Trajectory planning and optimization of the bionic mantis robot front leg

In this paper, a manipulator of the bionic mantis robot is designed inspired by the anatomical structure of the mantis front leg. A geometrical method is utilized to calculate the forward kinemics. Then, by analyzing the mantis motion video frame by frame, each of the front leg joints angles is measured in crawling and preying motion, which are used as interpolation conditions to solve the planned trajectory for manipulator by cubic spline interpolation. In some circumstance, the planned joint angles may exceed its limitation. By undermining the interpolation conditions, the problem is transformed from solving a cubic spline function to optimization. Finally, particle swarm optimization with variable inertia weight is introduced to optimize the planned trajectory. The result indicates that the trajectory, smoother after optimization could effectively imitate the motion of mantis front leg within the joint rotation range, which lays the basis for further research on the motion control.

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Modified Rider Optimization-Based V Channel Magnification for Enhanced Video Super Resolution

International Journal of Image and Graphics ◽

10.1142/s0219467821500030 ◽

2021 ◽

pp. 2150003

Author(s):

Rohita H. Jagdale ◽

Sanjeevani K. Shah

Keyword(s):

Spline Interpolation ◽

Super Resolution ◽

Window Size ◽

Cubic Spline ◽

Motion Blur ◽

Video Frame ◽

High Dimensional ◽

Cubic Spline Interpolation ◽

Dimensional Matrix ◽

Video Frames

In video Super Resolution (SR), the problem of cost expense concerning the attainment of enhanced spatial resolution, computational complexity and difficulties in motion blur makes video SR a complex task. Moreover, maintaining temporal consistency is crucial to achieving an efficient and robust video SR model. This paper plans to develop an intelligent SR model for video frames. Initially, the video frames in RGB format will be transformed into HSV. In general, the improvement in video frames is done in V-channel to achieve High-Resolution (HR) videos. In order to enhance the RGB pixels, the current window size is enhanced to high-dimensional window size. As a novelty, this paper intends to formulate a high-dimensional matrix with enriched pixel intensity in V-channel to produce enhanced HR video frames. Estimating the enriched pixels in the high-dimensional matrix is complex, however in this paper, it is dealt in a significant way by means of a certain process: (i) motion estimation (ii) cubic spline interpolation and deblurring or sharpening. As the main contribution, the cubic spline interpolation process is enhanced via optimization in terms of selecting the optimal resolution factor and different cubic spline parameters. For optimal tuning, this paper introduces a new modified algorithm, which is the modification of the Rider Optimization Algorithm (ROA) named Mean Fitness-ROA (MF-ROA). Once the HR image is attained, it combines the HSV and converts to RGB, which obtains the enhanced output RGB video frame. Finally, the performance of the proposed work is compared over other state-of-the-art models with respect to BRISQUE, SDME and ESSIM measures, and proves its superiority over other models.

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Cubic Spline Interpolation-Based Robot Path Planning Using a Chaotic Adaptive Particle Swarm Optimization Algorithm

Mathematical Problems in Engineering ◽

10.1155/2020/1849240 ◽

2020 ◽

Vol 2020 ◽

pp. 1-20 ◽

Cited By ~ 2

Author(s):

Jianfang Lian ◽

Wentao Yu ◽

Kui Xiao ◽

Weirong Liu

Keyword(s):

Particle Swarm Optimization ◽

Path Planning ◽

Spline Interpolation ◽

Particle Swarm ◽

Cubic Spline ◽

Control Points ◽

Swarm Optimization ◽

Cubic Spline Interpolation ◽

Adaptive Particle Swarm Optimization ◽

Starting Point

This paper proposed a cubic spline interpolation-based path planning method to maintain the smoothness of moving the robot’s path. Several path nodes were selected as control points for cubic spline interpolation. A full path was formed by interpolating on the path of the starting point, control points, and target point. In this paper, a novel chaotic adaptive particle swarm optimization (CAPSO) algorithm has been proposed to optimize the control points in cubic spline interpolation. In order to improve the global search ability of the algorithm, the position updating equation of the particle swarm optimization (PSO) is modified by the beetle foraging strategy. Then, the trigonometric function is adopted for the adaptive adjustment of the control parameters for CAPSO to weigh global and local search capabilities. At the beginning of the algorithm, particles can explore better regions in the global scope with a larger speed step to improve the searchability of the algorithm. At the later stage of the search, particles do fine search around the extremum points to accelerate the convergence speed of the algorithm. The chaotic map is also used to replace the random parameter of the PSO to improve the diversity of particle swarm and maintain the original random characteristics. Since all chaotic maps are different, the performance of six benchmark functions was tested to choose the most suitable one. The CAPSO algorithm was tested for different number of control points and various obstacles. The simulation results verified the effectiveness of the proposed algorithm compared with other algorithms. And experiments proved the feasibility of the proposed model in different dynamic environments.

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Application Research on Cubic Spline Interpolation Based on Particle Swarm Optimization in Mine Pressure Missing Data

2011 International Conference on Information Management, Innovation Management and Industrial Engineering ◽

10.1109/iciii.2011.306 ◽

2011 ◽

Author(s):

Sun Gang ◽

Wang Feng ◽

Wang Xiuyou ◽

Wang Hao ◽

Chen Jing

Keyword(s):

Particle Swarm Optimization ◽

Missing Data ◽

Spline Interpolation ◽

Particle Swarm ◽

Cubic Spline ◽

Mine Pressure ◽

Application Research ◽

Swarm Optimization ◽

Cubic Spline Interpolation

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NURBS Curve Design and CNC Machining Principle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.141.392 ◽

2011 ◽

Vol 141 ◽

pp. 392-396

Author(s):

Bao Ying Peng ◽

Qiu Shi Han

Keyword(s):

Spline Function ◽

Spline Interpolation ◽

Fuzzy Model ◽

Cubic Spline ◽

Cnc Machining ◽

Processing Efficiency ◽

Curve Design ◽

Feed Axis ◽

Cubic Spline Function ◽

Better Than

Used fixed equal step cubic spline interpolation in non-circular machining, the influence of acceleration may be too strong to cause burns and vibration. To suppress the acceleration influence of feed axis, take cam grinding as an illustration, first derived acceleration and its change from the cubic spline function, then adopting the method of off-line fuzzy model logical reasoning combined with five points of three power smooth, obtained the modified variable interpolation time steps. The experiment results that the feed axis acceleration stability used fuzzy step cubic spline interpolations is much better than equal step spline in cam grinding under the same processing efficiency.

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