scholarly journals On Motion Planning for Point-to-Point Maneuvers for a Class of Sailing Vehicles

2011 ◽  
Vol 2011 ◽  
pp. 1-13
Author(s):  
Lin Xiao ◽  
Jerome Jouffroy
Keyword(s):  
Motion Planning ◽  
One Dimension ◽  
Control Input ◽  
Path Generation ◽  
Mathematical Tool ◽  
Point Boundary ◽  
Planning Strategy ◽  
Starting Point ◽  
Control Community ◽  
Point To Point

Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing vehicles in the plane, that is, automatic path generation combined with computation of control input profiles. Simulations are presented to illustrate the potential of the approach.

scholarly journals Local stationarity in exponential last-passage percolation

2021 ◽  
Author(s):  
Márton Balázs ◽  
Ofer Busani ◽  
Timo Seppäläinen
Keyword(s):  
Brownian Motion ◽  
Total Variation ◽  
High Probability ◽  
Probabilistic Methods ◽  
Side Length ◽  
Last Passage Percolation ◽  
Last Passage Times ◽  
Starting Point ◽  
Point To Point ◽  
Passage Times

AbstractWe consider point-to-point last-passage times to every vertex in a neighbourhood of size $$\delta N^{\nicefrac {2}{3}}$$ δ N 2 3 at distance N from the starting point. The increments of the last-passage times in this neighbourhood are shown to be jointly equal to their stationary versions with high probability that depends only on $$\delta $$ δ . Through this result we show that (1) the $$\text {Airy}_2$$ Airy 2 process is locally close to a Brownian motion in total variation; (2) the tree of point-to-point geodesics from every vertex in a box of side length $$\delta N^{\nicefrac {2}{3}}$$ δ N 2 3 going to a point at distance N agrees inside the box with the tree of semi-infinite geodesics going in the same direction; (3) two point-to-point geodesics started at distance $$N^{\nicefrac {2}{3}}$$ N 2 3 from each other, to a point at distance N, will not coalesce close to either endpoint on the scale N. Our main results rely on probabilistic methods only.

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

scholarly journals Manajemen Mutu Input Kelompok Bimbingan Ibadah Haji Indonesia

2017 ◽  
Vol 11 (2) ◽  
pp. 277-292
Author(s):  
Aep Kusnawan ◽  
Arif Rahman ◽  
Dede Lukman ◽  
Encep Dulwahab
Keyword(s):  
Quality Assurance ◽  
Quality Management ◽  
Qualitative Approach ◽  
One Dimension ◽  
Management Standard ◽  
Quality Assurance Process ◽  
Starting Point ◽  
Assurance Process

Hajj guidance group (KBIH) in Indonesia, still limited to quantity and have been not yet met the quality. One indication of the lack of quality of the KBIH is the quality management of inputs, namely the applied inputs and inputs of expectation. With good input and good, it can produce an out put that as expected. This study aims to determine the quality management of pilgrimage inputs by KBIH in Indonesia, represented by three regions, West Java, DKI Jakarta and South Sumatra. The method used in this research is case study with qualitative approach. This study shows that quality management for one dimension of input, especially in KBIH has not met the quality management standard. Implementation and embodiment is still limited to ideas, wishful thinking, and not conceptualized well. The results of this study have an impact on how the quality management of KBIH input in Indonesia should be implemented, so that with good input in KBIH, KBIH can improve the quality of Hajj in Indonesia. Input is a starting point in a quality assurance process, not to be ignored, underestimated, and considered not one of the important parts of quality management of its existence.Kelompok Bimbingan Ibadah Haji (KBIH) yang banyak berdiri di Indonesia, masih sebatas kuantitas belum memenuhi kualitas. Salah satu indikasi melihat kurangnya kualitas KBIH ialah pada manajemen mutu input, yaitu input terapan maupun input harapan. Dengan input yang baik dan bagus, maka bisa menghasilkan out put yang sesuai harapan. Penelitian ini bertujuan untuk mengetahui manajemen mutu input penyelenggaraan haji oleh KBIH di Indonesia, yang diwakili tiga wilayah, Jawa Barat, DKI Jakarta dan Sumatera Selatan. Metode yang digunakan dalam penelitian ini adalah studi kasus dengan pendekatan kualitatif. Penelitian ini memperlihatkan bahwa manajemen mutu untuk satu dimensi input, khususnya di KBIH belum memenuhi standar manajemen mutu. Pelaksanaan dan perwujudannya masih sebatas ide, angan-angan, dan belum terkonsep dengan baik. Hasil penelitian ini berdampak pada bagaimana manajemen mutu input KBIH di Indonesia seharusnya diimplementasikan, sehingga dengan input yang baik dalam KBIH, KBIH bisa meningkatkan kualitas penyelenggaraan ibadah haji di Indonesia. Input merupakan starting point dalam sebuah proses jaminan mutu, jangan sampai diabaikan, disepelekan, dan dianggap bukan salah satu bagian manajemen mutu yang penting keberadaannya.

scholarly journals From damage models to SIR epidemics and cascading failures

2009 ◽  
Vol 41 (1) ◽  
pp. 247-269 ◽  
Author(s):  
Maude Gathy ◽  
Claude Lefèvre
Keyword(s):  
Branching Process ◽  
Damage Model ◽  
Exact Distribution ◽  
Partial Sums ◽  
Mathematical Tool ◽  
Close Approximation ◽  
Final Size ◽  
Damage Models ◽  
Starting Point ◽  
Made In

This paper is concerned with a nonstationary Markovian chain of cascading damage that constitutes an iterated version of a classical damage model. The main problem under study is to determine the exact distribution of the total outcome of this process when the cascade of damages finally stops. Two different applications are discussed, namely the final size for a wide class of SIR (susceptible → infective → removed) epidemic models and the total number of failures for a system of components in reliability. The starting point of our analysis is the recent work of Lefèvre (2007) on a first-crossing problem for the cumulated partial sums of independent parametric distributions, possibly nonstationary but stable by convolution. A key mathematical tool is provided by a nonstandard family of remarkable polynomials, called the generalised Abel–Gontcharoff polynomials. Somewhat surprisingly, the approach followed will allow us to relax some model assumptions usually made in epidemic theory and reliability. To close, approximation by a branching process is also investigated to a certain extent.

Motion Planning of an Innovative Serial Robot for Energy Consumption Reduction With “On Fly” Pieces Grasping

2008 ◽  
Author(s):  
Andrea Menegolo ◽  
Roberto Bussola ◽  
Diego Tosi
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Cycle Time ◽  
Moving Objects ◽  
Vision System ◽  
Rotation Velocity ◽  
Simulation Software ◽  
Serial Robot ◽  
Planning Algorithm ◽  
Point To Point

The following study deals with the on-line motion planning of an innovative SCARA like robot with unlimited joint rotations. The application field is the robotic interception of moving objects randomly distributed on a conveyor and detected by a vision system. A motion planning algorithm was developed in order to achieve a satisfactory cycle time and energy consumption. The algorithm is based on the evaluation of the inertial actions arisen in the robot structure during the pick and place motions and it aims to keep constant the rotation velocity of the first joint during the motion, the grasping and the discarding phases. Since the algorithm must be applied run time and the number of the reachable pieces can be high, a particular care was dedicated to the computational burden reduction. Subsequently to an analytic study of the kinematical constraints and the criteria definition for the choice of which piece to grasp, a devoted simulation software was developed. The software allows the control and the evaluation of the effects of all the main parameters on the system behavior and a comparison of the cycle time and the energy consumption between the proposed algorithm and a standard point-to-point motion strategy.

A motion planning strategy for multifingered hands considering sliding and rolling contacts

Robotica ◽  
1995 ◽  
Vol 13 (2) ◽  
pp. 149-158 ◽  
Author(s):  
Nak Young Chong ◽  
Donghoon Choi ◽  
Il Hong Suh
Keyword(s):  
Motion Planning ◽  
Contact Point ◽  
Robotic Hand ◽  
Time Step ◽  
Current Time ◽  
Planning Strategy ◽  
Multifingered Hands ◽  
Rolling Contacts ◽  
Finite Displacements ◽  
Joint Velocity

SummaryAn algorithm for the motion planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertip and the object at the contact point. Specifically, a nonlinear optimization problem is firstly formulated and solved to find the minimum joint velocity and the minimum contact force to impart a desired motion to the object at each time step. Then, the relative velocity at the contact point is found by calculating the velocity of the fingertip and the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints

Mobile Robot Motion Planning to Avoid Obstacle Using Modified Ant Colony Optimization

2015 ◽  
Vol 776 ◽  
pp. 396-402 ◽  
Author(s):  
Nukman Habib ◽  
Adi Soeprijanto ◽  
Djoko Purwanto ◽  
Mauridhi Hery Purnomo
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Ant Colony Optimization ◽  
Optimal Path ◽  
Initial Position ◽  
Ant Colony ◽  
Robot Motion ◽  
Complex Environments ◽  
Point To Point ◽  
Global Planning

The ability of mobile robot to move about the environment from initial position to the goal position, without colliding the obstacles is needed. This paper presents about motion planning of mobile robot (MR) in obstacles-filled workspace using the modified Ant Colony Optimization (M-ACO) algorithm combined with the point to point (PTP) motion in achieving the static goal. Initially, MR try to plan the path to reach a goal, but since there are obstacles on the path will be passed through so nodes must be placed around the obstacles. Then MR do PTP motion through this nodes chosen by M-ACO, in order to form optimal path from the choice nodes until the last node that is free from obstacles. The proposed approach shows that MR can not only avoid collision with obstacle but also make a global planning path. The simulation result have shown that the proposed algorithm is suitable for MR motion planning in the complex environments with less running time.

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