Neighbor Topology for Dynamic Plane Coverage in Swarm Leading Control

2012 ◽  
Vol 3 (1) ◽  
pp. 59-75
Author(s):  
Keitaro Naruse ◽  
Tatsuya Sato
Keyword(s):  
Small Area ◽  
Control Method ◽  
The Other ◽  
Large Field ◽  
Multiple Robots ◽  
Coverage Problem ◽  
Coverage Area ◽  
Fixed Distance ◽  
Equal Density ◽  
Dynamic Plane

The objective of this paper is to solve the dynamic plane coverage problem by the movement of multiple robots, for example, sprinkling water to a large field by several vehicles or aircrafts, in which all of the points in the field should be covered by the robots in an almost equal density. One of the ways to solve it is the swarm leading control method, in which one of the robots, called a target, moves along a path in the field, and all the other robots move around the target with a fixed distance. In the process, the topology of the robots affects to the efficiency of the dynamic plane coverage problem. If the topology is a tight one, the swarm can be stable but the coverage area can be limited in a small area. On the other hand, if it is a loose one, an opposite thing can be happened. In this paper, the relation between the topology and the efficiency is discussed numerically.

The Parallel Mechanism and Variable Acceleration Control Method

2013 ◽  
Vol 579-580 ◽  
pp. 659-664
Author(s):  
Xiang Bo Ouyang ◽  
Ke Tian Li ◽  
Hong Jian Xia ◽  
Su Juan Wang ◽  
Huan Wei Zhou ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Control Method ◽  
The Other ◽  
Connecting Rod ◽  
Motion Platform ◽  
The Third ◽  
Symmetric Structure ◽  
Slide Block ◽  
Operation Process ◽  
Moving Platform

t presents the parallel mechanism and variable acceleration control method, which is composed of slider, connecting rod, moving platform and linear guide etc. The motion platform is supported by three connecting rods through hinging, the other end of the connecting rods are respectively hinged with two sliders. Among them two pairs of connecting rod, two sliders and the moving platform formed a symmetric structure that is the so called Parallel Mechanism. The third connecting rod is parallel to one of two connecting rods, so that the two parallel connecting rods, slide block and the moving platform formed a parallelogram structure, it makes that the moving platform is always parallel to liner guiderail in the process of movement. By controlling the two sliders moving in the way of variable acceleration, it can make the trajectory curve, speed curve and acceleration curve of the moving platform are continuous, smooth, so impact and vibration of the moving platform is limited in the operation process.

scholarly journals Comparing fall migration of three Catharus species using a radio-telemetry network

2020 ◽  
Vol 7 (1) ◽  
pp. 1-8
Author(s):  
Camille Bégin Marchand ◽  
André Desrochers ◽  
Junior A. Tremblay ◽  
Pascal Côté
Keyword(s):  
Small Area ◽  
Radio Telemetry ◽  
Southeastern United States ◽  
The Other ◽  
Monitoring Networks ◽  
Migration Routes ◽  
Catharus Ustulatus ◽  
Swainson’S Thrush ◽  
Catharus Bicknelli ◽  
Bicknell's Thrush

AbstractMigration routes vary greatly among small passerine species and populations. It is now possible to determine the routes over great distances and long periods of time with emerging monitoring networks. We tracked individual Swainson’s Thrush (Catharus ustulatus), Bicknell’s Thrush (Catharus bicknelli) and Gray-cheeked Thrush (Catharus minimus) in northeastern Quebec and compared their migration routes and paces across an array of radio-telelemetry stations in North America. Swainson’s Thrush migrated further inland than the other two species. Individuals from all three species slowed their migration pace in the southeastern United States, and Swainson’s Thrush was more likely to stopover than Bicknell’s Thrush. Although individuals were tagged in a small area within or close to their breeding range, the results document the variability of migration routes between species with similar ecological characteristics and provide detailed material to be used for migration studies with broader taxonomic or ecological scope.

scholarly journals Variation of MODIS reflectance and vegetation indices with viewing geometry and soybean development

2012 ◽  
Vol 84 (2) ◽  
pp. 263-274 ◽  
Author(s):  
Fábio M. Breunig ◽  
Lênio S. Galvão ◽  
Antônio R. Formaggio ◽  
José C.N. Epiphanio
Keyword(s):  
Vegetation Index ◽  
Normalized Difference Vegetation Index ◽  
Vegetation Indices ◽  
Constant Factor ◽  
The Other ◽  
Large Field ◽  
Phenological Stages ◽  
Water Index ◽  
Growing Seasons ◽  
Moderate Resolution Imaging Spectroradiometer

Directional effects introduce a variability in reflectance and vegetation index determination, especially when large field-of-view sensors are used (e.g., Moderate Resolution Imaging Spectroradiometer - MODIS). In this study, we evaluated directional effects on MODIS reflectance and four vegetation indices (Normalized Difference Vegetation Index - NDVI; Enhanced Vegetation Index - EVI; Normalized Difference Water Index - NDWI1640 and NDWI2120) with the soybean development in two growing seasons (2004-2005 and 2005-2006). To keep the reproductive stage for a given cultivar as a constant factor while varying viewing geometry, pairs of images obtained in close dates and opposite view angles were analyzed. By using a non-parametric statistics with bootstrapping and by normalizing these indices for angular differences among viewing directions, their sensitivities to directional effects were studied. Results showed that the variation in MODIS reflectance between consecutive phenological stages was generally smaller than that resultant from viewing geometry for closed canopies. The contrary was observed for incomplete canopies. The reflectance of the first seven MODIS bands was higher in the backscattering. Except for the EVI, the other vegetation indices had larger values in the forward scattering direction. Directional effects decreased with canopy closure. The NDVI was lesser affected by directional effects than the other indices, presenting the smallest differences between viewing directions for fixed phenological stages.

scholarly journals Motion of Multiple Robot in a Curved Boundary & Obstacles

2019 ◽  
Vol 9 (1) ◽  
pp. 6011-6014
Keyword(s):  
Curve Fitting ◽  
The Other ◽  
Multiple Robots ◽  
Curved Boundary ◽  
Medical Supplies ◽  
Straight Line ◽  
Multiple Robot ◽  
Assembly Operations ◽  
Curve Equation ◽  
Made In

An attempt is made in this paper to gain the flexibility of movement of robots around the boundary of the workspace, where in many robots are moving at a time in the presence of the static curved obstacles. The boundary of the workspace may be a straight line or curve shaped. The obstacle may be polygonal or curved shaped. A program is developed for the motion of the multiple robots to move from its origin location to the desired location without colliding with the boundary, the other moving robots and the static obstacles. The program is based on the curve fitting technique. As and when the robot comes close to the curved boundary or curved barrier, it will trace the path formed by the curve equation using the technique of curve fitting. Since there are multiple robots, the path planning ensures the robots to reach their targets in minimum time. During tracing the path, if more than one robot is following the same path, priority is assigned to such robots. Multiple robots finds application in assembly operations, medical supplies and meals to patients, disinfecting the rooms for patients etc.

scholarly journals V.—Note on an Undescribed Area of Lower Greensand or Vectian in Dorset

1891 ◽  
Vol 8 (10) ◽  
pp. 456-458 ◽  
Author(s):  
A. J. Jukes-Browne
Keyword(s):  
Lower Cretaceous ◽  
Small Area ◽  
Upper Cretaceous ◽  
The Other ◽  
Present Communication ◽  
The Subject ◽  
Geological Magazine

Until recently no outcrop of the Vectian or Lower Greensand was known to occur between Lulworth on the coast of Dorset and the neighbourhood of Devizes in Wiltshire. It was supposed that, with the exception of a small area of Wealden in the Vale of Wardour, the whole of the Lower Cretaceous Series in Dorset and South Wilts was concealed and buried beneath the overlapping Upper Cretaceous strata. A recent examination of this district however has revealed two areas where the Vectian sands emerge from beneath the Gault. One of these has already been indicated in the pages of the Geological Magazine; the other is the subject of the present communication.

Design and Evaluation of Electromagnetic Wobble Motor

2012 ◽  
Vol 24 (3) ◽  
pp. 480-486 ◽  
Author(s):  
Masaki Miyake ◽  
◽  
Koichi Suzumori ◽  
Kazuo Uzuka ◽  
Keyword(s):  
Control Method ◽  
Basic Structure ◽  
The Other ◽  
Motor Drive ◽  
Reduction Mechanism ◽  
Two Phase ◽  
Basic Model ◽  
Electric Equipment ◽  
And Control

The purpose of this work is to develop a thin, electromagnetic wobble motor with a large amount of torque, a motor thinner than conventional ones and able to be applied to portable electric equipment. We have developed a basic model of the motor 30 mm in diameter and 5 mm in thickness. In this paper, the basic structure and control method are first presented. Next, the design of the electromagnets and the three types of gear pairs, which have different pressure angles for the reduction mechanism, are presented. Finally, the motor drive experiments are performed using two types of drive: one is a two-phase drive, and the other is a four-phase drive. Three types of gear pairs are also shown. The motor works successfully, and its great potential to be mounted in thin, portable equipments is confirmed.

scholarly journals Composite Antidisturbance Control for a Class of Nonlinear Stochastic Systems via Disturbance Observer

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Yunlong Liu ◽  
Yumin Zhang ◽  
Xiuming Yao
Keyword(s):  
Disturbance Observer ◽  
Stochastic Systems ◽  
Control Method ◽  
The Other ◽  
Stabilization Problem ◽  
Nonlinear Stochastic Systems ◽  
Stochastic Disturbance ◽  
Harmonic Signals ◽  
Unknown Phase ◽  
Dynamic Performances

The stabilization problem is investigated in this paper for a class of nonlinear systems with disturbances. The disturbances are supposed to be classified into two types. One type in the input channel is generated by an exogenous system, which can represent the constant or harmonic signals with unknown phase and magnitude. The other type is stochastic disturbance. Two kinds of nonlinear dynamics in the plants are considered, respectively, which correspond to the known and unknown functions. By integrating the disturbance observers with conventional control method, the first type of disturbances can be estimated and rejected. Simultaneously, the desired dynamic performances can be guaranteed. An example is given to show the effectiveness of the proposed scheme.

Automation in Sea Transport

1967 ◽  
Vol 20 (4) ◽  
pp. 464-476
Author(s):  
G. V. Parmiter
Keyword(s):  
The Other ◽  
Large Field ◽  
Shipping Industry ◽  
Direct Control ◽  
Sea Transport ◽  
Other Hand ◽  
Data Loggers ◽  
The Individual

The word ‘Automation’ when applied to the shipping industry seems to invoke in the individual mind such matters as direct control of propulsion units, planned bridge lay-outs, cargo plan computers, engine data loggers and such other items of ships' equipment. Automation is thus limited in effect and confined entirely to the ship internally. Clearly this ensures that the ship as a unit is as economically efficient as modern techniques allow and is a reflection of the up-to-date attitude of mind of many shipowners.On the other hand there is a very large field open to automation which concerns sea transport as a whole in respect of the actual conduct of ships at sea both individually and in relation to their effect on each other. It is in this field of sea transport operations that the author sees many longterm possibilities and this paper tries to give some lead into these, which so far seem to have received little, if any, widespread thought or discussion.

Dynamic Characteristics and Double Closed Loop Control Method of Warping Machine

2012 ◽  
Vol 627 ◽  
pp. 428-434
Author(s):  
Tao Yang ◽  
Lin Yin Liu ◽  
Wei Rong Dai
Keyword(s):  
Control System ◽  
Closed Loop ◽  
Dynamic Models ◽  
Control Method ◽  
Stable State ◽  
The Other ◽  
Closed Loop Control ◽  
Loop Control ◽  
Yarn Tension ◽  
Warp Tension

The warp tension is caused by the speed difference between rewinding shaft and unwinding shaft. The mathematical dynamic models of the system are established based on rewinding shaft and unwinding shaft．Double closed loop are included in the control system. One is winding speed closed loop which could control warping speed according to the requirements; the other is tension closed loop which ensure the yarn tension to be kept constant. The experimental results show the curve of tension enters a stable state after two or three times’ oscillation. The accuracy of the yarn tension has reached ±3%.

scholarly journals Locomotive Lifter for Parking in Congested Places

2019 ◽  
Vol 9 (2) ◽  
pp. 758-760
Keyword(s):  
Small Area ◽  
Fluid Pressure ◽  
The Other ◽  
Vehicle Body ◽  
Radius Of Curvature ◽  
Body Frame ◽  
Parallel Parking ◽  
Piston Cylinder ◽  
Metropolitan Cities ◽  
Exact Position

Locomotive Lifter is an independent attachment implied on the vehicle body frame in order to lift and move the vehicle at right angles from it’s exact position using the retractable arm provided with the wheel dolly for parking in congested places. It works on the principle that the fluid pressure (hydraulic or pneumatic) applied in the piston cylinder respectively pulls the arm and lifts the vehicle, due to small area of the wheel dolly the effort (force applied) to push the vehicle is less irrespective of the immense structure of the vehicle. Now-adays the most common issue probably dealt in metropolitan cities is that the mishap in parking the car in the portico or on the adjacent road side parallelly with part of the car body to be hanging outside the passage. Merely, there is enough of space to park the car but to say it is hardly occupied. The unoccupied space is due to irregular parking of the other cars crossing the parking lanes on the either sides in parallel parking or the standing pillar in indoor parking which does not allow the car to turn with it’s free radius of curvature. In order to park the car perfectly one has to arrest the position of the either axial of the car and the other axial wheel has to be tilt at right angles to make an arc to park. But this case isn’t possible i.e. tilting the wheels at right angle. Besides the help of this “Locomotive Lifter” we can rotate the position of the car in all 360’degree direction, either the car can be moved or the car can be rotated.

Sign in / Sign up

Export Citation Format

Share Document