Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion

2006 ◽  
Vol 18 (5) ◽  
pp. 556-563 ◽  
Author(s):  
Guangping Lan ◽  
◽  
Shugen Ma ◽  
Keyword(s):  
Static Analysis ◽  
Power Transmission ◽  
Planetary Gear ◽  
Experimental Results ◽  
Robot Motion ◽  
The Novel ◽  
Major Power

The novel crawler-driven robot we designed used a planetary gear reducer as the major power transmission device and provides two types of output in different form using one actuator. The crawler mechanism switches between two outputs autonomously based on the terrain. Using this feature, the crawler-driven robot is expected to perform adaptably and effectively in irregular environments. We conducted 2-dimensional quasi-static analysis to explain the condition under which the robot performs some locomotion modes in an irregular environment. Experimental results showed that the crawler-driven robot moves over even ground and uses efficient locomotion modes or postures to adapt autonomously to irregular environments.

Platform Independent Analysis of Probabilities on Multithreaded Programs

2013 ◽  
Vol 1 (3) ◽  
pp. 48-65
Author(s):  
Yuting Chen
Keyword(s):  
Operating System ◽  
Static Analysis ◽  
Main Idea ◽  
Experimental Results ◽  
Machine To Machine ◽  
Concurrent Program ◽  
Acceptable Accuracy ◽  
Multithreaded Programs ◽  
Independent Analysis ◽  
And Performance

A concurrent program is intuitively associated with probability: the executions of the program can produce nondeterministic execution program paths due to the interleavings of threads, whereas some paths can always be executed more frequently than the others. An exploration of the probabilities on the execution paths is expected to provide engineers or compilers with support in helping, either at coding phase or at compile time, to optimize some hottest paths. However, it is not easy to take a static analysis of the probabilities on a concurrent program in that the scheduling of threads of a concurrent program usually depends on the operating system and hardware (e.g., processor) on which the program is executed, which may be vary from machine to machine. In this paper the authors propose a platform independent approach, called ProbPP, to analyzing probabilities on the execution paths of the multithreaded programs. The main idea of ProbPP is to calculate the probabilities on the basis of two kinds of probabilities: Primitive Dependent Probabilities (PDPs) representing the control dependent probabilities among the program statements and Thread Execution Probabilities (TEPs) representing the probabilities of threads being scheduled to execute. The authors have also conducted two preliminary experiments to evaluate the effectiveness and performance of ProbPP, and the experimental results show that ProbPP can provide engineers with acceptable accuracy.

scholarly journals Identification of the State of Electrical Appliances with the Use of a Pulse Signal Generator

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 673
Author(s):  
Augustyn Wójcik ◽  
Piotr Bilski ◽  
Robert Łukaszewski ◽  
Krzysztof Dowalla ◽  
Ryszard Kowalik
Keyword(s):  
Measurement System ◽  
Cross Correlation ◽  
Pulse Signal ◽  
Signal Generator ◽  
Experimental Results ◽  
The Novel ◽  
End User ◽  
Standard Classification ◽  
Electrical Appliance

The paper presents the novel HF-GEN method for determining the characteristics of Electrical Appliance (EA) operating in the end-user environment. The method includes a measurement system that uses a pulse signal generator to improve the quality of EA identification. Its structure and the principles of operation are presented. A method for determining the characteristics of the current signals’ transients using the cross-correlation is described. Its result is the appliance signature with a set of features characterizing its state of operation. The quality of the obtained signature is evaluated in the standard classification task with the aim of identifying the particular appliance’s state based on the analysis of features by three independent algorithms. Experimental results for 15 EAs categories show the usefulness of the proposed approach.

Research on a Novel Miniature Air Compressor Generating both Compressed Air and Vacuum

2014 ◽  
Vol 1027 ◽  
pp. 253-256
Author(s):  
Jian Hai Han ◽  
Jie Zhang ◽  
Dong Liao Fu ◽  
Zhi Gang Hu
Keyword(s):  
Vacuum Pump ◽  
Operating Principle ◽  
Experimental Results ◽  
System Structure ◽  
Compressed Air ◽  
The Novel ◽  
Pump Mode ◽  
Air Compressor

A new kind of miniature air compressor is proposed in this paper. This compressor can produce both compressed air and vacuum. The system structure, operating principle and experimental characteristics of the novel miniature air compressor are described in detail. The experimental results prove that the shift between air compressor mode and vacuum pump mode is possible and the design of system structure is appropriate.

Novel Algorithmic Approach to Deciphering Rovash Inscriptions

2015 ◽  
pp. 7222-7233 ◽  
Author(s):  
Loránd Lehel Tóth ◽  
Raymond Pardede ◽  
Gábor Hosszú
Keyword(s):  
Experimental Results ◽  
The Novel ◽  
Statistical Probability ◽  
Algorithmic Approach ◽  
Topological Parameters ◽  
Novel Method ◽  
Novel Algorithm

The article presents a method to decipher Rovash inscriptions made by the Szekelys in the 15th-18th centuries. The difficulty of the deciphering work is that a large portion of the Rovash inscriptions contains incomplete words, calligraphic glyphs or grapheme errors. Based on the topological parameters of the undeciphered symbols registered in the database, the presented novel algorithm estimates the meaning of the inscriptions by the matching accuracies of the recognized graphemes and gives a statistical probability for deciphering. The developed algorithm was implemented in software, which also contains a built-in dictionary. Based on the dictionary, the novel method takes into account the context in identifying the meaning of the inscription. The proposed algorithm offers one or more words in a different random values as a result, from which users can select the relevant one. The article also presents experimental results, which demonstrate the efficiency of method.

An Efficient and Effective Approach to Developing Engineering E-Training Courses

2011 ◽  
pp. 26-39
Author(s):  
Judy C.R. Tseng ◽  
Wen-Ling Tsai ◽  
Gwo-Jen Hwang ◽  
Po-Han Wu
Keyword(s):  
New Technologies ◽  
Experimental Results ◽  
Traditional Learning ◽  
The Novel ◽  
Learning Materials ◽  
Challenging Issue ◽  
Novel Approach ◽  
Training Courses ◽  
Oriented Approach

In developing traditional learning materials, quality is the key issue to be considered. However, for high technical e-training courses, not only the quality of the learning materials but also the efficiency of developing the courses needs to be taken into consideration. It is a challenging issue for experienced engineers to develop up-to-date e-training courses for inexperienced engineers before further new technologies are proposed. To cope with these problems, a concept relationship-oriented approach is proposed in this paper. A system for developing e-training courses has been implemented based on the novel approach. Experimental results showed that the novel approach can significantly shorten the time needed for developing e-training courses, such that engineers can receive up-to-date technologies in time.

A multi-unit serial inspection robot for power transmission lines

2019 ◽  
Vol 46 (2) ◽  
pp. 223-234 ◽  
Author(s):  
Guanghong Tao ◽  
Lijin Fang
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Power Transmission ◽  
Power Transmission Line ◽  
The Novel ◽  
Power Transmission Lines ◽  
Obstacle Crossing ◽  
Content Type ◽  
Inspection Robot ◽  
Serial Robot

Purpose The purpose of this paper is to introduce a robot mechanism designed for power transmission line inspection. The focus for this design is on obstacle-crossing ability with a goal to create a robot moving and crossing obstacle on not only the straight line but also the steering line. Design/methodology/approach A novel four-unit tri-arm serial robot mechanism is proposed. Every novel unit designed for pitching motion is based on parallelogram structure, which is driven by cables and only one motor. There is gripper-wheel compounding mechanism mounted on the arm. The prototype and obstacle environments are established, and the obstacle-crossing experiments are conducted. Findings The novel unit mechanism and robot prototype have been tested in the lab. The prototype has demonstrated the obstacle-crossing ability when moving and crossing fundamental obstacles on the line. The experimental results show that the robot mechanism meets the obstacle-crossing requirements. Practical implications The novel robot technology can be used for defect inspection of power transmission line by power companies. Social implications It stands to lower the intense and risk of inspection works and reduce the costs related to inspection. Originality/value Innovative features include its architecture, mobility and driving method.

scholarly journals Multiplexed Supply of a MISO Wireless Power Transfer System for Battery-Free Wireless Sensors

Energies ◽  
2020 ◽  
Vol 13 (5) ◽  
pp. 1244
Author(s):  
Ghada Bouattour ◽  
Mohamed Elhawy ◽  
Slim Naifar ◽  
Christian Viehweger ◽  
Houda Ben Jmaa Derbel ◽  
...  
Keyword(s):  
Power Transmission ◽  
The Novel ◽  
Wireless Power ◽  
Single Output ◽  
Novel Approach ◽  
Single Coil ◽  
Communication Module ◽  
Wireless Power Transfer System ◽  
Receiving Coil ◽  
Secondary Side

Multi-input single output wireless power transmission (MISO-WPT) systems have decisive advantages concerning flexible receiver position in comparison to single coil systems. However, the supply of the primary side brings a large uncertainty in case of variable positions of the secondary side. In this paper, a compact multiplexed primary side electronic circuit is proposed, which includes only one signal generator, a passive peak detector, a communication module, and a compensation capacitor. The novel approach has been studied and evaluated for a MISO-WPT system having a 16 coils on primary side and one coil on secondary side having the double diameter. Results show that a standard microcontroller, in this case an STM32, is sufficient for the control of the whole system, so that the costs and the energy consumption are significantly reduced. An activation strategy has been proposed, which allows to determine the optimal transmitting coil for each position of the receiving coil and to switch it on. The time-to-start-charging at different positions of the receiving coil and different number of neighbors has been determined. It remains in all cases under 2.5 s.

scholarly journals Checkerboard artifacts free convolutional neural networks

2019 ◽  
Vol 8 ◽  
Author(s):  
Yusuke Sugawara ◽  
Sayaka Shiota ◽  
Hitoshi Kiya
Keyword(s):  
Neural Networks ◽  
Convolutional Neural Networks ◽  
Experimental Results ◽  
The Novel ◽  
Multirate Systems ◽  
Conventional Condition ◽  
Novel Structure ◽  
Avoidance Condition

AbstractIt is well-known that a number of convolutional neural networks (CNNs) generate checkerboard artifacts in both of two processes: forward-propagation of upsampling layers and backpropagation of convolutional layers. A condition for avoiding the artifacts is proposed in this paper. So far, these artifacts have been studied mainly for linear multirate systems, but the conventional condition for avoiding them cannot be applied to CNNs due to the non-linearity of CNNs. We extend the avoidance condition for CNNs and apply the proposed structure to typical CNNs to confirm whether the novel structure is effective. Experimental results demonstrate that the proposed structure can perfectly avoid generating checkerboard artifacts while keeping the excellent properties that CNNs have.

scholarly journals Effective metrics for multi-robot motion-planning

2018 ◽  
Vol 37 (13-14) ◽  
pp. 1741-1759 ◽  
Author(s):  
Aviel Atias ◽  
Kiril Solovey ◽  
Oren Salzman ◽  
Dan Halperin
Keyword(s):  
Motion Planning ◽  
Success Rate ◽  
Shape Matching ◽  
Equivalence Classes ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
The Novel ◽  
Multi Robot

We study the effectiveness of metrics for multi-robot motion-planning (MRMP) when using rapidly-exploring random tree (RRT)-style sampling-based planners. These metrics play the crucial role of determining the nearest neighbors of configurations and in that they regulate the connectivity of the underlying roadmaps produced by the planners and other properties such as the quality of solution paths. After screening over a dozen different metrics we focus on the five most promising ones: two more traditional metrics, and three novel ones, which we propose here, adapted from the domain of shape-matching. In addition to the novel multi-robot metrics, a central contribution of this work are tools to analyze and predict the effectiveness of metrics in the MRMP context. We identify a suite of possible substructures in the configuration space, for which it is fairly easy: (i) to define a so-called natural distance that allows us to predict the performance of a metric, which is done by comparing the distribution of its values for sampled pairs of configurations to the distribution induced by the natural distance; and (ii) to define equivalence classes of configurations and test how well a metric covers the different classes. We provide experiments that attest to the ability of our tools to predict the effectiveness of metrics: those metrics that qualify in the analysis yield higher success rate of the planner with fewer vertices in the roadmap. We also show how combining several metrics together may lead to better results (success rate and size of roadmap) than using a single metric.

A New Dynamic Protocol Analysis Model

2013 ◽  
Vol 765-767 ◽  
pp. 1761-1765
Author(s):  
Fu Lin Li ◽  
Jie Yang ◽  
Hong Wei Zhou ◽  
Ying Liu
Keyword(s):  
Static Analysis ◽  
Theorem Proving ◽  
Protocol Analysis ◽  
Experimental Results ◽  
Analysis Model ◽  
Formal Validation ◽  
Analysis Methods

Traditional static analysis methods such as formal validation and theorem proving were used to analyze protocols security previously. These methods can not measure and evaluate actual security of protocols accurately for the setting and suppose are far from the actual conditions. This paper proposes a new dynamic protocol analysis model. The system based on the model can be used to active test in actual running conditions, analyze known protocols security, integrity, robustness, and analyze unknown protocols online, provide support for protocol designer. The systems structure, working flow and implementation of key modules are described. The experimental results validate the validity of the models design.

Sign in / Sign up

Export Citation Format

Share Document