Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery energy up to 10% compared with loss-minimization control. Categories (3): Robot control, (5): RobotMotion Planning     

Switching between tasks of unequal familiarity: The role of stimulus-attribute and response-set selection.

It has been reported that it is harder to switch to a strong, well-practiced task from a weaker, less-practiced task than vice versa. Three experiments replicated this surprising asymmetry and investigated how it is affected by a reduction in interference between tasks. Experiment 1 progressively delayed the onset of the stimulus attribute associated with the stronger task. Experiments 2 and 3 separated the response sets of the tasks. Both manipulations reduced, without eliminating, interference of the stronger with the weaker task but reversed the asymmetry of switch costs, resulting in a larger cost of switching to the weaker task. The results are interpreted in terms of a model of the interactions between control input, task strength, and task priming. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Robustness issues in optimal control of unstable plants

This paper presents a robustness analysis of the optimal solution of the step tracking problem in a one-degree of freedom control architecture, for the discrete-time multivariable (MIMO) case. It is shown that the resulting closed loop becomes arbitrarily fragile, i.e. the sensitivity peak becomes arbitrarily large, for certain reference directions. The cause of this problem is that the optimal controller depends on the reference direction. The paper shows that this dependence can be eliminated with an alternative formulation of the optimal problem where the cost is averaged over all reference directions.     

论科技论文英语摘要的表现形式

论述科技论文中英语摘要的文体风格、时态、语态和基本要求，并结合例句介绍了常用的表现形式，使之简洁、准确和流畅。     

Identification and modelling of aerobic hydrolysis – application of optimal experimental design

Hydrolysis mechanism plays a dominant role in the delicate balance of electron donor/electron acceptor ratios in BNR and EBPR systems as an important carbon source. In this study, the surface‐saturation‐type hydrolysis kinetics was investigated based on respirometric measurements, within the context of the theoretical and the practical identifiability of mathematical models. The identifiable parameters of a selected model were derived from respirograms. In addition, the information from the experiments was evaluated on the basis of Optimal Experimental Design (OED) methodology for different initial conditions of the batch respirometric experiment. © 2003 Society of Chemical Industry     

基于Curvelet变换的多次波去除技术

本文基于波动方程的自由表面多次波压制预测减去法,采用近期迅速发展的多尺度变换系统中的Curvelet变换替代减去法,收到了较好的效果。该变换具有最优稀疏约束条件,能使一次波在一组基函数上的投影能量尽可能小。其主要实现过程为:对地震记录数据进行Curvelet变换,以预测多次波的Curvelet域的系数为阈值,采用类似去噪的手段去除多次波。该方法能满足去除多次波过程的能量最小准则。文中在Curvelet算法数值实验中尝试了先把地震记录做Radon变换,并用Curvelet阈值法减去Radon域的多次波,再把去除了多次波的数据做反Radon变换即为多次波去除结果。数值实验结果表明,在Radon域进行Curvelet变换去除多次波的效果更好,并能更好地保留一次波的能量。     

彩色多频同步显示器行激励级电路的倒推设计法（1）

行激励级电路的设计是完全为行输出级服务的,它实质上是行输出级电路设计的一个重要而不可分割的组成部分。因此行激励级电路的设计,自然采用了从显象管偏转线圈和行输出管到激励变压器和行激励级的倒推设计法。     

Orientation-based unique representation for planar curves and shapes

This paper presents an orientation-based representation for planar curves and shapes. The new representation can uniquely represent all types, of planar shapes, be it convex, nonconvex, polygonal, smoothly curved, or piecewise smooth shapes. It is based on a new parameterization, theabsolute integral orientation. This representation is invariant under translation and rotation. The absolute integral orientation is a parameter invariant under scaling. As a result, matching of similar shapes (i.e., determination of the relative orientation and the scaling factor) using the absolute integral orientation as the parameter is easier than using the arclength as the parameter. In addition, the new representation has the feature of adaptive sampling, making it more compact and efficient than arc-length-based representations.