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71.
Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map 总被引:1,自引:0,他引:1
Robert CupecAuthor Vitae Ivan AleksiAuthor VitaeGünther SchmidtAuthor Vitae 《Robotics and Autonomous Systems》2011,59(2):84-100
A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A∗-search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios. 相似文献
72.
73.
W. Clark K. Logan R. Luckin A. Mee & M. Oliver 《Journal of Computer Assisted Learning》2009,25(1):56-69
74.
The satisfiability problem is a basic core NP-complete problem. In recent years, a lot of heuristic algorithms have been developed to solve this problem, and many experiments have evaluated and compared the performance of different heuristic algorithms. However, rigorous theoretical analysis and comparison are rare. This paper analyzes and compares the expected runtime of three basic heuristic algorithms: RandomWalk, (1+1) EA, and hybrid algorithm. The runtime analysis of these heuristic algorithms on two 2-SAT instances shows that the expected runtime of these heuristic algorithms can be exponential time or polynomial time. Furthermore, these heuristic algorithms have their own advantages and disadvantages in solving different SAT instances. It also demonstrates that the expected runtime upper bound of RandomWalk on arbitrary k-SAT (k?3) is O(n(k−1)), and presents a k-SAT instance that has Θ(n(k−1)) expected runtime bound. 相似文献
75.
Chunling Du Author Vitae Lihua Xie Author Vitae Author Vitae Youyi Wang Author Vitae 《Automatica》2009,45(10):2244-2249
This paper is concerned with the rejection of multiple narrowband disturbances in hard disk drives (HDDs). Inspired by a control blending idea, the multi-frequency disturbance rejection is formulated as a blending control problem. Each disturbance rejection is accomplished by using the H2 optimal control method. Based on all H2 optimal controllers, the blending technique is applied to yield a single controller which is capable of achieving rejection of all disturbances. Rejections of two and three disturbances for a 1.8-inch HDD VCM actuator are taken as application examples in the paper. Simulation and experimental results show that the ultimate controller results in a simultaneous attenuation of disturbances with frequencies higher or lower than the closed-loop system bandwidth. Moreover, the method turns out to be able to lift phase and thus prevent phase margin loss when it is used to deal with disturbances near bandwidth. 相似文献
76.
Observer-based networked control for continuous-time systems with random sensor delays 总被引:3,自引:0,他引:3
This paper is concerned with the networked control system design for continuous-time systems with random measurement, where the measurement channel is assumed to subject to random sensor delay. A design scheme for the observer-based output feedback controller is proposed to render the closed-loop networked system exponentially mean-square stable with H∞ performance requirement. The technique employed is based on appropriate delay systems approach combined with a matrix variable decoupling technique. The design method is fulfilled through solving linear matrix inequalities. A numerical example is used to verify the effectiveness and the merits of the present results. 相似文献
77.
Matthew R. Graham Author Vitae Author Vitae Raymond A. de Callafon Author Vitae 《Automatica》2009,45(6):1489-1496
This paper introduces an alternative formulation of the Kalman-Yakubovich-Popov (KYP) Lemma, relating an infinite dimensional Frequency Domain Inequality (FDI) to a pair of finite dimensional Linear Matrix Inequalities (LMI). It is shown that this new formulation encompasses previous generalizations of the KYP Lemma which hold in the case the coefficient matrix of the FDI does not depend on frequency. In addition, it allows the coefficient matrix of the frequency domain inequality to vary affinely with the frequency parameter. One application of this results is illustrated in an example of computing upper bounds to the structured singular value with frequency-dependent scalings. 相似文献
78.
Consistency constraints and 3D building reconstruction 总被引:2,自引:0,他引:2
Virtual architectural (indoor) scenes are often modeled in 3D for various types of simulation systems. For instance, some authors propose methods dedicated to lighting, heat transfer, acoustic or radio-wave propagation simulations. These methods rely in most cases on a volumetric representation of the environment, with adjacency and incidence relationships. Unfortunately, many buildings data are only given by 2D plans and the 3D needs varies from one application to another. To face these problems, we propose a formal representation of consistency constraints dedicated to building interiors and associated with a topological model. We show that such a representation can be used for: (i) reconstructing 3D models from 2D architectural plans (ii) detecting automatically geometrical, topological and semantical inconsistencies (iii) designing automatic and semi-automatic operations to correct and enrich a 2D plan. All our constraints are homogeneously defined in 2D and 3D, implemented with generalized maps and used in modeling operations. We explain how this model can be successfully used for lighting and radio-wave propagation simulations. 相似文献
79.
80.
Kiran Kola Ruppa K. Thulasiram Parimala Thulasiraman 《The Journal of supercomputing》2009,47(2):146-170
The problem of growing computational complexity in the finance industry demands manageable, high-speed and real-time solutions
in solving complex mathematical problems such as option pricing. In current option trading scenarios, determining a fair price
for options “any time” and “anywhere” has become vital yet difficult computational problem. In this study, we have designed,
implemented, and deployed an architecture for pricing options on-line using a hand-held device that is J2ME-based Mobile computing-enabled
and is assisted by web mining tools. In our architecture, the client is a MIDP user interface, and the back end servlet runs
on a standalone server bound to a known port address. In addition, the server uses table-mining techniques to mine real-time
data from reliable web sources upon the mobile trader’s directive. The server performs all computations required for pricing
options since mobile devices have limited battery power, low bandwidth, and low memory. We have parallelized and implemented
various computational techniques such as binomial lattice and finite differencing. To the best of our knowledge, this is one
of the first studies that facilitate the mobile-enabled-trader to compute the price of an option in ubiquitous fashion. This
architecture aims at providing the trader with various computational techniques to avail (to provide results from approximate
to accurate results) while on-the-go and to make important and effective trading decisions using the results that will ensure
higher returns on investments in options.
相似文献
Parimala ThulasiramanEmail: |