基于T-S模糊神经网络的智能轮椅避障控制策略

在复杂的环境中,智能轮椅的自主避障是安全的保证。本文提出基于超声波和激光传感器的环境深度分区算法,和T-S模糊神经网路的信息融合方法,实现避障策略。提高了智能轮椅控制系统的实时性和安全性,实现避障控制的高效性。     

Levenberg-Marquardt based artificial physics method for mobile robot oscillation alleviation

This paper proposed a modified artificial physics (AP) method to solve the autonomous navigation problem for mobile robots in complex environments. The basic AP method tends to cause oscillations in the presence of obstacles and in narrow passages, which can result in time consumption. To alleviate oscillation, we modified the AP method using the Levenbery-Marquardt (LM) algorithm. In the modified AP method, we altered the original directions of AP forces to the Newton direction, and adjust the parameter by the LM algorithm. A series of comparative experimental results show that the modified AP method can achieve smoother trajectories with less time consumption. This demonstrates the feasibility and effectiveness of our proposed approach.     

Nonlinear control of spacecraft formation flying with disturbance rejection and collision avoidance

A nonlinear controller for disturbances rejection and collision avoidance is proposed for spacecraft formation flying.The formation flying is described by a nonlinear model with the J_2 perturbation and atmospheric drag. Based on the theory of the state-dependent Riccati equation(SDRE), a finite time nonlinear control law is developed for the nonlinear dynamics involved in formation flying. Then, a compensative internal mode(IM) control law is added to eliminate disturbances.These two control laws compose a finite time nonlinear tracking controller with disturbances rejection. Moreover, taking safety requirements into account, the repulsive control law is incorporated in the composite controller to perform collision avoidance manoeuvres. A numerical simulation is presented to demonstrate the effectiveness of the proposed method.Compared to the conventional control method, the proposed method provides better performance in the presence of the obstacles and external disturbances.     

Maximal distance for robotic simulation: The convex case

Given two hyper-rectangles inE ⁿ with sides having surface normals in the directions of the axes, each containing a set that touches all 2n sides of its containing hyper-rectangle, it is important to have an easily calculated upper bound on the distance between the sets, for use in a branch and bound algorithm applicable in collision avoidance in robotic simulation. In a previous paper, such a bound was given under the hypothesis that the sets are connected. Here, we consider the case where the sets are convex.The work of the second author was supported in part by the Natural Sciences and Engineering Research Council of Canada. The drawings were prepared by K. Stewart.     

Smart Sensors

The term “Smart Sensors” refers to sensors which contain both sensing and signal processing capabilities with objectives ranging from simple viewing to sophisticated remote sensing, surveillance, search/track, weapon guidance, robotics, perceptronics and intelligence applications.

Recently this approach is achieving higher goals by a new and revolutionary sensors concept which introduced inside the sensor some of the basic functions of living eyes, such as dynamic stare, non-uniformity compensation, spatial and temporal filtering.

New objectives and requirements are presented for this type of new infrared smart sensor systems.

This paper is concerned with the front end of FPA microbolometers processing, namely, the enhancement of target-to-noise ratio by background clutter suppression and the improvement in target detection by “smart” and pattern correlation thresholding.     

Dynamic collision avoidance and constraint violation compensation

This paper uses concepts in multibody dynamics, together with a collision detection algorithm to study the dynamics of collision avoidance. Obstacle avoidance of a mechanical system in motion is expressed in terms of distances, relative velocities and relative accelerations between potentially colliding bodies. The generalized control forces (constraint forces) used to adjust the system dynamics are based on an n-timestep collision avoidance algorithm. Constraint violations resulting from sudden changes in motion direction are compensated for by feeding back the errors of position and velocity constraints to assure asymptotic stability. The procedures developed are illustrated through a maneuver in space of a robotic manipulator used for grasp and deployment.     

Flocking and collision avoidance of a Cucker-Smale type system with singular weights

The dynamical behavior of a flock model with a singular communication rate and extra interaction terms is investigated in this paper. A rigorous theoretical proof of collision avoidance between any two agents is obtained which guarantees the existence of global solutions. Moreover, a sufficient condition for the existence of time-asymptotic flocking is also acquired and numerical simulations verified these results which show that a compact equilibrium configuration may emerge.     

The Influence of CB2-Receptor Ligands on the Memory-Related Responses in Connection with Cholinergic Pathways in Mice in the Passive Avoidance Test

Background: Dysfunction of the cholinergic system is associated with the development of Alzheimer’s disease (AD). One of the new possible strategies for the pharmacological modulation of memory-related problems typical of AD, is connected with the endocannabinoid system (ECS) and the cannabinoid (CB: CB1 and CB2) receptors. Methods: The aim of the study was to determine the influence of the selective CB2 receptor ligands: agonist (JWH 133) and antagonist (AM 630) on different stages of memory and learning in mice, in the context of their interaction with cholinergic pathways. To assess and understand the memory-related effects in mice we used the passive avoidance (PA) test. Results: We revealed that co-administration of non-effective dose of JWH 133 (0.25 mg) or AM 630 (0.25 mg/kg) with the non-effective dose of cholinergic receptor agonist - nicotine (0.05 mg/kg) enhanced cognition in the PA test in mice; however, an acute injection of JWH 133 (0.25 mg/kg) or AM 630 (0.25 mg/kg) had no influence on memory enhancement induced by the effective dose of nicotine (0.1 mg/kg). Co-administration of JWH 133 (0.25 mg) or AM 630 (0.25 mg/kg) with the effective dose of the cholinergic receptor antagonist scopolamine (1 mg/kg) attenuated the scopolamine-induced memory impairment in the PA test in mice. Conclusion: Our experiments have shown that CB2 receptors participate in the modulation of memory-related responses, especially those in which cholinergic pathways are implicated.