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    Wyświetlanie 1-6 z 6
    Tytuł:
    Differentiable Programming for the Autonomous Movement Planning of a Small Vessel
    Autorzy:
    Bahls, C.
    Schubert, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/2063965.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    autonomous navigation
    autonomous movement planning
    small vessel
    differentiable programming
    machine learning
    Opis:
    In this work we explore the use of differentiable programming to allow autonomous movement planning of a small vessel. We aim for an end to end architecture where the machine learning algorithm directly controls engine power and rudder movements of a simulated vessel to reach a defined goal. Differentiable programming is a novel machine learning paradigm, that allows to define a systems parameterized response to control commands in imperative computer code and to use automatic differentiation and analysis of the information flow from the controlling inputs and parameters to the resulting trajectory to compute derivatives to be used as search directions in an iterative algorithm to optimize a goal function. Initially the method does not know about any manoeuvring or the vessels response to control commands. The method autonomously learns the vessels behaviour from several simulation runs. Finally, we will show how the simulated vessel is able to fulfil some small missions, like crossing a flowing river while avoiding crossing traffic.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 493--499
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Simpliefied Collision Detection in 4r Serial Manipulators
    Autorzy:
    Handke, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/386865.pdf
    Data publikacji:
    2013
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    manipulator szeregowy
    wykrywanie kolizji
    planowanie przemieszczania
    serial manipulator
    collision detection
    movement planning
    Opis:
    This paper concerns the problem of designating criteria for assessing the possibility of a collision between the elements of serial manipulators with three rotary joints allowing to flex the segments in common plane oriented by rotating the fourth connection. The issue of contactless and efficient functioning of described group of manipulators has been considered in the spatial system. Equations were derived determining the possibility of a collision between selected segments of both manipulators. Collision detection model isn't based on the information from the tactile sensors, but only on the relative position between the segments of manipulators. Based on the parameters defining the collision, the search for method of impossible collision was set on designing level, in order to minimize the time needed to examine all possible scenarios of collisions between segments. The results were included in development of methods and algorithms for planning and controlling movements of finger modules in anthropomorphic manipulator during grasping objects of indeterminate shape.
    Źródło:
    Acta Mechanica et Automatica; 2013, 7, 1; 11-14
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Terrain-Based Modelling and Optimization of Groups Movement Using Group Patterns
    Modelowanie i optymalizacja przemieszczania grup obiektów z wykorzystaniem wzorców ugrupowania
    Autorzy:
    Tarapata, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/305923.pdf
    Data publikacji:
    2011
    Wydawca:
    Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
    Tematy:
    przemieszczanie grupowe
    planowanie grupowego przemieszczania
    komputerowo generowane siły
    wzorce ugrupowania
    group movement planning
    computer generated forces
    movement group patterns
    Opis:
    In the paper a problem of modelling and optimization of groups of military objects after given a group pattern is considered. A multiresolution terrain-based grid network is proposed as an environment for formulation of the problem. In the paper we show how to plan the movement of objects within a group to minimize the group's distance d d (sup) j (t) from fixed the j-th group pattern in each moment t, to simultaneously realise other demands of command (for example: minimization of potential losses with achieving a location, minimization of achieving the moment of destinations, etc.). We propose a multicriteria approach for such a problem.
    W artykule przedstawiono problem planowania przemieszczania wielu obiektów zgodnie z pewnym wzorcem ugrupowania. Jako model środowiska przemieszczania zaproponowano wielorozdzielczy model terenu. W artykule zaprezentowano, jak można planować przemieszczanie wielu obiektów, aby minimalizować odległość grupy od zdefiniowanego wzorca ugrupowania, który musi być zachowany w każdej chwili t i jednocześnie realizować inne cele (np. minimalizację potencjalnych strat w czasie przemieszczania). Zaprezentowano wielokryterialne podejście do wyznaczania takiego planu. Zarysowano sposoby rozwiązywania sformułowanych problemów harmonogramowania.
    Źródło:
    Biuletyn Instytutu Systemów Informatycznych; 2011, 7; 39-46
    1508-4183
    Pojawia się w:
    Biuletyn Instytutu Systemów Informatycznych
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Algorithms and calculation scheme for planning the way of movement of trajectory point during maneuvering for anchoring
    Autorzy:
    Surinov, I.
    Powiązania:
    https://bibliotekanauki.pl/articles/2063956.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    algorithms for planning ships trajectories
    planning the way of movement
    algorithms
    maneuvering for anchoring
    route planning
    ship’s trajectory planning
    algorithms for ships trajectories
    trajectory planning
    Opis:
    The analysis of the historical aspect of the development of the maneuvering during anchoring shows that during the movement there is no time to control the position by technical means, due to the speed of the process of changing the parameters of movement. The main purpose of this research is to modify the methodological basis for the preparation of flight planning during anchoring with increased accuracy to determine the coordinates along which the ship will move. The methodology of this work is based on the calculation of trajectory points of the path in combination with the method of segments on the map using the characteristics of the maneuverability of the vessel. The method is based on determining the coordinate matrices of rectilinear and curvilinear sections through which the vessel passes during maneuvering for anchoring. The calculation program is developed in Excel, and allows without the help of a micro calculator that takes into account the maneuverability of the vessel in the automatic system. Thus, the control of the center of gravity of the vessel relative to a given path line is performed. A high-precision system for automatic determination of planned coordinates by trajectory points on track and traffic control during anchoring has been developed, which is based on recently developed algorithms, calculation schemes and methods at the Maritime University, which are based on the latest meaningful models of high-precision planning movement on them. This approach automates the process of controlling safe traffic, including the use of decision support systems, including stranding prevention and collisions with other vessels. The results of the research can be used on a ship for automated planning of coordinates on waypoints and control of traffic on them for safe maneuvering, as well as for training navigators on specialized simulators to perform trajectory planning, including limited conditions.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 629--638
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Route prediction for a person in water drifting in chosen basins using graph theory
    Autorzy:
    Kijewska, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/135003.pdf
    Data publikacji:
    2017
    Wydawca:
    Akademia Morska w Szczecinie. Wydawnictwo AMSz
    Tematy:
    route prediction
    trajectory prediction
    object movement
    search planning
    survivor
    person in water
    search and rescue
    graph theory
    Opis:
    In this paper, the route prediction for a person in water was performed on the basis of a developed graph algorithm. This person drifted in water under the influence of surface currents and wind. The total drift route for the person in water was established as the route in a weighted directed graph. Vertices of this graph correspond to given points within a given basin. Additionally, the graph’s edges show possible directions of the overall human drift. The weight of the given edge describes the difference between the gradient of the edge and the total drift direction calculated on the basis of surface current field data and wind field data. An application has been created on the basis of a given algorithm which might be used to support the search for survivors in coastal areas (e.g. port basins, basins adjacent to the port, bays and sea areas) for which hydrodynamic models reliably reflect local phenomena.
    Źródło:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2017, 50 (122); 45-51
    1733-8670
    2392-0378
    Pojawia się w:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A graphical model to determine the influence of surface currents on small objects immersed in water
    Autorzy:
    Kijewska, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/135216.pdf
    Data publikacji:
    2016
    Wydawca:
    Akademia Morska w Szczecinie. Wydawnictwo AMSz
    Tematy:
    estimating survivor location
    search survivor movement
    object searching
    search planning
    trajectory prediction
    search and rescue
    graph theory
    hydrodynamic models
    Opis:
    This paper proposes a model of the interactions between surface currents and small, moving objects. These objects are immersed in water so that the part extending above the water is no larger than a human head. These interactions are defined as the weighted-directed graph. The basis for determining the edge weights are the directions of the surface currents. The speeds of these currents are used to calculate the time of moving objects. According to the modelling method of the surface-current influence on small objects, presented in this paper, it is possible to implement an application supporting search-and-rescue-operation planning. This method can be used to locate small objects, such as survivors, when planning search-and-rescue operations. Thus, the routes of these objects moving together with surface-water masses can be predicted using this method.
    Źródło:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2016, 47 (119); 170-175
    1733-8670
    2392-0378
    Pojawia się w:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-6 z 6

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