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    Wyświetlanie 1-4 z 4
    Tytuł:
    Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
    Autorzy:
    Dulęba, I.
    Jagodziński, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/907494.pdf
    Data publikacji:
    2011
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    system sterowania
    system nilpotentny
    algorytm
    control
    nilpotent system
    algorithm
    motion representation
    Opis:
    In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2011, 21, 3; 525-534
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An object-oriented approach to simulating human gait motion based on motion tracking
    Autorzy:
    Tändl, M.
    Stark, T.
    Erol, N. E.
    Löer, F.
    Kecskeméthy, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/930125.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    analiza ruchu
    system mięśniowo-szkieletowy
    symulacja wieloczłonowa
    promieniowanie rentgenowskie
    gait/motion analysis
    muskuloskeletal system
    multibody simulation
    MRI
    X-ray
    motion tracking
    Opis:
    Accurate bone motion reconstruction from marker tracking is still an open and challenging issue in biomechanics. Presented in this paper is a novel approach to gait motion reconstruction based on kinematical loops and functional skeleton features extracted from segmented Magnetic Resonance Imaging (MRI) data. The method uses an alternative path for concatenating relative motion starting at the feet and closing at the hip joints. From the evaluation of discrepancies between predicted and geometrically identified functional data, such as hip joint centers, a cost function is generated with which the prediction model can be optimized. The method is based on the object-oriented multibody library [...], which has already been successfully applied to the development of industrial virtual design environments. The approach has been implemented in a general gait visualization environment termed Mobile Body.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 3; 469-483
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control of a Team of Mobile Robots Based on Non-cooperative Equilibria with Partial Coordination
    Autorzy:
    Skrzypczyk, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/908483.pdf
    Data publikacji:
    2005
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    system wielorobotowy
    planowanie ruchu
    teoria gier
    multi-robot systems
    motion planning
    game theory
    Opis:
    In this work we present an application of the concept of non-cooperative game equilibria to the design of a collision free movement of a team of mobile robots in a dynamic environment. We propose the solution to the problem of feasible control synthesis, based on a partially centralized sensory system. The control strategy based on the concept of non-cooperative game equilibria is well known in the literature. It is highly efficient through phases where the solution is unique. However, even in simple navigation problems, it happens that multiple equilibria occur, which incurs a problem for control synthesis and may lead to erroneous results. In this paper we present a solution to this problem based on the partial centralization idea. The coordinator module is incorporated into the system and becomes active when multiple equilibria are detected. The coordination method includes a ``fair arbiter'' for the selection of an appropriate equilibrium solution. Simulation studies of the proposed methodology were carried out for 2, 3 and 5 robots, and their results are presented.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2005, 15, 1; 89-97
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Motion Planning, Equivalence, Infinite Dimensional Systems
    Autorzy:
    Rouchon, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/908322.pdf
    Data publikacji:
    2001
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    metoda elementów skończonych
    układ sterowania
    system opóźniania
    infinite dimensional control systems
    motion planning
    flatness
    absolute equivalence
    Pfaffian systems
    delay systems
    Gevrey functions
    Opis:
    Motion planning, i.e., steering a system from one state to another, is a basic question in automatic control. For a certain class of systems described by ordinary differential equations and called flat systems (Fliess et al., 1995; 1999a), motion planning admits simple and explicit solutions. This stems from an explicit description of the trajectories by an arbitrary time function y, the flat output, and a finite number of its time derivatives. Such explicit descriptions are related to old problems on Monge equations and equivalence investigated by Hilbert and Cartan. The study of several examples (the car with n-trailers and the non-holonomic snake, pendulums in series and the heavy chain, the heat equation and the Euler-Bernoulli flexible beam) indicates that the notion of flatness and its underlying explicit description can be extended to infinite-dimensional systems. As in the finite-dimensional case, this property yields simple motion planning algorithms via operators of compact support. For the non-holonomic snake, such operators involve non-linear delays. For the heavy chain, they are defined via distributed delays. For heat and Euler-Bernoulli systems, their supports are reduced to a point and their definition domain coincides with the set of Gevrey functions of order 2.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2001, 11, 1; 165-188
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-4 z 4

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