Orientation-error observer-based tracking control of nonholonomic mobile robots

In this paper, a novel trajectory tracking controller is proposed for mobile robots with unknown orientation angle by employing the orientation-error observer (OEO). In order to overcome the local stability resulted from linearization design methods, an asymptotically stable controller is designed using Lyapunov’s direct method. This method breaks down nonlinear systems into low-dimensional systems and simplifies the controller design using virtual auxiliary error function and partial Lyapunov functions. A state-feedback controller for the nonlinear error dynamics of the mobile robot is combined with an observer that estimates the orientation-error based on available trajectory information and measurement of the position coordinates. The stability of the system is easily proved via the Lyapunov theory. Abundant simulation and experiment results validate the effectiveness and superiority of the proposed control method.     

Study of the anisotropy of sliding stops of mobile robots

The interaction of mini-robot contact elements with the surface is studied. The values of basic parameters necessary for successful operation of such elements are estimated. A procedure for calculating the value of anisotropic friction typical to adhesive material with haired structure is proposed. The results of this paper can be used to design robots intended for motion in bounded spaces, in particular, in narrow tubes.     

A random-profile approach for trajectory planning of wheeled mobile robots

We present a random-profile approach to treat the optimal free-trajectory planning problem for nonholonomic wheeled mobile robots subjected to move in a constrained workspace. This versatile method is based on a simultaneous search for the robot path and for the time evolution on this path. It handles obstacle avoidance issues while considering kinodynamic constraints (bounded velocities, accelerations and torques). It may be applied to treat problems with various forms of optimization criteria involving travel time, efforts and power. Numerical results, obtained via the simulated-annealing technique of optimization, are presented for two- and three-wheel mobile robots and are compared to those available in the literature.     

Output-feedback formation control of wheeled mobile robots with actuators saturation compensation

Nonlinear Dynamics - This paper addresses output-feedback formation control of a group of wheeled mobile robots with saturating actuators. A virtual leader–follower strategy and a...     

Adaptive tracking control of wheeled mobile robots with unknown longitudinal and lateral slipping parameters

An adaptive control approach is proposed for trajectory tracking of wheeled mobile robot (WMR) with unknown longitudinal and lateral slipping. A kinematic model of tracked WMR is established in this paper, in which both longitudinal and lateral slipping are considered and processed as three time-varying parameters. Sliding mode observer is then introduced to real time estimate the slip parameters online. A stable tracking control law for this robot system is proposed by backstepping method, and the asymptotic stability is guaranteed by Lyapunov theory. Meanwhile, the controller gains are determined online by poles placement method. Simulation results show the effectiveness and robustness of the proposed method.     

Thermal vision,moisture content,and vegetation in the context of off-road mobile robots

This paper describes an initial investigation that shows the major impact that moisture and vegetation produce on a soil and how that effect may be measured using a thermal camera. In particular, those two variables influence how the soil compacts and, hence, the traversability of a vehicle. A broad set of experiments, under different weather conditions and with different soils, demonstrate that thermal properties derived from the thermal camera (i.e. thermal inertia) increase when moisture content of sandy soils increases. In addition to that, a relation is observed between thermal inertia and traversability (lower thermal inertia, worse traction; and vice versa). Another key behavior is noticed for vegetated soils, where a similar thermal inertia to wet sand is obtained but with only a third of moisture content. These results may be considered for maximizing traversability over sandy soils with higher thermal inertias, what eventually means higher compaction and safer routes. To the authors’ knowledge, this is the first work addressing the correlation between moisture content and vegetation, and the thermal properties of a soil using a light-weight thermal camera that can be mounted on a mobile robot.     

Solving time-varying inverse kinematics problem of wheeled mobile manipulators using Zhang neural network with exponential convergence

A mobile manipulator is a robotic device composed of a mobile platform and a stationary manipulator fixed to the platform. The forward kinematics problem for such mobile manipulators has a mathematical analytic solution; however, the inverse kinematics problem is mathematically intractable (especially for satisfying real-time requirements). To obtain the accurate solution of the time-varying inverse kinematics for mobile manipulators, a special class of recurrent neural network, named Zhang neural network (ZNN), is exploited and investigated in this article. It is theoretically proven that such a ZNN model globally and exponentially converges to the solution of the time-varying inverse kinematics for mobile manipulators. In addition, the kinematics equations of the mobile platform and the manipulator are integrated into one system, and thus the resultant solution can co-ordinate simultaneously the wheels and the manipulator to fulfill the end-effector task. For comparison purposes, a gradient neural network (GNN) is developed for solving time-varying inverse kinematics problem of wheeled mobile manipulators. Finally, we conduct extensive tracking-path simulations performed on a wheeled mobile manipulator using such a ZNN model. The results substantiate the efficacy and high accuracy of the ZNN model for solving time-varying inverse kinematics problem of mobile manipulators. Besides, by comparing the simulation results of the GNN and ZNN models, the superiority of the ZNN model is demonstrated clearly.     

Formation of multiple shocklets in a transonic diffuser flow

Multiple shocklets are frequently generated in transonic diffuser flows. The present paper investigates the formation of these shocklets with a high-speed CCD camera combined with the schlieren method. It is observed that compression waves steepen while propagating upstream, and eventually become new shock waves. The ordinary shock wave is found to move upstream beyond the nozzle throat or to disappear while moving downstream depending on the pressure ratio across the nozzle. This phenomenon is also analyzed with the one-dimensional Euler equations by assuming a pressure disturbance given by the sine function at the channel exit. The calculated results are found to reproduce quite well the experimental behavior of the shocklets. The effect of the frequency of disturbance is also studied numerically, and it is shown that the multiple shocklet pattern appears when the amplitude of disturbance is not large and the diverging part of the channel downstream of the ordinary shock wave is long. Received 26 June 1998 / Accepted 15 March 1999     

Modelling and analysis of a multiple delayed exploited ecosystem towards coexistence perspective

This paper describes a multiple delayed modified Leslie–Gower type predator–prey system with a strong Allee effect in prey population growth. Non-selective effort is used to harvest the population. The dynamical characteristics of the delay induced system are rigorously studied using mathematical tools. The existence of coexistence equilibria is ensured, and the dynamic behavior of the system is investigated around coexistence equilibria. Uniform strong persistence and permanence of the system are discussed in order to ensure long-term survival of the species. The stability of the delay preserved system is investigated. Sufficient conditions are derived for local and global stability of the system. The existence of Hopf bifurcation phenomenon is examined around interior equilibria of the system. Subsequently, we use normal form method and center manifold theorem to examine the nature of the Hopf bifurcation. Finally, numerical simulations are carried out to validate the analytical findings.     

切割式多爆炸成形弹丸成形及对钢靶的穿甲效应

基于60mm 弧锥结合罩EFP装药,设计了一种在药型罩前适当位置安装可抛掷的十字形网栅的 切割式多爆炸成形弹丸战斗部结构,并进行了靶场静爆实验。由实验结果可知,该战斗部经网栅切割后能形 成5枚具有一定质量和方向性、可贯穿6mm 厚45钢靶的弹丸,有效提高了毁伤元的数量和毁伤面积。利用 LS-DYNA程序对弹丸侵彻45钢靶过程进行了数值模拟,分析了弹丸侵彻钢靶过程。通过对中心弹丸穿靶 模拟数据的处理,得到了其余尺寸弹丸侵彻不同厚度45钢靶的极限穿透速度计算公式,该公式可对相关切割 式多爆炸成形弹丸战斗部威力优化设计和评估提供依据。     

Mobile robots with two independent coaxial drive wheels: Dynamics and the schemes of control

A two-wheeled robot and a robot composed of a snakelike chain of two-wheeled objects are considered. The problem of trajectory synthesis and the problem of motion planning and control are studied for these mobile robots. The mobile robots with two independently controlled coaxial wheels and with one or several passive wheels are called robots with differential drive. These problems are formulated in such a way that the construction of dynamically correct and precise control becomes possible for such robots.     

Dynamic fracture: an example of convergence towards a discontinuous quasistatic solution

Considering a one-dimensional problem of debonding of a thin film in the context of Griffith’s theory, we show that the dynamical solution converges, when the speed of loading goes down to 0, to a quasistatic solution including an unstable phase of propagation. In particular, the jump of the debonding induced by this instability is governed by a principle of conservation of the total quasistatic energy, the kinetic energy being negligible.      

Measuring the efficiency of vertical drill-strings: A vibration perspective

A drill-string is a slender structure with nonlinear dynamics; it is an equipment used in the oil industry to drill the rock in the search of oil and gas. The aim of this paper is to investigate the efficiency of the drilling process in terms of input/output power. The continuum system is linearized about a prestressed configuration, the finite element method is applied to discretize the linear system, then a reduced-order model is constructed using the normal modes of the linear system; only torsional and axial vibrations are considered in the analysis. Uncertainties related to the speed imposed at the top are also included in the analysis. The rotational top speed is modeled using two different stochastic processes and the Monte Carlo Method is employed to approximate the statistics of the response of the resulting stochastic differential equations.     

Real solutions of the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables: a numerical investigation

This paper addresses the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables. The task at hand consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. This problem is known to admit 156 solutions in the complex field, but the upper bound on the number of real solutions is as yet an open issue. Finding this bound is the objective of the paper. For this purpose, three numerical approaches are developed, namely a continuation procedure adapted from an algorithm originally proposed by Dietmaier and two evolutionary techniques based on a genetic algorithm and particle swarm optimization. In all cases, a number of sets of robot parameters for which the direct geometrico-static problem provides at the most 54 real configurations is found. The coherence of the obtained results leads to conjecture that the achieved bound is tight. However, formal proof is yet to be discovered.     

The influence of an abrupt convergence on heat transfer in circular ducts: a theoretical assessment

This is a theoretical assessment of the postulation made by Barozzi et al, of separation in laminar flow in a circular duct caused by an abrupt entry. Using sets of data supplied by Barozzi, predictions have been made using a program developed by Collins. The effects of viscosity variation with temperature, and of natural convection, are quantified for the flow of water in a vertical tube. The results are consistent with the discussion of Barozzi et al, and tend to confirm the presence of a definite abrupt entry effect