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101.
This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and
inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are
also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed
approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are
validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy. 相似文献
102.
Luis Rodero-Merino Antonio Fernández Anta Luis López Vicent Cholvi 《Computer Networks》2009,53(10):1722-1736
The problem of efficient resource location is an important open issue in P2P systems. This paper introduces DANTE, a self-adapting P2P system that changes its peer links to form topologies where resources are located in an efficient manner via random walks. Additionally, this same self-adaptation capacity makes DANTE capable of reacting to events like changes in the system load or attacks on well-connected nodes by adjusting the topology to the new scenario. This adaptive behavior emerges as the global result of the individual work of nodes, without the intervention of any central entity or the need for global knowledge. Simulations show that this adaptation process makes the system scalable, resilient to attacks, and tolerant to a high transitivity of peers. Simulations are also used to compare this solution with other well-known self-adapting P2P system. From these results it can be concluded that the topologies achieved by DANTE offer better performance. 相似文献
103.
Luis Gracia Carlos Perez-Vidal 《International Journal of Control, Automation and Systems》2009,7(5):764-776
This research presents a new control scheme for visual servoing that takes into account the delay introduced by image acquisition
and image processing. Firstly, previous control schemes for visual servoing are discussed and then a new control scheme is
proposed and fully described. Afterwards, the capabilities (steady-state errors, stability margins, step time response, etc.)
of the proposed control scheme and of previous ones are analytically analyzed and compared. Next, several simulations and
experimental results are provided to validate the analytical results and to illustrate the benefits of the proposed control
scheme. In particular, it is shown that this new control scheme clearly improves the performance of the previous ones. 相似文献
104.
Roldão Luis de Charette Raoul Verroust-Blondet Anne 《International Journal of Computer Vision》2022,130(8):1978-2005
International Journal of Computer Vision - Semantic scene completion (SSC) aims to jointly estimate the complete geometry and semantics of a scene, assuming partial sparse input. In the last years... 相似文献
105.
A new methodology for the calibration of bond microparameters in rocks represented by a package of joined random spherical particles in the discrete element method (DEM) framework is presented. Typically, calibration is achieved through a trial-and-error procedure using several DEM simulations of uniaxial compressive tests (UCTs). The bond calibration model (BCM) does not need a time-dependent UCT-DEM simulation to establish the relation between the microproperties of the bond and the macroproperties of the rock specimen. The BCM uses matrices to describe the interaction forces exerted by bonds and, by means of an assembly process similar to the finite element method, it can describe the complex network of bonds, enabling the model to capture small variations in particle size and bond distribution as demonstrated in this work. In this work, the BCM is presented and compared with UCT simulations performed using Esys Particle software. Multiple simulations are done with constant bond properties and different particle size ratios (\(D_{MAX}/D_{MIN})\) that cause small variations in the specimen’s Young’s modulus; these variations are well captured by the BCM with an error of <10%. 相似文献
106.
Diana M. Bobrowska Justyna Czyrko Krzysztof Brzezinski Luis Echegoyen 《Fullerenes, Nanotubes and Carbon Nanostructures》2017,25(3):185-192
Carbon nano-onion/surfactant (CNO/surfactant) composites offer the possibility to easily produce the soluble nanostructures. That approach combines the hydrophilicity of surfactants with the robustness of carbon structures to produce composites with superior and unusual physicochemical properties. We used the following surfactants: hexadecyltrimethylammonium bromide (CTAB), sodium dodecyl sulfate (SDS), sodium dodecyl benzene sulfonate (SDBS), 4-(1,1,3,3-tetramethylbutyl)phenyl-polyethylene glycol (Triton X-100), and polyethylene glycol sorbitan monolaurate (Tween 20) to non-covalently modify CNO surfaces. The existence of stable CNO composites are clearly evidenced by direct transmission electron microscopy observations, which are also supported by thermogravimetric analyses. Dynamic light scattering and zeta potential confirmed their dispersion and stability. Additionally, the biological activity of well-dispersed CNO/surfactant composites against a strain of Escherichia coli was assayed. In vitro antimicrobial assays for the composites revealed that only the CNO/CTAB composite decreased cell viability. This activity could be assigned to the simple composite dissociation in water solutions, however antimicrobial properties of the composite are slightly better when compared with pure CTAB. This indicate some synergic effect with respect to the properties of the pure surfactant. 相似文献
107.
108.
Luis TruebaJr Monica A. Torres Lucie B. Johannes Daniel Rybicki 《International Journal of Material Forming》2018,11(4):559-570
Self-reacting friction stir welding (SR-FSW), also called bobbin-tool friction stir welding (BT-FSW), is a solid state welding process similar to friction stir welding (FSW) except that the tool has two opposing shoulders instead of the shoulder and a backing plate found in FSW. The tool configuration results in greater heat input and a symmetrical weld macrostructure. A significant amount of information has been published in the literature concerning traditional FSW while little has been published about SR-FSW. An optimization experiment was performed using a factorial design to evaluate the effect of process parameters on the weld temperature, surface and internal quality, and mechanical properties of self-reacting friction stir welded aluminum alloy 6061-T6 butt joints. The parameters evaluated were tool rotational speed, traverse speed, and tool plunge force. A correlation between weld temperature, defect formation (specifically galling and void formation), and mechanical properties was found. Optimum parameters were determined for the welding of 8-mm-thick 6061-T6 plate. 相似文献
109.
Bruno H. G. Barbosa Lam T. Bui Hussein A. Abbass Luis A. Aguirre Ant?nio P. Braga 《Soft Computing - A Fusion of Foundations, Methodologies and Applications》2011,15(9):1735-1747
This paper presents two new approaches for constructing an ensemble of neural networks (NN) using coevolution and the artificial
immune system (AIS). These approaches are extensions of the CLONal Selection Algorithm for building ENSembles (CLONENS) algorithm.
An explicit diversity promotion technique was added to CLONENS and a novel coevolutionary approach to build neural ensembles
is introduced, whereby two populations representing the gates and the individual NN are coevolved. The former population is
responsible for defining the ensemble size and selecting the members of the ensemble. This population is evolved using the
differential evolution algorithm. The latter population supplies the best individuals for building the ensemble, which is
evolved by AIS. Results show that it is possible to automatically define the ensemble size being also possible to find smaller
ensembles with good generalization performance on the tested benchmark regression problems. More interestingly, the use of
the diversity measure during the evolutionary process did not necessarily improve generalization. In this case, diverse ensembles
may be found using only implicit diversity promotion techniques. 相似文献
110.
Antonio Fernández Anta José Luis López-Presa M. Araceli Lorenzo Pilar Manzano Juan Martinez-Romo Alberto Mozo Christopher Thraves 《Theory of Computing Systems》2011,48(1):1-22
In this paper we generalize the Continuous Adversarial Queuing Theory (CAQT) model (Blesa et al. in MFCS, Lecture Notes in
Computer Science, vol. 3618, pp. 144–155, 2005) by considering the possibility that the router clocks in the network are not synchronized. We name the new model Non Synchronized
CAQT (NSCAQT). Clearly, this new extension to the model only affects those scheduling policies that use some form of timing.
In a first approach we consider the case in which although not synchronized, all clocks run at the same speed, maintaining
constant differences. In this case we show that all universally stable policies in CAQT that use the injection time and the
remaining path to schedule packets remain universally stable. These policies include, for instance, Shortest in System (SIS)
and Longest in System (LIS). Then, we study the case in which clock differences can vary over time, but the maximum difference
is bounded. In this model we show the universal stability of two families of policies related to SIS and LIS respectively
(the priority of a packet in these policies depends on the arrival time and a function of the path traversed). The bounds
we obtain in this case depend on the maximum difference between clocks. This is a necessary requirement, since we also show
that LIS is not universally stable in systems without bounded clock difference. We then present a new policy that we call
Longest in Queues (LIQ), which gives priority to the packet that has been waiting the longest in edge queues. This policy
is universally stable and, if clocks maintain constant differences, the bounds we prove do not depend on them. To finish,
we provide with simulation results that compare the behavior of some of these policies in a network with stochastic injection
of packets. 相似文献