scholarly journals Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Ding ◽  
Hai-bo Gao ◽  
Zong-quan Deng ◽  
Zhijun Li ◽  
Ke-rui Xia ◽  
...  
Keyword(s):  
High Performance ◽  
Path Following ◽  
Planetary Exploration ◽  
Rough Terrain ◽  
Good Precision ◽  
Planetary Rovers ◽  
Terrain Model ◽  
Look Ahead ◽  
Path Following Control ◽  
Wheeled Robot

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

scholarly journals Backward and forward path following control of a wheeled robot

2020 ◽  
Vol 14 (2) ◽  
pp. 35-45
Author(s):  
Ali Keymasi Khalaji ◽  
Abolfazl Yazdani ◽  
◽  
Keyword(s):  
Path Following ◽  
Forward Path ◽  
Path Following Control ◽  
Wheeled Robot

Design of Strait-Line Tracking Controller of Under-Actuated USV Based on Back-Stepping Method and Feedback Compensation

2011 ◽  
Vol 48-49 ◽  
pp. 391-396
Author(s):  
Yu Long Ma ◽  
Jian Da Han ◽  
Yu Qing He
Keyword(s):  
High Performance ◽  
Mobile Robotics ◽  
Path Following ◽  
Main Research ◽  
Path Following Control ◽  
Straight Line ◽  
Feedback Compensation ◽  
Line Tracking ◽  
Line Path ◽  
Yaw Angle

Unmanned surface vehicle (USV) system has been one of main research directions in mobile robotics because it can be used in many situations. However, high performance path following control, especially straight line tracking control, has been one of the difficult problems in autonomous control of USV system. In this paper, we propose a new straight line path following control algorithm by combining yaw angle feedback and back-stepping technique and show its closed loop stability. The most absorbing advantage of the proposed controller is that it not only reserve the good performance of back-stepping controller but also bring much faster convergent rate, which is very important in real applications. The simulation results with respect to a training ship model have shown the feasibility and validity of the proposed method.

Path Following Control of Tractor-trailers with Off-axle Hitching

2010 ◽  
Vol 36 (9) ◽  
pp. 1272-1278 ◽  
Author(s):  
Huo-Feng ZHOU ◽  
Bao-Li MA ◽  
Li-Hui SONG ◽  
Fang-Fang ZHANG
Keyword(s):  
Path Following ◽  
Path Following Control

Determination of Verapamil in Exhaled Breath Condensate by Using Microextraction and Liquid Chromatography

2019 ◽  
Vol 15 (5) ◽  
pp. 535-541 ◽  
Author(s):  
Fariba Pourkarim ◽  
Ali Shayanfar ◽  
Maryam Khoubnasabjafari ◽  
Fariborz Akbarzadeh ◽  
Sanaz Sajedi-Amin ◽  
...  
Keyword(s):  
High Performance Liquid Chromatography ◽  
Liquid Chromatography ◽  
High Performance ◽  
Exhaled Breath Condensate ◽  
Exhaled Breath ◽  
Good Precision ◽  
Dispersive Liquid Liquid Microextraction ◽  
Breath Condensate ◽  
Liquid Microextraction

Background:Developing a simple analysis method for quantification of drug concentration is one of the essential issues in pharmacokinetic and therapeutic drug monitoring studies.Objective:A fast and reliable dispersive liquid-liquid microextraction procedure was employed for preconcentration of verapamil in exhaled breath condensate (EBC) samples and this was followed by the determination with high-performance liquid chromatography-ultraviolet detection.Methods:A reverse-phase high-performance liquid chromatography (RP-HPLC) combined with a dispersive liquid-liquid microextraction method (DLLME) was applied for quantification of verapamil in the EBC samples. The developed method was validated according to FDA guidelines.Results:Under the optimum conditions, the method provided a linear range between 0.07 and 0.8 µg.mL-1 with a coefficient of determination of 0.998. The intra- and inter-day relative standard deviation and relative error values of the method were below 15%, which indicated good precision and accuracy. The proposed method was successfully applied for the analysis of verapamil in two real samples with concentrations of 0.07 and 0.09 µg.mL-1.Conclusion:The established HPLC-UV-DLLME method could be applied for the analysis of verapamil in human EBC samples.

Deproteinizing methods evaluated for determination of uric acid in serum by reversed-phase liquid chromatography with ultraviolet detection.

1987 ◽  
Vol 33 (8) ◽  
pp. 1427-1430 ◽  
Author(s):  
R Sakuma ◽  
T Nishina ◽  
M Kitamura
Keyword(s):  
Uric Acid ◽  
Liquid Chromatography ◽  
Perchloric Acid ◽  
High Performance ◽  
Reversed Phase ◽  
Precipitation Method ◽  
Zinc Hydroxide ◽  
Good Precision ◽  
Ultraviolet Detection

Abstract We evaluated six deproteinizing methods for determination of uric acid in serum by "high-performance" liquid chromatography with ultraviolet detection: those involving zinc hydroxide, sodium tungstate, trichloroacetic acid, perchloric acid, acetonitrile, and centrifugal ultrafiltration (with Amicon MPS-1 devices). We used a Toyosoda ODS-120A reversed-phase column. The mobile phase was sodium phosphate buffer (40 mmol/L, pH 2.2) containing 20 mL of methanol per liter. Absorbance of the eluate was monitored at 284 nm. The precipitation method with perchloric acid gave high recoveries of uric acid and good precision, and results agreed with those by the uricase-catalase method of Kageyama (Clin Chim Acta 1971;31:421-6).

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