Systematic Odometry Error Modeling and Correction in Wheeled Robots

2013 ◽  
Vol 579-580 ◽  
pp. 675-679
Author(s):  
Zhong Da Yu ◽  
Yan Bo Pei ◽  
Dong Xiang Shao
Keyword(s):  
Relative Position ◽  
Model Experiment ◽  
Measuring Method ◽  
High Accuracy ◽  
Position Estimation ◽  
Error Modeling ◽  
New Method ◽  
Wheeled Robots ◽  
New Model ◽  
Robot Position

Odometry is a relative position measuring method widely used in robot position estimation. However, the error accumulates in an unbounded fashion. In this paper, a new model based on castors is proposed. The final pose accuracy is only affected by the position of castors according to the new model. Experiment is also conducted to demonstrate the feasibility and high accuracy of the new method.

scholarly journals Stellar magnetic imaging from spectropolarimetric data

1996 ◽  
Vol 176 ◽  
pp. 53-60 ◽  
Author(s):  
J.-F. Donati
Keyword(s):  
Small Amplitude ◽  
High Accuracy ◽  
Spectral Lines ◽  
New Method ◽  
Doppler Imaging ◽  
Magnetic Imaging ◽  
Active Stars ◽  
Surface Fields ◽  
Very High

In this paper, I will review the capabilities of magnetic imaging (also called Zeeman-Doppler imaging) to reconstruct spot distributions of surface fields from sets of rotationnally modulated Zeeman signatures in circularly polarised spectral lines. I will then outline a new method to measure small amplitude magnetic signals (typically 0.1% for cool active stars) with very high accuracy. Finally, I will present and comment new magnetic images reconstructed from data collected in 1993 December at the Anglo-Australian Telescope (AAT).

A Design of High-Accuracy Displacement Measurement Instrument from Principles of Optics

2012 ◽  
Vol 170-173 ◽  
pp. 2924-2928
Author(s):  
Sheng Biao Chen ◽  
Yun Zhi Tan
Keyword(s):  
Measurement Instrument ◽  
High Accuracy ◽  
Mechanical Tests ◽  
Total Reflection ◽  
Displacement Measurement ◽  
New Method ◽  
Water Volume ◽  
Water Drainage ◽  
Accuracy Of Measurement ◽  
Better Than

In order to measure the water drainage volume in soil mechanical tests accurately, it develop a new method which is based on principles of optics. And from both physical and mathematic aspects, it deduces the mathematic relationship between micro change in displacement and the increment projected on screen. The result shows that total reflection condition is better than refraction condition. What’s more, the screen could show the water volume micro variation clearly, so it can improve the accuracy of measurement.

scholarly journals Barycentric prolate interpolation and pseudospectral differentiation

2021 ◽  
Author(s):  
Yan Tian
Keyword(s):  
Boundary Value Problem ◽  
Convergence Rates ◽  
Boundary Value ◽  
High Accuracy ◽  
Second Order ◽  
New Method ◽  
Numerical Examples ◽  
Helmholtz Problem ◽  
Collocation Scheme

AbstractIn this paper, we provide further illustrations of prolate interpolation and pseudospectral differentiation based on the barycentric perspectives. The convergence rates of the barycentric prolate interpolation and pseudospectral differentiation are derived. Furthermore, we propose the new preconditioner, which leads to the well-conditioned prolate collocation scheme. Numerical examples are included to show the high accuracy of the new method. We apply this approach to solve the second-order boundary value problem and Helmholtz problem.

RoRePo: Detecting the role information and relative position information for contexts in multi-turn dialogue generation

2021 ◽  
Vol 40 (5) ◽  
pp. 10003-10015
Author(s):  
Zibang Gan ◽  
Biqing Zeng ◽  
Lianglun Cheng ◽  
Shuai Liu ◽  
Heng Yang ◽  
...  
Keyword(s):  
Relative Position ◽  
Latent Variables ◽  
Role Ambiguity ◽  
Position Information ◽  
New Model ◽  
Proposed Model ◽  
Relevant Context ◽  
Position Representation ◽  
Current Speaker ◽  
Relative Position Information

In multi-turn dialogue generation, dialogue contexts have been shown to have an important influence on the reasoning of the next round of dialogue. A multi-turn dialogue between two people should be able to give a reasonable response according to the relevant context. However, the widely used hierarchical recurrent encoder-decoder model and the latest model that detecting the relevant contexts with self-attention are facing the same problem. Their given response doesn’t match the identity of the current speaker, which we call it role ambiguity. In this paper, we propose a new model, named RoRePo, to tackle this problem by detecting the role information and relative position information. Firstly, as a part of the decoder input, we add a role embedding to identity different speakers. Secondly, we incorporate self-attention mechanism with relative position representation to dialogue context understanding. Besides, the design of our model architecture considers the influence of latent variables in generating more diverse responses. Experimental results of our evaluations on the DailyDialog and DSTC7_AVSD datasets show that our proposed model advances in multi-turn dialogue generation.

scholarly journals New Method and Experiment for Detecting Relative Position and Posture of the Hydraulic Support

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 181842-181854 ◽  
Author(s):  
Yi Zhang ◽  
Hongyang Zhang ◽  
Kuidong Gao ◽  
Wenbo Xu ◽  
Qingliang Zeng
Keyword(s):  
Relative Position ◽  
New Method ◽  
Hydraulic Support

scholarly journals CONCURRENT MAP BUILDING AND LOCALIZATION ON INDOOR DYNAMIC ENVIRONMENTS

2002 ◽  
Vol 16 (03) ◽  
pp. 361-374 ◽  
Author(s):  
JUAN ANDRADE-CETTO ◽  
ALBERTO SANFELIU
Keyword(s):  
Learning Rule ◽  
Dynamic Environments ◽  
Position Estimation ◽  
Indoor Environments ◽  
Map Building ◽  
Robust Learning ◽  
Map Construction ◽  
Map Updating ◽  
Dynamic Map ◽  
Robot Position

A system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and Kalman filtering for map updating and robot position estimation allows for robust learning of moderately dynamic indoor environments.

A New Method for Aggregate Proportion Design of Mixture

2012 ◽  
Vol 178-181 ◽  
pp. 1250-1253
Author(s):  
Yu Hua Li ◽  
Kai Huang ◽  
Ying Zhen Gao
Keyword(s):  
Iterative Algorithm ◽  
Accurate Result ◽  
High Accuracy ◽  
New Method ◽  
Equation Method ◽  
Normal Equation ◽  
Improved Method ◽  
Mixture Ratio ◽  
Target Value ◽  
Initial Target

When we make design of mixture ratio, we always use normal equation method (NEM), but the solution value of that method may doesn’t meet our demand. When we use the new method that proposed in this paper, we can solve the problem. The new method makes an improvement for NEM. By iterative algorithm, the new method uses the gradation data calculated by NEM as initial target value, canceling the relevant aggregate if the result of proportion is negative, and setting the gradation to the boundary value if the target value goes beyond limits. According to the adjusted object value, using NEM again, the new aggregate proportion can be solved. Then the new gradation of mixture will come into being the next target value. Finally, the accurate result will meet our need. The new improved method has good engineering applicability and high accuracy

scholarly journals Relative Position Estimation Between Two UWB Devices With IMUs

2021 ◽  
Vol 6 (3) ◽  
pp. 4313-4320
Author(s):  
Charles Champagne Cossette ◽  
Mohammed Shalaby ◽  
David Saussie ◽  
James Richard Forbes ◽  
Jerome Le Ny
Keyword(s):  
Relative Position ◽  
Position Estimation

Adaptive Verspannung von Zahnstange-Ritzel-Antrieben*/Adaptive preloading for rack-and-pinion-drives

2019 ◽  
Vol 109 (05) ◽  
pp. 312-318
Author(s):  
T. Engelberth ◽  
A. Verl
Keyword(s):  
Machine Tools ◽  
Energy Demand ◽  
High Accuracy ◽  
Drive System ◽  
New Method ◽  
Large Machine ◽  
Production Facilities

Zahnstange-Ritzel-Antriebe werden vorwiegend in großen Werkzeugmaschinen eingesetzt. Um die hohen Genauigkeitsanforderungen moderner Produktionsanlagen zu erreichen, werden diese Antriebe elektrisch verspannt. Die Verspannung ist konstant. Dieser Beitrag beschreibt eine neuartige Methode, die sogenannte adaptive Verspannung. Ziel ist es, den Energiebedarf und die Belastung des Antriebssystems durch Anpassung der Verspannung während des Betriebs zu reduzieren, ohne die Genauigkeit zu beeinflussen.   Rack-and-pinion-drives are mostly used in large machine tools. To achieve the high accuracy specifications of modern production facilities, these drives are electrically preloaded. The preload is constant. This article describes a new method of so-called adaptive preloading. The aim is to reduce energy demand and wear of the drive system by adjusting the preload during operation without affecting the accuracy.

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