A real-time planning algorithm for obstacle avoidance of redundant robots

A computationally efficient, obstacle avoidance algorithm for redundant robots is presented in this paper. This algorithm incorporates the neural networks and pseudodistance function D _p in the framework of resolved motion rate control. Thus, it is well suited for real-time implementation. Robot arm kinematic control is carried out by the Hopfield network. The connection weights of the network can be determined from the current value of Jacobian matrix at each sampling time, and joint velocity commands can be generated from the outputs of the network. The obstacle avoidance task is achieved by formulating the performance criterion as D _p>d _min (d _min represents the minimal distance between the redundant robot and obstacles). Its calculation is only related to some vertices which are used to model the robot and obstacles, and the computational times are nearly linear in the total number of vertices. Several simulation cases for a four-link planar manipulator are given to prove that the proposed collision-free trajectory planning scheme is efficient and practical.     

Heuristic collision-free path planning for an autonomous platform

In this paper, a heuristic and learning, algorithmic scheme for collision-free navigation is presented. This scheme determines an optimum collision-free navigation path of an autonomous platform by using a trial and error process, past navigation knowledge and current information extracted from the generated surrounding environment.     

Highly potent germination inhibitors in aqueous eluate of fruits of Bishop's weed (Ammi majus L.) and avoidance of autoinhibition

The aqueous eluate from fruits ofAmmi majus (Bishop's weed, Umbelliferae) remarkably inhibited germination of adjacent seeds ofAnastatica hierochuntica, lettuce, or tomato but had no effect on intact fruits ofAmmi. Similar inhibition was found in dark or in light, except that seeds ofA. hierochuntica were significantly more inhibited in the dark than in the light. Xanthotoxin was isolated, identified, and found to account for about a sixth of the inhibitory activity of the eluate. After fruits ofAmmi were submerged in a large volume of water for 4 days, the fruits still exuded enough inhibitors to prevent germination ofA. hierochuntica, lettuce, or tomato. Data support also the proposal that the phytotoxins are compartmentalized between the inner and the outer fruit envelopes. The inner layer excludes inhibitors from the embryo and autotoxicity is thus avoided, whereas the outer one ensures a gradual liberation of the phytotoxic compounds. This, as well as the high reactivity of the eluate, the high densities ofAmmi fruits in nature, and their relatively limited annual germination, suggest chemical inhibition of neighboring plant species other thanAmmi. Hence, in addition to their chemical protection against predators of either lower or higher organisms, furanocoumarins in fruits ofAmmi majus may contribute to its success as a weed.     

Periplaneta americana perception of phytochemical naphthoquinones as allelochemicals

Electrochemistry of malePeriplaneta americana perception of naphthoquinones as allelochemicals is presented. Importance of the oxidation-reduction potential and hydrogen-bonding capabilities of the naphtho-quinone messenger to its exchange of energy with the information-encoding, redox protein of the chemosensory neuron is considered. Evidence that the required information is initially encoded by an electroreactive protein in dendritic membrane is analyzed. A sulfhydryl-disulfide protein-based electrochemical mechanism for the demonstrated linear conversion of a molecular messenger energy state into whole insect behavior (avoidance or feeding inhibition) is elucidated. Even though the information-encoding mechanism is genetically conserved (kept electrochemically similar) within the species, behavioral biotypical differences regarding sensitivity to naphthoquinones are allowed through a group of proteins in the outer aqueous medium in the chemosensory sensillum. Such proteins electrochemically interface the dendritic membrane of the chemosensory neuron in the sensillum with the environment external to the sensillum. These interfacing proteins bind (complex) with chemical messengers (e.g., naphthoquinones) and/or variously degrade them, and thus determine the amount (moles) that is required in the environment to result in stimulation of the underlying sensory neurons and in a changed behavior.     

Simultaneous algorithm for trajectory planning

This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The presented method deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via‐points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

The effects of helping,self-expression,and enjoyment on social capital in social media: the moderating effect of avoidance attachment in the tourism context

ABSTRACT

A majority of senior Internet users maintains persistent social connections with others through social media (SM), such as Facebook and Twitter. This research explores the impacts of helping, self-expression, and enjoyment on bonding social capital and bridging social capital which in turn influence SM involvement; it also explores the moderating effect of avoidance attachment among senior SM users. The results show that helping, self-expression, and enjoyment have significant impacts on bonding social capital and bridging social capital. Also, bonding social capital and bridging social capital have significant effects on SM involvement. Furthermore, relationships between helping and bonding social capital, between self-expression and bonding social capital, and between self-expression and bridging social capital are stronger for seniors with high avoidance attachment. Conversely, the relationships between enjoyment and bonding social capital as well as between enjoyment and bridging social capital are stronger for seniors with low avoidance attachment. Accordingly, the results of this study provide theoretical contributions to the literature of behaviour and information technology. In addition, some implications of the research and various strategies for practitioners and marketers that can be used to better increase users’ involvement in SM for tourism-related activities are discussed.     

Stress Generation, Avoidance Coping, and Depressive Symptoms: A 10-Year Model.

This study examined (a) the role of avoidance coping in prospectively generating both chronic and acute life stressors and (b) the stress-generating role of avoidance coping as a prospective link to future depressive symptoms. Participants were 1,211 late-middle-aged individuals (500 women and 711 men) assessed 3 times over a 10-year period. As predicted, baseline avoidance coping was prospectively associated with both more chronic and more acute life stressors 4 years later. Furthermore, as predicted, these intervening life stressors linked baseline avoidance coping and depressive symptoms 10 years later, controlling for the influence of initial depressive symptoms. These findings broaden knowledge about the stress-generation process and elucidate a key mechanism through which avoidance coping is linked to depressive symptoms. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Rough Terrain Autonomous Mobility—Part 1: A Theoretical Analysis of Requirements

A basic requirement of autonomous vehicles is that of guaranteeing the safety of the vehicle by avoiding hazardous situations. This paper analyses this requirement in general terms of real-time response, throughput, and the resolution and accuracy of sensors and computations. Several nondimensional expressions emerge which characterize requirements in canonical form.The automatic generation of dense geometric models for autonomously navigating vehicles is a computationally expensive process. Using first principles, it is possible to quantify the relationship between the raw throughput required of the perception system and the maximum safely achievable speed of the vehicle. We derive several useful expressions for the complexity of terrain mapping perception under various assumptions. All of them can be reduced to polynomials in the response distance.The significant time consumed by geometric perception degrades real-time response characteristics. Using our results, several strategies of active geometric perception arise which are practical for autonomous vehicles and increasingly important at higher speeds.     

汽车防撞雷达系统滤波器的设计

针对调频连续波 (FMCW)汽车防撞雷达实际信号的特点 ,设计了一种用于该汽车防撞雷达有用信号提取的系统滤波器 ,分析了其前级宽带模拟带通滤波器和后级数字信号处理器 (DSP)程控自适应滤波器的设计原理与具体实现 .试验数据表明 ,该系统滤波器可以有效的去除干扰并实现有用信号的精确提取     

基于分层模糊控制的自主车辆避障仿真

针对自主车辆在避障中所使用单层模糊逻辑控制器输入、输出变量多而导致模糊规则难以详细划分的问题,提出了将车辆避障过程划分为车辆绕开障碍物过程和车辆趋向目标过程的新方法。建立了Matlab仿真环境下精确的车辆运动学模型,并根据人类驾驶经验制定了详细的模糊控制规则,以达到理想的避障效果。仿真结果表明,该算法计算量小、运算速度快、精度高,可以满足车辆避障时的系统要求,也具有一定的工程实用价值,为下一步精确控制奠定了基础。