Circle Flocking of Swarm Robots Based on Relative Position Measurement

1995 ◽

Author(s):

Nejat Olgac ◽

Martin Hosek

Keyword(s):

Relative Position ◽

Primary Structure ◽

Vibration Suppression ◽

Control Force ◽

Range Analysis ◽

Position Measurement ◽

Harmonic Force ◽

Stability Range ◽

Vibration Absorption ◽

Active Vibration

Abstract A novel active vibration absorption technique, the Delayed Resonator, has been introduced recently as a unique way of suppressing undesired oscillations. It suggests a control force on a mass-spring-damper absorber in the form of a proportional position feedback with a time delay. Its strengths consist of extremely simple implementation of the control algorithm, total vibration suppression of the primary structure against a harmonic force excitation and full effectiveness of the absorber in a semi-infinite range of disturbance frequency, achieved by real-time tuning. All this development work was done using the absolute displacements of the absorber in the feedback. These displacement measurements may be difficult to obtain and for some applications impossible. This paper deals with a substitute and easier measurement: the relative motion of the absorber with respect to the primary structure. Theoretical foundations for the Delayed Resonator (DR) are briefly recapitulated and its implementation on a single-degree-of-freedom primary structure disturbed by a harmonic force is introduced utilizing both absolute and relative position measurement of absorber mass. Methods for stability range analysis and transient behavior are presented. Properties acquired for the same system with these two different feedback are compared. Relative position measurement case is found to be more advantageous in most applications of the Delayed Resonator method.

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Characters of Laser Ranging on Inter-satellite Relative Position Measurement

2007 3rd International Conference on Recent Advances in Space Technologies ◽

10.1109/rast.2007.4284066 ◽

2007 ◽

Cited By ~ 3

Author(s):

Gao Peng ◽

You Zheng

Keyword(s):

Relative Position ◽

Laser Ranging ◽

Position Measurement

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Evaluation of Commercial District by Relative Position Measurement Approach and Comparison of Regional Characteristics

Studies in Regional Science ◽

10.2457/srs.32.323 ◽

2001 ◽

Vol 32 (1) ◽

pp. 323-336

Author(s):

Ayako MORI ◽

Soushi SUZUKI ◽

Katunori SUZUKI ◽

Hideo IGARASHI

Keyword(s):

Relative Position ◽

Position Measurement ◽

Regional Characteristics ◽

Measurement Approach

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Relative Position Measurement Approach in AHP

INFRASTRUCTURE PLANNING REVIEW ◽

10.2208/journalip.18.129 ◽

2001 ◽

Vol 18 ◽

pp. 129-138 ◽

Cited By ~ 4

Author(s):

Ayako MORI ◽

Soushi SUZUKI

Keyword(s):

Relative Position ◽

Position Measurement ◽

Measurement Approach

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Robust Adaptive Consensus of Decentralized Large-Scale Bi-Directional Vehicular Platoons with Only Relative Position Measurement

IEEE Transactions on Vehicular Technology ◽

10.1109/tvt.2021.3134749 ◽

2021 ◽

pp. 1-1

Author(s):

Hosein Chehardoli ◽

Ali Ghasemi

Keyword(s):

Relative Position ◽

Large Scale ◽

Position Measurement ◽

Robust Adaptive

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Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2014.p0245 ◽

2014 ◽

Vol 26 (2) ◽

pp. 245-252 ◽

Cited By ~ 1

Author(s):

Katsuhiko Tabata ◽

◽

Toshiaki Iwai ◽

Shigeki Kudomi ◽

Yoshimichi Endo ◽

...

Keyword(s):

Measurement System ◽

Relative Position ◽

Ultrasonic Waves ◽

Automated Guided Vehicles ◽

Position Measurement ◽

Position Information ◽

Distance Information ◽

Position Accuracy ◽

Improve Accuracy ◽

Marker Distance

We have been developing a position measurement system for navigation of automated guided vehicles (AGVs) called SPARS. In this system, the AGV’s ultrasonic position measurement module communicates via ultrasonic waves with ultrasonic transponders that serve as land markers on a path to measure its relative position during travel. In previous studies, we conducted experiments and introduced improvements using the relative position between the AGV and land marker estimated from position information from a single land marker. It was found, however, that the ultrasonic communication S/N ratio decreases, lowering position accuracy, when the land marker distance and its direction angle are great. To solve this problem and improve accuracy, we examine position measurement based on distance information from two land markers.

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Integrating Precision Relative Positioning into JASON/MEDEA ROV Operations

Marine Technology Society Journal ◽

10.4031/002533206787353664 ◽

2006 ◽

Vol 40 (1) ◽

pp. 87-96 ◽

Cited By ~ 11

Author(s):

Brian Bingham ◽

David Mindell ◽

Thomas Wilcox ◽

Andy Bowen

Keyword(s):

System Design ◽

Relative Position ◽

Acoustic Noise ◽

Estimation Theory ◽

Proof Of Concept ◽

Hydraulic Systems ◽

Relative Positioning ◽

Position Measurement ◽

Data Product ◽

Successful Integration

Advances in navigation continue to add precision and robustness to undersea operations. Two challenges limit navigation of the JASON/MEDEA two-vehicle ROV system: acoustic noise from JASON's hydraulic systems and lack of a direct relative position measurement between the two vehicles. This paper describes successful integration of the SHARPS ranging system—enabling precise relative positioning that is robust with respect to acoustic noise. We discuss four aspects of the installation: the capabilities of SHARPS as installed on the ROVs, the estimation theory predicted performance of the system design, the proof-of-concept navigation results from field deployments, and the operational utility of the SHARPS capability. The SHARPS installation integrates an important capability into the ROV system, enhancing the data product for science while adding safety and flexibility to the at-sea operations.

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