Mechatronic Anti-Collision System for Electric Wheelchairs Based on 2D LiDAR Laser Scan

Electric wheelchairs make it easier for disabled and elderly people to live, move, interact, and participate in society. Moving a wheelchair in open spaces is relatively easy, but in closed and small spaces, maneuvering is difficult. Solutions to such problems for people with disabilities are applicable to a relatively small group of recipients and are mostly custom-made solutions, whose considerable cost is a significant barrier to accessibility. New technologies can provide an opportunity to improve the quality of life of people with disabilities in this aspect. Using selected elements of complex automation and control systems, cost-effective solutions can be created that facilitate the functioning of people with disabilities. This paper presents an analysis of hazards and problems when maneuvering a wheelchair in narrow passageways, as well as the authors’ solution to this problem, and the concept and assumptions of a mechatronic anti-collision system based on 2D LiDAR laser scanners. This solution is composed of a proprietary 2D rotating scanner mechanism that ensures the acquisition of 3D images of the environment around the wheelchair. Preliminary tests of this solution yielded promising results. Further research will include miniaturization of the device.

Interval of restitution coefficient for chattering in impact damper

Based on the impact damper, a dynamic model of a non-fixed constrained collision system was established. The coefficient of restitution is used as the main control parameter to analyze the system’s periodic movement and its bifurcation region. The chattering movement characteristics of the system were revealed. The interval of restitution coefficient for the chattering of collision system under various mass ratio and frequency ratio was obtained. The results show that the chattering phenomenon occurs in the collision system when the coefficient of restitution is greater than 0.5; as the mass ratio decreases, the interval of restitution coefficient for chattering continues to expand; as the frequency increases, the interval of restitution coefficient for chattering narrows.

P–T CONDITIONS, U/Pb AND 40Ar/39Ar ISOTOPIC AGES OF UHT GRANULITES FROM CAPE KALTYGEI, WESTERN BAIKAL REGION

The study is focused on metapelitic granulites of Cape Kaltygei (Western Baikal region) that contain a diagnostic mineral assemblage of ultrahigh temperature (UHT) metamorphic rocks (orthopyroxene+sillimanite+quartz). The pseudosection-based thermobarometry yields peak metamorphic temperature and pressure values (T=950 °C, P=~9 kbar) and suggests near-isobaric cooling (IBC) conditions during the retrograde evolution of the granulites. The U/Pb zircon age estimates for metamorphism (~1.87 Ga) support the data published by other researchers. The SHRIMP-II U-Pb dating of zircon cores yields a minimum protolith age of 1.94–1.91 Ga. Biotites and amphiboles from granulites of Cape Kaltygei show the 40Ar/39Ar isotopic ages that are close to the Early Paleozoic accretion-collision system of the Western Baikal region.

UAV Collision Detection Algorithm based on Formulafor Fast Calculation

Collision Avoidance System (CAS) is known as a pre-collision system or a forward collision warning system, and research has first begun as a vehicle safety system. In this paper, we propose an algorithm for collision detection of UAV. The proposed algorithm uses a mathematical method and detects the collision of the UAV by modeling it in a two-dimensional plane. Using the mathematical modeling method, it is possible to determine the collision location of the UAV in advance. Experiments were conducted to measure the performance and accuracy of the proposed algorithm. In the experiment, we proceeded assuming three environments and were able to detect an accurate collision when the UAV moved. By applying the algorithm proposed in the paper to CAS, many collision accidents can be prevented. The proposed algorithm detects collisions through mathematical calculations. In addition, the movement time of the UAV was modeled in a 2D environment to shorten the calculation time.

Conceptual Design of an Anti-collision System for Light Rail Vehicles

This paper presents the concepts for an anti-collision system intended for trams. The purpose of the anti-collision system is to develop and provide information to support the driver’s decision to initiate the braking of a tram. The anti-collision system is based on the processing of data from multiple sources (obstacle detection, image processing, and visual light communication system) and an expert system. The information about the road situation is visually presented on HUD (Head-up Display) of the driver.

Image stabilization technology for active bridge-vessel anti-collision monitoring system

<p>In recent years, the active anti-collision system using new technologies such as image target recognition between ship and bridge becomes a new research hotspot. Due to camera jitter, it is not easy to deeply mine the monitoring image data. This paper puts forward an anti-jitter algorithm to obtain the ship monitoring track in the sea area removing the camera jitter. It uses electronic image stabilization, sea-sky line anti jitter filtering, and other methods to process the on-site monitoring video, then compares the effect of each technique, and finally obtains high-quality ship tracking data. Through this method, a high-quality ship monitoring track in the bridge area can be obtained.</p>