scholarly journals The Heading Weight Function: A Novel LiDAR-Based Local Planner for Nonholonomic Mobile Robots

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3606 ◽  
Author(s):  
Harik ◽  
Korsaeth
Keyword(s):  
Weight Function ◽  
Light Detection And Ranging ◽  
Polar Coordinate System ◽  
The Novel ◽  
Digital Environment ◽  
Nonholonomic Mobile Robots ◽  
Nonholonomic Mobile Robot ◽  
Polar Coordinate ◽  
Angular Velocities ◽  
Novel Method

In this paper, we present a novel method for obstacle avoidance designed for a nonholonomic mobile robot. The method relies on light detection and ranging (LiDAR) readings, which are mapped into a polar coordinate system. Obstacles are taken into consideration when they are within a predefined radius from the robot. A central part of the approach is a new Heading Weight Function (HWF), in which the beams within the aperture angle of the LiDAR are virtually weighted in order to generate the best trajectory candidate for the robot. The HWF is designed to find a solution also in the case of a local-minima situation. The function is coupled with the robot’s controller in order to provide both linear and angular velocities. We tested the method both by simulations in a digital environment with a range of different static obstacles, and in a real, experimental environment including static and dynamic obstacles. The results showed that when utilizing the novel HWF, the robot was able to navigate safely toward the target while avoiding all obstacles included in the tests. Our findings thus show that it is possible for a robot to navigate safely in a populated environment using this method, and that sufficient efficiency in navigation may be obtained without basing the method on a global planner. This is particularly promising for navigation challenges occurring in unknown environments where models of the world cannot be obtained.

Adaptive edge detection method for images

2008 ◽  
Vol 16 (1) ◽  
Author(s):  
A. Walczak ◽  
L. Puzio
Keyword(s):  
Edge Detection ◽  
Extraction Method ◽  
Detection Method ◽  
Polar Coordinate System ◽  
The Novel ◽  
Edge Extraction ◽  
Anisotropic Property ◽  
Multi Scale ◽  
Polar Coordinate ◽  
Edge Detection Method

AbstractThe novel two-dimensional (2D) wavelet with anisotropic property and application of it has been presented. Wavelet is constructed in the polar coordinate system to obtain anisotropic properties. A novel edge detection method has been developed with the aid of this wavelet. This method detects gradient jump and than follows along this jump. In this way the number of calculation for edge localization is reduced. Moreover, the presented method is able to detect all edges in an image in multi-scale together with its spatial orientation. Proposed wavelet as well as edge extraction method seems to be new way to edge detection for an image.

scholarly journals A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints

2021 ◽  
Vol 11 (22) ◽  
pp. 10895
Author(s):  
Yao Huang
Keyword(s):  
Mobile Robot ◽  
Visual Servoing ◽  
Nonholonomic Constraint ◽  
Focal Length ◽  
Field Of View ◽  
System Model ◽  
Nonholonomic Mobile Robots ◽  
Nonholonomic Mobile Robot ◽  
Polar Coordinate ◽  
Simulation Results

This paper presents a switched visual servoing strategy for maneuvering the nonholonomic mobile robot to the desired configuration while keeping the tracked image points in the vision of the camera. Firstly, a pure backward motion and a pure rotational motion are applied to the mobile robot in succession. Thus, the principle point and the scaled focal length in x direction of the camera are identified through the visual feedback from a fixed onboard camera. Secondly, the identified parameters are used to build the system model in polar-coordinate representation. Then an adaptive non-smooth controller is designed to maneuver the mobile robot to the desired configuration under the nonholonomic constraint. And a switched strategy which consists of two image-based controllers is utilized for keeping the features in the field-of-view. Simulation results are presented to validate the effectiveness of the proposed approach.

A novel method for the determination of linting propensity of paper

TAPPI Journal ◽  
2012 ◽  
Vol 11 (10) ◽  
pp. 9-17
Author(s):  
ALESSANDRA GERLI ◽  
LEENDERT C. EIGENBROOD
Keyword(s):  
Ash Content ◽  
The Novel ◽  
Offset Printing ◽  
Excellent Correlation ◽  
End Conditions ◽  
Bottom Side ◽  
Novel Method ◽  
Total Fraction

A novel method was developed for the determination of linting propensity of paper based on printing with an IGT printability tester and image analysis of the printed strips. On average, the total fraction of the surface removed as lint during printing is 0.01%-0.1%. This value is lower than those reported in most laboratory printing tests, and more representative of commercial offset printing applications. Newsprint paper produced on a roll/blade former machine was evaluated for linting propensity using the novel method and also printed on a commercial coldset offset press. Laboratory and commercial printing results matched well, showing that linting was higher for the bottom side of paper than for the top side, and that linting could be reduced on both sides by application of a dry-strength additive. In a second case study, varying wet-end conditions were used on a hybrid former machine to produce four paper reels, with the goal of matching the low linting propensity of the paper produced on a machine with gap former configuration. We found that the retention program, by improving fiber fines retention, substantially reduced the linting propensity of the paper produced on the hybrid former machine. The papers were also printed on a commercial coldset offset press. An excellent correlation was found between the total lint area removed from the bottom side of the paper samples during laboratory printing and lint collected on halftone areas of the first upper printing unit after 45000 copies. Finally, the method was applied to determine the linting propensity of highly filled supercalendered paper produced on a hybrid former machine. In this case, the linting propensity of the bottom side of paper correlated with its ash content.

scholarly journals REMAXINT: a two-mode clustering-based method for statistical inference on two-way interaction

2021 ◽  
Author(s):  
Zaheer Ahmed ◽  
Alberto Cassese ◽  
Gerard van Breukelen ◽  
Jan Schepers
Keyword(s):  
Null Hypothesis ◽  
Type I Error ◽  
Type I ◽  
The Novel ◽  
Simulation Studies ◽  
Test Statistic ◽  
Clustering Model ◽  
Novel Method ◽  
Main Effects ◽  
Empirical Case Studies

AbstractWe present a novel method, REMAXINT, that captures the gist of two-way interaction in row by column (i.e., two-mode) data, with one observation per cell. REMAXINT is a probabilistic two-mode clustering model that yields two-mode partitions with maximal interaction between row and column clusters. For estimation of the parameters of REMAXINT, we maximize a conditional classification likelihood in which the random row (or column) main effects are conditioned out. For testing the null hypothesis of no interaction between row and column clusters, we propose a $$max-F$$ m a x - F test statistic and discuss its properties. We develop a Monte Carlo approach to obtain its sampling distribution under the null hypothesis. We evaluate the performance of the method through simulation studies. Specifically, for selected values of data size and (true) numbers of clusters, we obtain critical values of the $$max-F$$ m a x - F statistic, determine empirical Type I error rate of the proposed inferential procedure and study its power to reject the null hypothesis. Next, we show that the novel method is useful in a variety of applications by presenting two empirical case studies and end with some concluding remarks.

scholarly journals LiDAR-Based Glass Detection for Improved Occupancy Grid Mapping

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2263
Author(s):  
Haileleol Tibebu ◽  
Jamie Roche ◽  
Varuna De Silva ◽  
Ahmet Kondoz
Keyword(s):  
Laser Scanner ◽  
Point Clouds ◽  
Light Detection And Ranging ◽  
Test Results ◽  
New Approach ◽  
Occupancy Grid ◽  
Laser Scanners ◽  
Novel Method ◽  
Occupancy Grid Mapping ◽  
Cartesian Coordinate

Creating an accurate awareness of the environment using laser scanners is a major challenge in robotics and auto industries. LiDAR (light detection and ranging) is a powerful laser scanner that provides a detailed map of the environment. However, efficient and accurate mapping of the environment is yet to be obtained, as most modern environments contain glass, which is invisible to LiDAR. In this paper, a method to effectively detect and localise glass using LiDAR sensors is proposed. This new approach is based on the variation of range measurements between neighbouring point clouds, using a two-step filter. The first filter examines the change in the standard deviation of neighbouring clouds. The second filter uses a change in distance and intensity between neighbouring pules to refine the results from the first filter and estimate the glass profile width before updating the cartesian coordinate and range measurement by the instrument. Test results demonstrate the detection and localisation of glass and the elimination of errors caused by glass in occupancy grid maps. This novel method detects frameless glass from a long range and does not depend on intensity peak with an accuracy of 96.2%.

scholarly journals Interrogating the Egypto-Sudanic Arabic Connection

Languages ◽  
2021 ◽  
Vol 6 (3) ◽  
pp. 123
Author(s):  
Thomas A. Leddy-Cecere
Keyword(s):  
The Novel ◽  
Present Contribution ◽  
Phonological Processes ◽  
Verbal Inflection ◽  
Segmental Phonology ◽  
Language Data ◽  
History Of ◽  
Novel Method ◽  
Dialect Classification ◽  
Arabic Speaking

The Arabic dialectology literature repeatedly asserts the existence of a macro-level classificatory relationship binding the Arabic speech varieties of the combined Egypto-Sudanic area. This proposal, though oft-encountered, has not previously been formulated in reference to extensive linguistic criteria, but is instead framed primarily on the nonlinguistic premise of historical demographic and genealogical relationships joining the Arabic-speaking communities of the region. The present contribution provides a linguistically based evaluation of this proposed dialectal grouping, to assess whether the postulated dialectal unity is meaningfully borne out by available language data. Isoglosses from the domains of segmental phonology, phonological processes, pronominal morphology, verbal inflection, and syntax are analyzed across six dialects representing Arabic speech in the region. These are shown to offer minimal support for a unified Egypto-Sudanic dialect classification, but instead to indicate a significant north–south differentiation within the sample—a finding further qualified via application of the novel method of Historical Glottometry developed by François and Kalyan. The investigation concludes with reflection on the implications of these results on the understandings of the correspondence between linguistic and human genealogical relationships in the history of Arabic and in dialectological practice more broadly.

scholarly journals Suspended Sediment Modeling Using a Heuristic Regression Method Hybridized with Kmeans Clustering

2021 ◽  
Vol 13 (9) ◽  
pp. 4648
Author(s):  
Rana Muhammad Adnan ◽  
Kulwinder Singh Parmar ◽  
Salim Heddam ◽  
Shamsuddin Shahid ◽  
Ozgur Kisi
Keyword(s):  
Clustering Algorithm ◽  
Suspended Sediments ◽  
Ecological Impacts ◽  
Accurate Estimation ◽  
Data Sets ◽  
The Novel ◽  
Neuro Fuzzy ◽  
Adaptive Regression ◽  
Novel Method ◽  
Model Training

The accurate estimation of suspended sediments (SSs) carries significance in determining the volume of dam storage, river carrying capacity, pollution susceptibility, soil erosion potential, aquatic ecological impacts, and the design and operation of hydraulic structures. The presented study proposes a new method for accurately estimating daily SSs using antecedent discharge and sediment information. The novel method is developed by hybridizing the multivariate adaptive regression spline (MARS) and the Kmeans clustering algorithm (MARS–KM). The proposed method’s efficacy is established by comparing its performance with the adaptive neuro-fuzzy system (ANFIS), MARS, and M5 tree (M5Tree) models in predicting SSs at two stations situated on the Yangtze River of China, according to the three assessment measurements, RMSE, MAE, and NSE. Two modeling scenarios are employed; data are divided into 50–50% for model training and testing in the first scenario, and the training and test data sets are swapped in the second scenario. In Guangyuan Station, the MARS–KM showed a performance improvement compared to ANFIS, MARS, and M5Tree methods in term of RMSE by 39%, 30%, and 18% in the first scenario and by 24%, 22%, and 8% in the second scenario, respectively, while the improvement in RMSE of ANFIS, MARS, and M5Tree was 34%, 26%, and 27% in the first scenario and 7%, 16%, and 6% in the second scenario, respectively, at Beibei Station. Additionally, the MARS–KM models provided much more satisfactory estimates using only discharge values as inputs.

scholarly journals The Influence of Varying Fluorination Patterns on the Thermodynamics and Kinetics of Benzenesulfonamide Binding to Human Carbonic Anhydrase II

Biomolecules ◽  
2020 ◽  
Vol 10 (4) ◽  
pp. 509 ◽  
Author(s):  
Steffen Glöckner ◽  
Khang Ngo ◽  
Björn Wagner ◽  
Andreas Heine ◽  
Gerhard Klebe
Keyword(s):  
Carbonic Anhydrase ◽  
Carbonic Anhydrase Ii ◽  
The Novel ◽  
Binding Modes ◽  
X Ray ◽  
Structure Activity ◽  
Small Set ◽  
Novel Method ◽  
Human Carbonic Anhydrase ◽  
Kinetics Of

The fluorination of lead-like compounds is a common tool in medicinal chemistry to alter molecular properties in various ways and with different goals. We herein present a detailed study of the binding of fluorinated benzenesulfonamides to human Carbonic Anhydrase II by complementing macromolecular X-ray crystallographic observations with thermodynamic and kinetic data collected with the novel method of kinITC. Our findings comprise so far unknown alternative binding modes in the crystalline state for some of the investigated compounds as well as complex thermodynamic and kinetic structure-activity relationships. They suggest that fluorination of the benzenesulfonamide core is especially advantageous in one position with respect to the kinetic signatures of binding and that a higher degree of fluorination does not necessarily provide for a higher affinity or more favorable kinetic binding profiles. Lastly, we propose a relationship between the kinetics of binding and ligand acidity based on a small set of compounds with similar substitution patterns.

scholarly journals Delayed improvement local search

2021 ◽  
Author(s):  
Heber F. Amaral ◽  
Sebastián Urrutia ◽  
Lars M. Hvattum
Keyword(s):  
Local Search ◽  
Heuristic Algorithms ◽  
Travelling Salesman Problem ◽  
Computation Time ◽  
The Novel ◽  
Local Optima ◽  
New Strategy ◽  
Max Cut Problem ◽  
Novel Method ◽  
Similar Solutions

AbstractLocal search is a fundamental tool in the development of heuristic algorithms. A neighborhood operator takes a current solution and returns a set of similar solutions, denoted as neighbors. In best improvement local search, the best of the neighboring solutions replaces the current solution in each iteration. On the other hand, in first improvement local search, the neighborhood is only explored until any improving solution is found, which then replaces the current solution. In this work we propose a new strategy for local search that attempts to avoid low-quality local optima by selecting in each iteration the improving neighbor that has the fewest possible attributes in common with local optima. To this end, it uses inequalities previously used as optimality cuts in the context of integer linear programming. The novel method, referred to as delayed improvement local search, is implemented and evaluated using the travelling salesman problem with the 2-opt neighborhood and the max-cut problem with the 1-flip neighborhood as test cases. Computational results show that the new strategy, while slower, obtains better local optima compared to the traditional local search strategies. The comparison is favourable to the new strategy in experiments with fixed computation time or with a fixed target.

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