scholarly journals Path Planning Generator with Metadata through a Domain Change by GAN between Physical and Virtual Environments

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7667
Author(s):  
Javier Maldonado-Romo ◽  
Mario Aldape-Pérez ◽  
Alejandro Rodríguez-Molina
Keyword(s):  
Path Planning ◽  
High Performance ◽  
Performance Standards ◽  
Physical World ◽  
Time Development ◽  
Robotic Systems ◽  
Generative Adversarial Networks ◽  
Illumination Variation ◽  
Augmented Reality System ◽  
Authentic Environment

Increasingly, robotic systems require a level of perception of the scenario to interact in real-time, but they also require specialized equipment such as sensors to reach high performance standards adequately. Therefore, it is essential to explore alternatives to reduce the costs for these systems. For example, a common problem attempted by intelligent robotic systems is path planning. This problem contains different subsystems such as perception, location, control, and planning, and demands a quick response time. Consequently, the design of the solutions is limited and requires specialized elements, increasing the cost and time development. Secondly, virtual reality is employed to train and evaluate algorithms, generating virtual data. For this reason, the virtual dataset can be connected with the authentic world through Generative Adversarial Networks (GANs), reducing time development and employing limited samples of the physical world. To describe the performance, metadata information details the properties of the agents in an environment. The metadata approach is tested with an augmented reality system and a micro aerial vehicle (MAV), where both systems are executed in an authentic environment and implemented in embedded devices. This development helps to guide alternatives to reduce resources and costs, but external factors limit these implementations, such as the illumination variation, because the system depends on only a conventional camera.

Global Path Planning for Full-Area Coverage Robotic Systems by Employing an Active Genetic Algorithm

2011 ◽  
Vol 328-330 ◽  
pp. 1881-1886
Author(s):  
Cen Zeng ◽  
Qiang Zhang ◽  
Xiao Peng Wei
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
High Performance ◽  
Search Space ◽  
Area Coverage ◽  
Robotic Systems ◽  
Genetic Operators ◽  
A Algorithm ◽  
Coverage Path Planning ◽  
Search Spaces

Genetic algorithm (GA), a kind of global and probabilistic optimization algorithms with high performance, have been paid broad attentions by researchers world wide and plentiful achievements have been made.This paper presents a algorithm to develop the path planning into a given search space using GA in the order of full-area coverage and the obstacle avoiding automatically. Specific genetic operators (such as selection, crossover, mutation) are introduced, and especially the handling of exceptional situations is described in detail. After that, an active genetic algorithm is introduced which allows to overcome the drawbacks of the earlier version of Full-area coverage path planning algorithms.The comparison between some of the well-known algorithms and genetic algorithm is demonstrated in this paper. our path-planning genetic algorithm yields the best performance on the flexibility and the coverage. This meets the needs of polygon obstacles. For full-area coverage path-planning, a genotype that is able to address the more complicated search spaces.

Electrostatic bellow muscle actuators and energy harvesters that stack up

2021 ◽  
Vol 6 (51) ◽  
pp. eaaz5796
Author(s):  
I. D. Sîrbu ◽  
G. Moretti ◽  
G. Bortolotti ◽  
M. Bolignari ◽  
S. Diré ◽  
...  
Keyword(s):  
High Performance ◽  
High Reliability ◽  
Low Cost ◽  
Artificial Muscle ◽  
Pressure Head ◽  
Robotic Systems ◽  
Maximum Pressure ◽  
Term Operation ◽  
Energy Harvesters ◽  
Out Of Plane

Future robotic systems will be pervasive technologies operating autonomously in unknown spaces that are shared with humans. Such complex interactions make it compulsory for them to be lightweight, soft, and efficient in a way to guarantee safety, robustness, and long-term operation. Such a set of qualities can be achieved using soft multipurpose systems that combine, integrate, and commute between conventional electromechanical and fluidic drives, as well as harvest energy during inactive actuation phases for increased energy efficiency. Here, we present an electrostatic actuator made of thin films and liquid dielectrics combined with rigid polymeric stiffening elements to form a circular electrostatic bellow muscle (EBM) unit capable of out-of-plane contraction. These units are easy to manufacture and can be arranged in arrays and stacks, which can be used as a contractile artificial muscle, as a pump for fluid-driven soft robots, or as an energy harvester. As an artificial muscle, EBMs of 20 to 40 millimeters in diameter can exert forces of up to 6 newtons, lift loads over a hundred times their own weight, and reach contractions of over 40% with strain rates over 1200% per second, with a bandwidth over 10 hertz. As a pump driver, these EBMs produce flow rates of up to 0.63 liters per minute and maximum pressure head of 6 kilopascals, whereas as generator, they reach a conversion efficiency close to 20%. The compact shape, low cost, simple assembling procedure, high reliability, and large contractions make the EBM a promising technology for high-performance robotic systems.

A Path-Planning Strategy for Overhead Cranes With High Hoisting Speed

2002 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Path Planning ◽  
High Performance ◽  
Stability Theorem ◽  
Lyapunov Stability Theorem ◽  
Control Laws ◽  
Planning Strategy ◽  
Overhead Cranes ◽  
Time Control ◽  
Small Load ◽  
Load Swing

This paper proposes a path planning strategy for high-performance anti-swing control of overhead cranes, where the anti-swing control problem is solved as a kinematic problem. First, two anti-swing control laws, one for hoisting up and the other for hoisting down, are proposed based on the Lyapunov stability theorem. Then a new path-planning strategy is proposed based on the concept of minimum-time control and the proposed anti-swing control laws. The proposed path planning is free from the usual constraints of small load swing, slow hoisting speed, and small hoisting distance. The effectiveness of the proposed path planning is shown by computer simulation with high hoisting speed and hoisting ratio.

scholarly journals A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 597
Author(s):  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Tanvir Ahmed ◽  
Asif Al Zubayer Swapnil ◽  
Mohammad AssadUzZaman ◽  
...  
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
High Performance ◽  
Time Delay Estimation ◽  
Robotic Systems ◽  
External Disturbances ◽  
Uncertain Dynamics ◽  
Control Scheme ◽  
Twisting Control ◽  
Dynamics Stability

The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chattering phenomenon and ensure fast convergence to the selected sliding surface, a new reaching law has been integrated with the control law. The control scheme aims to provide high performance and enhanced accuracy via limiting the effects brought by the presence of uncertain dynamics. Stability analysis of the closed-loop system was conducted using a powerful Lyapunov function, showing finite time convergence of the system’s errors. Lastly, experiments shaping rehabilitation tasks, as performed by healthy subjects, demonstrated the controller’s efficiency given its uncertain nonlinear dynamics and the external disturbances involved.

scholarly journals SITUATIONAL AWARENESS AND EMPLOYEE COMMITMENT IN THE HEALTH SECTOR OF BAYELSA STATE

2020 ◽  
Vol 6 (8) ◽  
pp. 1-11
Author(s):  
Jasmine Okponanabofa Tamunosiki-Amadi ◽  
Okolai, Dinanga Gladys
Keyword(s):  
Research Design ◽  
High Performance ◽  
Social Intelligence ◽  
Situational Awareness ◽  
Rank Order ◽  
Health Sector ◽  
Employee Commitment ◽  
Performance Standards ◽  
Bivariate Analysis ◽  
Cross Sectional Survey

This study examined the relationship between situational awareness a dimension of Social Intelligence and Employee Commitment in the health sector of Bayelsa State, Nigeria. The research design adopted for this study is cross sectional survey research design. A total of 339 questionnaires were distributed out of which 313 questionnaires were retrieves of which 273 was found useable. The population of the study is made up of medical Doctors, Nurses, Laboratory Technicians, Pharmacists, Engineers and Administrative staff of the Federal Medical Centre YenagoaBayelsa State, numbering 2220. The study employed the Taro Yamen’s technique to arrive at the sample size of 339. Spearman’s Rank Order correlation coefficient was used for the bivariate analysis and partial correction was used for the multivariate analysis with the aid of SPSS 20.0. The findings revealed a highly significant level of relationship between Situational Awareness and Employee Commitment. In conclusion the study found out that situational awreness influences employee commitment and this enhances outcomes such as maintaining high performance standards and achieving high performance goals which is further enhanced by the culture of the organization. The study recommends that leadership in the health sector should apply social intelligence skills to connect with others in order to boost employees performance.

Talent or Not

2017 ◽  
Author(s):  
Maria Christina Meyers ◽  
Nicky Dries ◽  
Giverny De Boeck
Keyword(s):  
Social Exchange ◽  
Psychological Contract ◽  
High Performance ◽  
Social Exchange Theory ◽  
Performance Standards ◽  
Talent Management ◽  
Future Research ◽  
Work Effort ◽  
Key Issues ◽  
High Work

It is assumed that employees display favorable attitudes (e.g., high organizational commitment) and behaviors (e.g., high work effort) when identified as organizational talent. If they did not, the idea that talent management creates value by making disproportionate investments into organizational talent would need to be reconsidered. We reviewed the literature to explore whether the assumed favorable reactions among talent are valid and the results are not straightforward. Many studies found evidence for the assumption; however, several studies revealed that talent designation bears considerable risks: Being identified as talent creates (overly optimistic) expectations of receiving rewards and benefits from the organization and it increases the felt pressure to meet high performance standards. We discuss the findings in the light of social exchange theory, psychological contract theory, and others commonly used in talent-management research, highlighting key issues regarding talent designation and identifying avenues for future research.

When Do Intended Performance Standards Predict Goal-Related Affect? A Motivated-Reasoning Perspective

2018 ◽  
Vol 10 (3) ◽  
pp. 295-306
Author(s):  
Allison M. Sweeney ◽  
Antonio L. Freitas
Keyword(s):  
High Performance ◽  
Secondary Data ◽  
Performance Standards ◽  
Motivated Cognition ◽  
Longitudinal Methods ◽  
Diary Studies ◽  
Intensive Longitudinal Methods ◽  
Daily Diary Studies ◽  
Low Performance ◽  
And Performance

This research used intensive longitudinal methods to examine a motivated cognition perspective on intention–behavior discrepancies. We propose that under conditions of high performance, people are more inclined to evaluate their efforts in light of their intentions; thus, discrepancies between intentions and performance should have stronger impacts on goal-related affect under conditions of high (vs. low) performance. Secondary data analyses were conducted on two daily-diary studies in which participants reported their exercise, goal-related affect, and next-day intentions across 14 days. Under conditions of low performance, people felt negative about their performance irrespective of whether they typically set low versus high intentions. On days with high performance, average intentions significantly related to affect, such that those with low average intentions experienced the greatest satisfaction. Additionally, we observed that average (between-person) affect, but not within-person fluctuations in affect, predicted daily levels of exercise behavior. Implications for self-regulatory theories of affect are discussed.

scholarly journals Advanced Aeroderivative Gas Turbines in Coal-Based High Performance Power Systems (HIPPS)

1998 ◽  
Author(s):  
F. L. Robson ◽  
D. J. Seery
Keyword(s):  
Power Systems ◽  
Gas Turbine ◽  
Gas Turbines ◽  
High Performance ◽  
Power Plants ◽  
Performance Standards ◽  
Combined Cycle ◽  
Advanced Technology ◽  
Early 21St Century ◽  
Near Term

The Department of Energy’s Federal Energy Technology Center (FETC) is sponsoring the Combustion 2000 Program aimed at introducing clean and more efficient advanced technology coal-based power systems in the early 21st century. As part of this program, the United Technologies Research Center has assembled a seven member team to identify and develop the technology for a High Performance Power Systems (HIPPS) that will provide in the near term, 47% efficiency (HHV), and meet emission goals only one-tenth of current New Source Performance Standards for coal-fired power plants. In addition, the team is identifying advanced technologies that could result in HIPPS with efficiencies approaching 55% (HHV). The HIPPS is a combined cycle that uses a coal-fired High Temperature Advanced Furnace (HITAF) to preheat compressor discharge air in both convective and radiant heaters. The heated air is then sent to the gas turbine where additional fuel, either natural gas or distillate, is burned to raise the temperature to the levels of modern gas turbines. Steam is raised in the HITAF and in a Heat Recovery Steam Generator for the steam bottoming cycle. With state-of-the-art frame type gas turbines, the efficiency goal of 47% is met in a system with more than two-thirds of the heat input furnished by coal. By using advanced aeroderivative engine technology, HIPPS in combined-cycle and Humid Air Turbine (HAT) cycle configurations could result in efficiencies of over 50% and could approach 55%. The following paper contains descriptions of the HIPPS concept including the HITAF and heat exchangers, and of the various gas turbine configurations. Projections of HIPPS performance, emissions including significant reduction in greenhouse gases are given. Application of HIPPS to repowering is discussed.

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