand gage, the automatic machine gives smaller average groove depths. The difference before and after a period of wear for both methods of measurement are the same. Wear rates estimated from the slopes of straight lines fitted to both sets of data are not significantly different.

scholarly journals Sperm Cryopreservation in American Flamingo (Phoenicopterus Ruber): Influence of Cryoprotectants and Seminal Plasma Removal

Animals ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 203
Author(s):  
María Gemma Millán de la Blanca ◽  
Eva Martínez-Nevado ◽  
Cristina Castaño ◽  
Juncal García ◽  
Berenice Bernal ◽  
...  
Keyword(s):  
Seminal Plasma ◽  
Genetic Material ◽  
First Year ◽  
Sperm Cryopreservation ◽  
Straight Line ◽  
The Family ◽  
Second Year ◽  
American Flamingo ◽  
Phoenicopterus Ruber

The American flamingo is a useful model for the development of successful semen cryopreservation procedures to be applied to threatened related species from the family Phoenicopteridae, and to permit genetic material banking. Current study sought to develop effective sperm cryopreservation protocols through examining the influences of two permeating cryoprotectants and the seminal plasma removal. During two consecutive years (April), semen samples were collected and frozen from American flamingos. In the first year, the effect of two permeating cryoprotectants, DMA (dimethylacetamide) (6%) or Me2SO (dimethylsulphoxide) (8%), on frozen–thawed sperm variables were compared in 21 males. No differences were seen between DMA and Me2SO for sperm motility, sperm viability, and DNA fragmentation after thawing. In the second year, the role of seminal plasma on sperm cryoresistance was investigated in 31 flamingos. Sperm samples were cryopreserved with and without seminal plasma, using Me2SO (8%) as a cryoprotectant. The results showed that samples with seminal plasma had higher values than samples without seminal plasma for the following sperm variables: Straight line velocity (22.40 µm/s vs. 16.64 µm/s), wobble (75.83% vs. 69.40%), (p < 0.05), linearity (62.73% vs. 52.01%) and straightness (82.38% vs. 73.79%) (p < 0.01); but acrosome integrity was lower (55.56% vs. 66.88%) (p < 0.05). The cryoresistance ratio (CR) was greater in samples frozen with seminal plasma than without seminal plasma for CR-progressive motility (138.72 vs. 54.59), CR-curvilinear velocity (105.98 vs. 89.32), CR-straight line velocity (152.77 vs. 112.58), CR-average path velocity (122.48 vs. 98.12), CR-wobble (111.75 vs. 102.04) (p < 0.05), CR-linearity (139.41 vs. 113.18), and CR-straightness (124.02 vs. 109.97) (p < 0.01). This research demonstrated that there were not differences between Me2SO and DMA to successful freezing sperm of flamingos; seminal plasma removal did not provide a benefit for sperm cryopreservation.

Continuous reinforcement learning based ramp jump control for single-track two-wheeled robots

2021 ◽  
pp. 014233122110378
Author(s):  
Qingyuan Zheng ◽  
Duo Wang ◽  
Zhang Chen ◽  
Yiyong Sun ◽  
Bin Liang
Keyword(s):  
Reinforcement Learning ◽  
Energy Savings ◽  
Control Method ◽  
Learning Control ◽  
Action Space ◽  
Gradient Algorithm ◽  
Single Track ◽  
Wheeled Robots ◽  
Reward Function ◽  
Wheeled Robot

Single-track two-wheeled robots have become an important research topic in recent years, owing to their simple structure, energy savings and ability to run on narrow roads. However, the ramp jump remains a challenging task. In this study, we propose to realize a single-track two-wheeled robot ramp jump. We present a control method that employs continuous action reinforcement learning techniques for single-track two-wheeled robot control. We design a novel reward function for reinforcement learning, optimize the dimensions of the action space, and enable training under the deep deterministic policy gradient algorithm. Finally, we validate the control method through simulation experiments and successfully realize the single-track two-wheeled robot ramp jump task. Simulation results validate that the control method is effective and has several advantages over high-dimension action space control, reinforcement learning control of sparse reward function and discrete action reinforcement learning control.

MOMENTS IN REINFORCED CONCRETE STRUCTURES UNDER BENDING WITH TORSION

2021 ◽  
Vol 95 (3) ◽  
pp. 27-46
Author(s):  
VL.I. KOLCHUNOV ◽  
◽  
A.I. DEMYANOV ◽  
M.V. PROTCHENKO ◽  
◽  
...  
Keyword(s):  
Reinforced Concrete ◽  
Computational Model ◽  
Cross Sections ◽  
Neutral Axis ◽  
Reinforced Concrete Structures ◽  
The Third ◽  
Straight Line ◽  
The Family ◽  
Third Stage ◽  
Concrete Blocks

The moments in reinforced concrete during bending with torsion were determined, the new first hypothesis of linear deformations and its filling of the diagram during bending with torsion for the analytical second functional as a function of three functions - an exponent, a straight line and a parabola curve. A simple new method is found (from the family of mesh methods) and a summed function of additional deplanation is proposed. The new second hypothesis of angular deformations and its filling of the diagram in reinforced concrete during bending with torsion is constructed. The analytical first general undefined functional is a function of functions, as well as transitions, operations between functions. At the same time, a spatial triple integral of arguments from longitudinal deformations for the first hypothesis was obtained, as well as the third and fourth functionals (indefinite and definite) from moments (bending and twisting) with the projection of the coefficients of the diagram of "deformations - stresses" of compressed concrete and the filling coefficients of the diagrams of compressed concrete for their shoulders to the neutral axis for a field of small squares. The bending and torque moments from the compressed area of concrete and working reinforcement are determined (folded for their levels or expanded into algebraic functions from the synthesis of the computational model of reinforced concrete blocks). In this case, we have new functionals (from the first to the fourth functional), proposed hypotheses (first and second), as well as cross sections (from small squares) to a spatial crack. There are also jumps (cracks) lateral, normal, etc., from the first - third stage of average deformations of concrete and working reinforcement.

Development of Path Tracking Control Algorithm for a 4 DOF Spatial Manipulator Using PID Controller

2017 ◽  
pp. 314-327
Author(s):  
Pradeep Reddy Bonikila ◽  
Ravi Kumar Mandava ◽  
Pandu Ranga Vundavilli
Keyword(s):  
Pid Controller ◽  
Dynamic Models ◽  
Control Method ◽  
Robotic Manipulator ◽  
Industrial Applications ◽  
Path Tracking ◽  
End Effector ◽  
Straight Line ◽  
Feedback Control Method ◽  
Manipulator Arm

The path tracking phenomenon of a robotic manipulator arm plays an important role, when the manipulators are used in continuous path industrial applications, such as welding, machining and painting etc. Nowadays, robotic manipulators are extensively used in performing the said tasks in industry. Therefore, it is essential for the manipulator end effector to track the path designed to perform the task in an effective way. In this chapter, an attempt is made to develop a feedback control method for a 4-DOF spatial manipulator to track a path with the help of a PID controller. In order to design the said controller, the kinematic and dynamic models of the robotic manipulator are derived. Further, the concept of inverse kinematics has been used to track different paths, namely a straight line and parabolic paths continuously. The effectiveness of the developed algorithm is tested on a four degree of freedom manipulator arm in simulations.

Transversals with Residue in Moderately Overlapping T(k)-Families of Translates

2009 ◽  
Vol 52 (3) ◽  
pp. 388-402
Author(s):  
Aladár Heppes
Keyword(s):  
Asymptotic Behavior ◽  
Compact Convex ◽  
Line Transversal ◽  
Type Result ◽  
Empty Interior ◽  
Disjoint Family ◽  
Straight Line ◽  
The Family ◽  
Centrally Symmetric ◽  
Line Meeting

AbstractLet K denote an oval, a centrally symmetric compact convex domain with non-empty interior. A family of translates of K is said to have property T(k) if for every subset of at most k translates there exists a common line transversal intersecting all of them. The integer k is the stabbing level of the family. Two translates Ki = K + ci and Kj = K + cj are said to be σ-disjoint if σK + ci and σK + cj are disjoint. A recent Helly-type result claims that for every σ > 0 there exists an integer k(σ) such that if a family of σ-disjoint unit diameter discs has property T(k)|k ≥ k(σ), then there exists a straight line meeting all members of the family. In the first part of the paper we give the extension of this theorem to translates of an oval K. The asymptotic behavior of k(σ) for σ → 0 is considered as well.Katchalski and Lewis proved the existence of a constant r such that for every pairwise disjoint family of translates of an oval K with property T(3) a straight line can be found meeting all but at most r members of the family. In the second part of the paper σ-disjoint families of translates of K are considered and the relation of σ and the residue r is investigated. The asymptotic behavior of r(σ) for σ → 0 is also discussed.

Appendix, containing the Investigation of a Formula for the Rectification of any Arch of an Ellipse

1805 ◽  
Vol 5 (2) ◽  
pp. 271-293
Keyword(s):  
Finite Number ◽  
The Other ◽  
Algebraic Equations ◽  
Conic Sections ◽  
Straight Line ◽  
Curve Line ◽  
Straight Lines

It is now generally understood, that by the rectification of a curve line, is meant, not only the method of finding a straight line exactly equal to it, but also the method of expressing it by certain functions of the other lines, whether straight lines or circles, by which the nature of the curve is defined. It is evidently in the latter sense that we must understand the term rectification, when applied to the arches of conic sections, seeing that it has hitherto been found impossible, either to exhibit straight lines equal to them, or to express their relation to their co-ordinates, by algebraic equations, consisting of a finite number of terms.

Multi-Period Turning Interpolation Algorithm for High-Speed Machining of Continuous Line Segments With Limited Acceleration, Jerk and Chord Error

2012 ◽  
Author(s):  
Lixian Zhang ◽  
Xiao-shan Gao ◽  
Hongbo Li
Keyword(s):  
Real Time ◽  
High Speed ◽  
Control Method ◽  
Dynamic Performance ◽  
Interpolation Algorithm ◽  
Cnc Machine ◽  
Look Ahead ◽  
Geometric Precision ◽  
S Curve ◽  
Accumulated Error

In this paper, a multi-period turning interpolation algorithm, with real-time look-ahead scheme based on S-curve control method, is presented. In this interpolation algorithm, the geometric precision and the dynamic performance are both satisfied. The machining efficiency is improved by multi-period turning transition, and the precision is also improved by S-curve control method. The computational efficiency of this algorithm meets the need of real-time machining. In addition, there is no accumulated error. At last, this algorithm is verified the validation by the experiments on 3-axis CNC machine.

scholarly journals Stability of Infinite Dimensional Interconnected Systems with Impulsive and Stochastic Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-14
Author(s):  
Xiaohui Xu ◽  
Xiaofeng Yin ◽  
Jiye Zhang ◽  
Peng Wang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Interconnected Systems ◽  
Stochastic Disturbances ◽  
Infinite Dimensional ◽  
Disturbance Propagation ◽  
Vector Lyapunov Function ◽  
Look Ahead ◽  
The Stability

Some research on the stability with mode constraint for a class of infinite dimensional look-ahead interconnected systems with impulsive and stochastic disturbances is studied by using the vector Lyapunov function approach. Intuitively, the stability with mode constraint is the property of damping disturbance propagation. Firstly, we derive a set of sufficient conditions to assure the stability with mode constraint for a class of general infinite dimensional look-ahead interconnected systems with impulsive and stochastic disturbances. The obtained conditions are less conservative than the existing ones. Secondly, the controller for a class of look-ahead vehicle following systems with the above uncertainties is constructed by the sliding mode control method. Based on the obtained new stability conditions, the domain of the control parameters of the systems is proposed. Finally, a numerical example with simulations is given to show the effectiveness and correctness of the obtained results.

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