scholarly journals Local Environment Recognition System Using Modified SURF-Based 3D Panoramic Environment Map for Obstacle Avoidance of a Humanoid Robot

10.5772/56552 ◽  
2013 ◽  
Vol 10 (6) ◽  
pp. 275 ◽  
Author(s):  
Tae-Koo Kang ◽  
In-Hwan Choi ◽  
Gwi-Tae Park ◽  
Myo-Taeg Lim
Keyword(s):  
Obstacle Avoidance ◽  
Humanoid Robot ◽  
Local Environment ◽  
Recognition System ◽  
Environment Map ◽  
Environment Recognition

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

scholarly journals Hybrid Dynamic Route Planning Model for Pedestrian Microscopic Simulation at Subway Station

2019 ◽  
Vol 2019 ◽  
pp. 1-17
Author(s):  
Yongxin Gao ◽  
Feng Chen ◽  
Zijia Wang
Keyword(s):  
Route Planning ◽  
Local Environment ◽  
Subway Station ◽  
Microscopic Simulation ◽  
Navigation Algorithm ◽  
Environment Map ◽  
Global Route ◽  
Simulation Results ◽  
Local Path ◽  
Dynamic Route

To make agents’ route decision-making behaviours as real as possible, this paper proposes a layered navigation algorithm, emphasizing the coordinating of the global route planning at strategic level and the local route planning at tactical level. Specifically, by an improved visibility graph method, the global route is firstly generated based on static environment map. Then, a new local route planning (LRP) based on dynamic local environment is activated for multipath selection to allow pedestrian to respond changes at a real-time sense. In particular, the LRP model is developed on the basis of a passenger’s psychological motivation. The pedestrians’ individual preferences and the uncertainties existing in the process of evaluation and choice are fully considered. The suitable local path can be generated according to an estimated passing time. The LRP model is applied to the choice of ticket gates at a subway station, and the behaviours of gate choosing and rechoosing are investigated. By utilizing C++, the layered navigation algorithm is implemented. The simulation results exhibit agents’ tendency to avoid congestion, which is often observed in real crowds.

scholarly journals ANTIGEN RECOGNITION AND ANTIBODY SPECIFICITY

1971 ◽  
Vol 133 (6) ◽  
pp. 1199-1218 ◽  
Author(s):  
Howard A. Levin ◽  
Herbert Levine ◽  
Stuart F. Schlossman
Keyword(s):  
Immune Response ◽  
Immune System ◽  
Binding Energy ◽  
Fluorescence Quenching ◽  
Chain Length ◽  
Local Environment ◽  
Recognition System ◽  
Antigen Recognition ◽  
Antibody Specificity ◽  
Lysyl Residue

The exact specifiicity of anti-DNP antibody produced by Hartley guinea pigs immunized with a series of defined α,DNP and ϵ,DNP-oligolysines was studied by fluorescence quenching. All responder animals made anti-DNP antibody which recognized the precise chain length, ± 1 lysyl residue, of the DNP-oligolysines used to induce the immune response as measured by an increase in binding energy (–ΔF°) for that antigen. The ability of the immune system to detect the smallest possible change in oligolysine chain length suggests that the anti-hapten antibody-forming cell possesses a highly specific recognition system for carrier conformation. When DNP-oligolysines are incorporated in an adjuvant containing M. tuberculosis H37Rv, both responder and nonresponder produce anti-DNP antibody, but only the responder develops delayed skin sensitivity. In addition to their failure to develop delayed hypersensitivity, nonresponders produced anti-DNP oligolysine antibody which did not show the increase in –ΔF° for the immunizing antigen characteristic of responder antibody. These observations support a local environment hypothesis for antigen recognition at the level of the anti-hapten antibody-forming cell and suggest that the polylysine gene exerts its control at the same cell.

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