scholarly journals Attitude Trajectory Optimization to Ensure Balance Hexapod Locomotion

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6295
Author(s):  
Chen Chen ◽  
Wei Guo ◽  
Pengfei Wang ◽  
Lining Sun ◽  
Fusheng Zha ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Polynomial Interpolation ◽  
Optimization Method ◽  
Adjustment Process ◽  
Control System Design ◽  
Hexapod Robot ◽  
Large Size ◽  
Order Polynomial ◽  
Walking Balance ◽  
Support Leg

This paper proposes a simple attitude trajectory optimization method to enhance the walking balance of a large-size hexapod robot. To achieve balance motion control of a large-size hexapod robot on different outdoor terrains, we planned the balance attitude trajectories of the robot during walking and introduced how leg trajectories are generated based on the planned attitude trajectories. While planning the attitude trajectories, high order polynomial interpolation was employed with attitude fluctuation counteraction considered. Constraints that the planned attitude trajectories must satisfy during walking were well-considered. The trajectory of the swing leg was well designed with the terrain attitude considered to improve the environmental adaptability of the robot during the attitude adjustment process, and the trajectory of the support leg was automatically generated to satisfy the demand of the balance attitude trajectories planned. Comparative experiments of the real large-size hexapod robot walking on different terrains were carried out to validate the effectiveness and applicability of the attitude trajectory optimization method proposed, which demonstrated that, compared with the currently developed balance motion controllers, the attitude trajectory optimization method proposed can simplify the control system design and improve the walking balance of a hexapod robot.

Trajectory Optimization Applied to Space Rendezvous

2013 ◽  
Vol 756-759 ◽  
pp. 3466-3470
Author(s):  
Xu Min Song ◽  
Qi Lin
Keyword(s):  
Simulated Annealing ◽  
Optimization Model ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Optimization Method ◽  
Nonlinear Constraints ◽  
Design Variables ◽  
Adaptive Simulated Annealing ◽  
Simulation Results

The trajcetory plan problem of spece reandezvous mission was studied in this paper using nolinear optimization method. The optimization model was built based on the Hills equations. And by analysis property of the design variables, a transform was put forward , which eliminated the equation and nonlinear constraints as well as decreaseing the problem dimensions. The optimization problem was solved using Adaptive Simulated Annealing (ASA) method, and the rendezvous trajectory was designed.The method was validated by simulation results.

Adaptive Geometry Representation of Turbine Vane Frames for Use in Optimization

2021 ◽  
Author(s):  
Sebastian F. Riebl ◽  
Christian Wakelam ◽  
Reinhard Niehuis
Keyword(s):  
Design Space ◽  
Cfd Simulation ◽  
A Priori ◽  
Three Dimensional ◽  
Optimization Method ◽  
Three Dimensions ◽  
Design Parameters ◽  
Adjustment Process ◽  
Turbine Vane ◽  
Integrated Concept

Abstract Turbine Vane Frames (TVF) are a way to realize more compact jet engine designs. Located between the high pressure turbine (HPT) and the low pressure turbine (LPT), they fulfill structural and aerodynamic tasks. When used as an integrated concept with splitters located between the structural load-bearing vanes, the TVF configuration contains more than one type of airfoil with sometimes pronouncedly different properties. This system of multidisciplinary demands and mixed blading poses an interesting opportunity for optimization. Within the scope of the present work, a full geometric parameterization of a TVF with splitters is presented. The parameterization is chosen as to minimize the number of parameters required to automatically and flexibly represent all blade types involved in a TVF row in all three dimensions. Typical blade design parameters are linked to the fourth order Bézier-curve controlled camber line-thickness parameterization. Based on conventional design rules, a procedure is presented, which sets the parameters within their permissible ranges according to the imposed constraints, using a proprietary developed code. The presented workflow relies on subsequent three dimensional geometry generation by transfer of the proposed parameter set to a commercially available CAD package. The interdependencies of parameters are discussed and their respective significance for the adjustment process is detailed. Furthermore, the capability of the chosen parameterization and adjustment process to rebuild an exemplary reference TVF geometry is demonstrated. The results are verified by comparing not only geometrical profile data, but also validated CFD simulation results between the rebuilt and original geometries. Measures taken to ensure the robustness of the method are highlighted and evaluated by exploring extremes in the permissible design space. Finally, the embedding of the proposed method within the framework of an automated, gradient free numerical optimization is discussed. Herein, implications of the proposed method on response surface modeling in combination with the optimization method are highlighted. The method promises to be an option for improvement of optimization efficiency in gradient free optimization of interdependent blade geometries, by a-priori excluding unsuitable blade combinations, yet keeping restrictions to the design space as limited as possible.

scholarly journals Comparisons between SCIAMACHY and ground-based FTIR data for total columns of CO, CH<sub>4</sub>, CO<sub>2</sub> and N<sub>2</sub>O

2006 ◽  
Vol 6 (7) ◽  
pp. 1953-1976 ◽  
Author(s):  
B. Dils ◽  
M. De Mazière ◽  
J. F. Müller ◽  
T. Blumenstock ◽  
M. Buchwitz ◽  
...  
Keyword(s):  
Near Infrared ◽  
Polynomial Interpolation ◽  
Global Network ◽  
Target Species ◽  
Time Period ◽  
Order Polynomial ◽  
Temporal And Spatial ◽  
The Individual ◽  
Near Future ◽  
Total Column

Abstract. Total column amounts of CO, CH4, CO2 and N2O retrieved from SCIAMACHY nadir observations in its near-infrared channels have been compared to data from a ground-based quasi-global network of Fourier-transform infrared (FTIR) spectrometers. The SCIAMACHY data considered here have been produced by three different retrieval algorithms, WFM-DOAS (version 0.5 for CO and CH4 and version 0.4 for CO2 and N2O), IMAP-DOAS (version 1.1 and 0.9 (for CO)) and IMLM (version 6.3) and cover the January to December 2003 time period. Comparisons have been made for individual data, as well as for monthly averages. To maximize the number of reliable coincidences that satisfy the temporal and spatial collocation criteria, the SCIAMACHY data have been compared with a temporal 3rd order polynomial interpolation of the ground-based data. Particular attention has been given to the question whether SCIAMACHY observes correctly the seasonal and latitudinal variability of the target species. The present results indicate that the individual SCIAMACHY data obtained with the actual versions of the algorithms have been significantly improved, but that the quality requirements, for estimating emissions on regional scales, are not yet met. Nevertheless, possible directions for further algorithm upgrades have been identified which should result in more reliable data products in a near future.

Multi-Objective Trajectory Optimization of Free-Floating Space Manipulator Using NSGA-II

2015 ◽  
Vol 713-715 ◽  
pp. 800-804 ◽  
Author(s):  
Gang Chen ◽  
Cong Wei ◽  
Qing Xuan Jia ◽  
Han Xu Sun ◽  
Bo Yang Yu
Keyword(s):  
Trajectory Optimization ◽  
Interpolation Method ◽  
Optimal Solution ◽  
Optimization Method ◽  
Joint Space ◽  
Motion Path ◽  
Objective Functions ◽  
Nsga Ii ◽  
Space Manipulator ◽  
Multi Objective

In this paper, a kind of multi-objective trajectory optimization method based on non-dominated sorting genetic algorithm II (NSGA-II) is proposed for free-floating space manipulator. The aim is to optimize the motion path of the space manipulator with joint angle constraints and joint velocity constraints. Firstly, the kinematics and dynamics model are built. Secondly, the 3-5-3 piecewise polynomial is selected as interpolation method for trajectory planning of joint space. Thirdly, three objective functions are established to simultaneously minimize execution time, energy consumption and jerk of the joints. At last, the objective functions are combined with the NSGA-II algorithm to get the Pareto optimal solution set. The effectiveness of the mentioned method is verified by simulations.

A general trajectory optimization method for aircraft taxiing on flight deck of carrier

2018 ◽  
Vol 233 (4) ◽  
pp. 1340-1353 ◽  
Author(s):  
Yu Wu ◽  
Ning Hu ◽  
Xiangju Qu
Keyword(s):  
Optimization Algorithm ◽  
Trajectory Optimization ◽  
Fitness Function ◽  
Control Variable ◽  
Optimization Method ◽  
Operation Efficiency ◽  
Ground Motion Model ◽  
Aircraft System ◽  
Chicken Swarm Optimization ◽  
Flight Deck

Enhancing operation efficiency of flight deck has become a hotspot because it has an important impact on the fighting capacity of the carrier–aircraft system. To improve the operation efficiency, aircraft need taxi to the destination on deck with the optimal trajectory. In this paper, a general method is proposed to solve the trajectory optimization problem for aircraft taxiing on flight deck considering that the existing methods can only deal with the problem in some specific cases. Firstly, the ground motion model of aircraft, the collision detection strategy and the constraints are included in the mathematical model. Then the principles of the chicken swarm optimization algorithm and the generality of the proposed method are explained. In the trajectory optimization algorithm, several strategies, i.e. generation of collocation points, transformation of control variable, and setting of segmented fitness function, are developed to meet the terminal constraints easier and make the search efficient. Three groups of experiments with different environments are conducted. Aircraft with different initial states can reach the targets with the minimum taxiing time, and the taxiing trajectories meet all the constraints. The reason why the general trajectory optimization method is validated in all kinds of situations is also explained.

scholarly journals A trajectory design method for RLV via artificialmemory-principle optimization

2018 ◽  
Vol 189 ◽  
pp. 10019
Author(s):  
Hao Li ◽  
Changzhu Wei
Keyword(s):  
Trajectory Optimization ◽  
Optimization Problem ◽  
Optimization Problems ◽  
Memory Cell ◽  
Optimization Method ◽  
Alternative Solution ◽  
Trajectory Design ◽  
Memory State ◽  
Artificial Memory

A trajectory optimization method for RLV based on artificial memory principles is proposed. Firstly the optimization problem is modelled in Euclidean space. Then in order to solve the complicated optimization problem of RLV in entry phase, Artificial-memory-principle optimization (AMPO) is introduced. AMPO is inspired by memory principles, in which a memory cell consists the whole information of an alternative solution. The information includes solution state and memory state. The former is an evolutional alternative solution, the latter indicates the state type of memory cell: temporary, short-and long-term. In the evolution of optimization, AMPO makes a various search (stimulus) to ensure adaptability, if the stimulus is good, memory state will turn temporary to short-term, even long-term, otherwise it not. Finally, simulation of different methods is carried out respectively. Results show that the method based on AMPO has better performance and high convergence speed when solving complicated optimization problems of RLV.

Enable Traditional Laptops with Virtual Writing Capability Leveraging Acoustic Signals

2020 ◽  
Author(s):  
Li Lu ◽  
Jian Liu ◽  
Jiadi Yu ◽  
Yingying Chen ◽  
Yanmin Zhu ◽  
...  
Keyword(s):  
Character Recognition ◽  
Trajectory Optimization ◽  
Optimization Method ◽  
Acoustic Signals ◽  
Hand Movements ◽  
Average Error ◽  
Daily Lives ◽  
Doppler Shifts ◽  
Touch Screens ◽  
Additional Hardware

Abstract Human–computer interaction through touch screens plays an increasingly important role in our daily lives. Besides smartphones and tablets, laptops are the most prevalent mobile devices for both work and leisure. To satisfy the requirements of some applications, it is desirable to re-equip a typical laptop with both handwriting and drawing capability. In this paper, we design a virtual writing tablet system, VPad, for traditional laptops without touch screens. VPad leverages two speakers and one microphone, which are available in most commodity laptops, to accurately track hand movements and recognize writing characters in the air without additional hardware. Specifically, VPad emits inaudible acoustic signals from two speakers in a laptop and then analyzes energy features and Doppler shifts of acoustic signals received by the microphone to track the trajectory of hand movements. Furthermore, we propose a state machine-based trajectory optimization method to correct the unexpected trajectory and employ a stroke direction sequence model based on probability estimation to recognize characters users write in the air. Experimental results show that VPad achieves the average error of 1.55 cm for trajectory tracking and the accuracy over 90% of character recognition merely through built-in audio devices on a laptop.

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