The path consumption of the digital map in the grid as the environment expression way is discrete, for
Automated Guided Vehicle(AGV) to achieve low consumption and smooth path planning target, the A*
algorithm is applied to the path planning based on grid, and the optimal path is realized. A path smoothing
method is proposed and applied to the path of A*. The smoothing method satisfies the AGV turning radius,
makes the path smooth transition at the break point, and realizes the smooth path deviation. The simulation
results are verified by using the grid method, and the path of the proposed method is smoother, the path
consumes less and the path error is less than that of the A*.
Performance prediction of a turboshaft engine by using of one dimensional ana...ijmech
Performance estimation of the axial flow gas turbines under variety of operating conditions like different speeds and pressure ratios has been hampered by lack of reliable experimental data and experiments cost.Simulation of gas turbine is a simple way to reduce testing costs and complexity.One-dimensional (1D).Simulation is a simple, fast and accurate method for performance prediction of turbine with different geometries. In this approach, inlet flow conditions and turbine geometry are known and by considering loss model, the turbine performance characteristics are predicted. In following work, that is based on one dimensional modelling method, after the presentation of solution algorithm by trial and error method and introduction of different loss models for modelling, this method were examined for a turbo shaft engine and
compared with experimental results. Comparison of the results with experimental data shows so good adaptation. Also according to these results, Kacker and Okapuu’s developed model gave the closest results to the reference data.
Determination of the Operational Parameters of a Planar Robot with Three JointsWaqas Tariq
Robots are currently made in numerous types and are used in diverse roles such as production lines, daily living activities and some security fields. These types of robots are well designed and successfully applied in many areas requiring high sensitivity and stability. The aim of this study was to determine the optimum values of several operational parameters for a planar robot with respect to robot design and construction. With this aim, a small planar robot with a three-jointed arm activated by hydraulic cylinders in each segment was evaluated using a technical design drawing. The arm motions of the planar robot are rotary and parallel within a vertical plane. The resulting optimal operational parameters of the planar robot were determined as starting and target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18 cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were constructed corresponding to the orbit-planning parameters, resulting in Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum power consumption of the robot was determined as 1 kW according to the outer load and arm weights.
Improving the Hydraulic Efficiency of Centrifugal Pumps through Computational...IJERA Editor
The design and optimization of turbo machine impellers such as those in pumps and turbines is a highly complicated task due to the complex three-dimensional shape of the impeller blades and surrounding devices. Small differences in geometry can lead to significant changes in the performance of these machines. We report here an efficient numerical technique that automatically optimizes the geometry of these blades for maximum performance. The technique combines, mathematical modeling of the impeller blades using non-uniform rational B-spline (NURBS), Computational fluid dynamics (CFD) with Geometry Parameterizations in turbulent flow simulation and the Globalized and bounded Nelder-Mead (GBNM) algorithm in geometry optimization.
Robust and Real Time Detection of Curvy Lanes (Curves) Having Desired Slopes ...csandit
One of the biggest reasons for road accidents is curvy lanes and blind turns. Even one of the
biggest hurdles for new autonomous vehicles is to detect curvy lanes, multiple lanes and lanes
with a lot of discontinuity and noise. This paper presents very efficient and advanced algorithm
for detecting curves having desired slopes (especially for detecting curvy lanes in real time)
and detection of curves (lanes) with a lot of noise, discontinuity and disturbances. Overall aim
is to develop robust method for this task which is applicable even in adverse conditions. Even in
some of most famous and useful libraries like OpenCV and Matlab, there is no function
available for detecting curves having desired slopes, shapes, discontinuities. Only few
predefined shapes like circle, ellipse, etc, can be detected using presently available functions.
Proposed algorithm can not only detect curves with discontinuity, noise, desired slope but also
it can perform shadow and illumination correction and detect/ differentiate between different
curves.
The kinematics analysis and trajectory planning of Series robotIJRES Journal
In this paper, a series robot as the research object, using theoretical analysis, numerical simulation method of
combining, to carry out the overall performance analysis and optimization of industrial robots trajectory. For serial
robot, kinematics modeling. The establishment of a first-order influence coefficient method based on
second-order influence coefficient matrix, kinematic and dynamic analysis of performance indicators based on
both Jacobin matrix and Hessian matrix, and the actual size of the work and working space agencies, institutions
initially selected size. Finally, institutional performance indicators for institutional map drawing performance,
combined with the flexibility and maneuverability determine the size of a set of different institutions in the
optimal configuration, and its feasibility through simulation. According to the geometric characteristics of the
surface complex surface fragmentation process, solve the optimal value speed and coating spray width of the
overlapping area on each patch.
Performance prediction of a turboshaft engine by using of one dimensional ana...ijmech
Performance estimation of the axial flow gas turbines under variety of operating conditions like different speeds and pressure ratios has been hampered by lack of reliable experimental data and experiments cost.Simulation of gas turbine is a simple way to reduce testing costs and complexity.One-dimensional (1D).Simulation is a simple, fast and accurate method for performance prediction of turbine with different geometries. In this approach, inlet flow conditions and turbine geometry are known and by considering loss model, the turbine performance characteristics are predicted. In following work, that is based on one dimensional modelling method, after the presentation of solution algorithm by trial and error method and introduction of different loss models for modelling, this method were examined for a turbo shaft engine and
compared with experimental results. Comparison of the results with experimental data shows so good adaptation. Also according to these results, Kacker and Okapuu’s developed model gave the closest results to the reference data.
Determination of the Operational Parameters of a Planar Robot with Three JointsWaqas Tariq
Robots are currently made in numerous types and are used in diverse roles such as production lines, daily living activities and some security fields. These types of robots are well designed and successfully applied in many areas requiring high sensitivity and stability. The aim of this study was to determine the optimum values of several operational parameters for a planar robot with respect to robot design and construction. With this aim, a small planar robot with a three-jointed arm activated by hydraulic cylinders in each segment was evaluated using a technical design drawing. The arm motions of the planar robot are rotary and parallel within a vertical plane. The resulting optimal operational parameters of the planar robot were determined as starting and target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18 cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were constructed corresponding to the orbit-planning parameters, resulting in Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum power consumption of the robot was determined as 1 kW according to the outer load and arm weights.
Improving the Hydraulic Efficiency of Centrifugal Pumps through Computational...IJERA Editor
The design and optimization of turbo machine impellers such as those in pumps and turbines is a highly complicated task due to the complex three-dimensional shape of the impeller blades and surrounding devices. Small differences in geometry can lead to significant changes in the performance of these machines. We report here an efficient numerical technique that automatically optimizes the geometry of these blades for maximum performance. The technique combines, mathematical modeling of the impeller blades using non-uniform rational B-spline (NURBS), Computational fluid dynamics (CFD) with Geometry Parameterizations in turbulent flow simulation and the Globalized and bounded Nelder-Mead (GBNM) algorithm in geometry optimization.
Robust and Real Time Detection of Curvy Lanes (Curves) Having Desired Slopes ...csandit
One of the biggest reasons for road accidents is curvy lanes and blind turns. Even one of the
biggest hurdles for new autonomous vehicles is to detect curvy lanes, multiple lanes and lanes
with a lot of discontinuity and noise. This paper presents very efficient and advanced algorithm
for detecting curves having desired slopes (especially for detecting curvy lanes in real time)
and detection of curves (lanes) with a lot of noise, discontinuity and disturbances. Overall aim
is to develop robust method for this task which is applicable even in adverse conditions. Even in
some of most famous and useful libraries like OpenCV and Matlab, there is no function
available for detecting curves having desired slopes, shapes, discontinuities. Only few
predefined shapes like circle, ellipse, etc, can be detected using presently available functions.
Proposed algorithm can not only detect curves with discontinuity, noise, desired slope but also
it can perform shadow and illumination correction and detect/ differentiate between different
curves.
The kinematics analysis and trajectory planning of Series robotIJRES Journal
In this paper, a series robot as the research object, using theoretical analysis, numerical simulation method of
combining, to carry out the overall performance analysis and optimization of industrial robots trajectory. For serial
robot, kinematics modeling. The establishment of a first-order influence coefficient method based on
second-order influence coefficient matrix, kinematic and dynamic analysis of performance indicators based on
both Jacobin matrix and Hessian matrix, and the actual size of the work and working space agencies, institutions
initially selected size. Finally, institutional performance indicators for institutional map drawing performance,
combined with the flexibility and maneuverability determine the size of a set of different institutions in the
optimal configuration, and its feasibility through simulation. According to the geometric characteristics of the
surface complex surface fragmentation process, solve the optimal value speed and coating spray width of the
overlapping area on each patch.
The constructive solution of this rotary machine was not physically made for various reasons. A prototype of this machine was made in the laboratory of the Faculty of Mechanical and Mechatronics Engineering, Department of Thermotechnics, Engines, Thermal and Refrigeration Equipment at POLITEHNICA University of Bucharest, and experimental research has shown that the constructive solution is functional. We have a calculation program for making this machine that circulates any kind of fluid. We look forward to any form of collaboration on this topic.
Three-dimensional Streamline Design of the Pump Flow Passage of Hydrodynamic...IJMER
The design methods of three-element, centripetal turbine hydrodynamic torque converters
were investigated. A new design method, three-dimensional streamline design method, was proposed.
Firstly, the three-dimensional central streamline of the flow passage was designed and the streamline
consists of a circular arc and a short straight line segment. After that, the central streamline equation was
obtained and the design path equation was derived. Next, any other meridional flow path can numerically be
obtained. Finally, the three-dimensional streamline corresponding to any meridional flow path was
computed numerically. Investigation results show that the proposed method is feasible and possesses
obvious advantages. First, the curvature radius of the three-dimensional central streamline remains
unchanged, while any other three-dimensional streamline is close to a circular arc as well. Therefore, the
energy losses caused by streamline bending can be reduced. Second, because the fluid particle near the flow
passage outlet flows in a straight line law and the energy losses due to flow deviation can be reduced. Third,
all the three-dimensional streamlines are theoretically located in an identical plane. Thereby energy losses
caused by the turbulence can be reduced. Fourth, because of the flat blades, the manufacture cost of a torque
converter can be reduced.
An efficient sensitivity analysis method for modified geometry of Macpherson ...yarmohammadisadegh
The main purpose of this paper is to propose a new method for designing Macpherson suspension based on the influence of the most important parameters on behavior of the vehicle. The formulation of dynamic analysis of Macpherson suspension system is developed using the suspension members as the modified links in order to achieve the desired kinematic behavior. The mechanical system is replaced with an equivalent constrained links and then kinematic laws are utilized to obtain the new modified geometry of Macpherson suspension. The equivalent mechanism of Macpherson suspension increased the speed of analysis and reduced its complexity. The ADAMS/CAR software is utilized to simulate a full vehicle, Renault Logan car, in order to analyze the accuracy of modified geometry model. An experimental 4-poster test rig is considered for validating both ADAMS/CAR simulation and analytical geometry model. This paper introduces a new method for designing suspension, based on the Sobol indices in terms of Pearson correlation which determines the importance of each member on the behavior of vehicle suspension. Pearson correlation coefficient is applied to analyze the sensitivity of each suspension member according to vehicle objective functions such as sprung mass acceleration, etc. Besides this matter, the estimation of Pearson correlation coefficient between variables is analyzed in this method. It is understood that the Pearson correlation coefficient is an efficient method for analyzing the vehicle suspension which leads to a better design of Macpherson suspension system.
Design and Identification of the Train Model in Automatic Train Operation (AT...IJRES Journal
ATO(Automatic Train Operation) is an important part of the ATC(Automatic Train Control), in which train modeling is the core of ATO. This paper designs a train model including three parts, and identify the train model by PEM method according to data of line 3.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Structural measurements in oriented core photograph january 2019_galkineVadim Galkine
n this post I describe the method of structural measurements of planar structures using oriented core digital photographs. The main advantage of the method is an opportunity to reduce field-based time of the drill-core processing. All the measurements can be done in the office.
Users can work either in the standard GIS platforms (ArcMap, MapInfo etc) or even use digitizers outside of GIS environment which makes the technique comparatively cheap.
The method consists of two steps:
1) digitazing photographs and obtaining a table of xy coordinates of the three-point sets of planar structures
2) calculating actual structure orientations using the MSExcel calculation spreadsheets.
The spreadsheets are provided as attachments to the post. They can also be downloaded from http://remoteexploration.com/oriented-core-techniques.html
Autonomous Parallel Parking Methodology for Ackerman Configured VehiclesIDES Editor
Parallel parking is challenge for all drivers
say amateurs or the experts. An automatic car parking
system is a solution to this ordeal. This vehicular
technology has been implemented using many other
sPaud Road, Kothrud, Pune, Maharashtra, India –
411038ystems but a cost effective, simple and accurate
solution will be greatly appreciated. This paper explains
in detail a simple and precise autonomous car-parking
algorithm for Ackerman steering configuration. A twoparttrajectory-
planning algorithm consists of the
steeringplanning and simple distance calculations. The
limits of vehiclemechanism and drive torque are taken
into account.Simulation results are presented to illustrate
theapplication of the proposed algorithm.The algorithm
uses simple geometry for its path planning and odometry.
The system uses sonar sensors and wheel encoders for its
perception. This sensed data is interpreted in the
processor of the vehicle. As per the trajectory
determined, the vehicle parks itself into the parking
space. Simulation and experiment results shows that using
this algorithm the parking maneuver will become more
safe, efficient and fast.
Design and Implementation of Mobile Map Application for Finding Shortest Dire...Eswar Publications
The shortest path problem is an approach towards finding the shortest and quickest path or route from a starting point to a final destination, four major algorithms are peculiar to solving the shortest path problem. The algorithms include Dijkstra’s Algorithm, Floyd-Warshall Algorithm, Bellman-Ford Algorithm and Alternative Path Algorithm. This research work is focused on the design of mobile map application for finding the shortest
route from one location to another within Yaba College of Technology and its environ. The design was focused on
Dijkstra’s algorithm that source node as a first permanent node, and assign it 0 cost and check all neighbor nodes
from the previous permanent node and calculate the cumulative cost of each neighbor nodes and make them
temporary, then chooses the node with the smallest cumulative cost, and make it as a permanent node. The different nodes that lead to a particular destination were identified, the distance and time from a source to a destination is calculated using the Google map. The application then recommends the shortest and quickest route to the destination.
Simulation of Robot Manipulator Trajectory Optimization DesignIJRESJOURNAL
ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end trajectory is preset, the first trajectory is planned by combining the first order acceleration planning and the arc transition. Then, the target model is optimized for the average power and the movement time. Finally, a non-dominated sorting algorithm is introduced to optimize the trajectory to obtain the best performance trajectory. The simulation results show that the optimized trajectory has a certain amount of time-consuming increase compared with the traditional trajectory of SCARA robot, but its energy consumption is obviously reduced, and the overall optimization result is obvious.
The constructive solution of this rotary machine was not physically made for various reasons. A prototype of this machine was made in the laboratory of the Faculty of Mechanical and Mechatronics Engineering, Department of Thermotechnics, Engines, Thermal and Refrigeration Equipment at POLITEHNICA University of Bucharest, and experimental research has shown that the constructive solution is functional. We have a calculation program for making this machine that circulates any kind of fluid. We look forward to any form of collaboration on this topic.
Three-dimensional Streamline Design of the Pump Flow Passage of Hydrodynamic...IJMER
The design methods of three-element, centripetal turbine hydrodynamic torque converters
were investigated. A new design method, three-dimensional streamline design method, was proposed.
Firstly, the three-dimensional central streamline of the flow passage was designed and the streamline
consists of a circular arc and a short straight line segment. After that, the central streamline equation was
obtained and the design path equation was derived. Next, any other meridional flow path can numerically be
obtained. Finally, the three-dimensional streamline corresponding to any meridional flow path was
computed numerically. Investigation results show that the proposed method is feasible and possesses
obvious advantages. First, the curvature radius of the three-dimensional central streamline remains
unchanged, while any other three-dimensional streamline is close to a circular arc as well. Therefore, the
energy losses caused by streamline bending can be reduced. Second, because the fluid particle near the flow
passage outlet flows in a straight line law and the energy losses due to flow deviation can be reduced. Third,
all the three-dimensional streamlines are theoretically located in an identical plane. Thereby energy losses
caused by the turbulence can be reduced. Fourth, because of the flat blades, the manufacture cost of a torque
converter can be reduced.
An efficient sensitivity analysis method for modified geometry of Macpherson ...yarmohammadisadegh
The main purpose of this paper is to propose a new method for designing Macpherson suspension based on the influence of the most important parameters on behavior of the vehicle. The formulation of dynamic analysis of Macpherson suspension system is developed using the suspension members as the modified links in order to achieve the desired kinematic behavior. The mechanical system is replaced with an equivalent constrained links and then kinematic laws are utilized to obtain the new modified geometry of Macpherson suspension. The equivalent mechanism of Macpherson suspension increased the speed of analysis and reduced its complexity. The ADAMS/CAR software is utilized to simulate a full vehicle, Renault Logan car, in order to analyze the accuracy of modified geometry model. An experimental 4-poster test rig is considered for validating both ADAMS/CAR simulation and analytical geometry model. This paper introduces a new method for designing suspension, based on the Sobol indices in terms of Pearson correlation which determines the importance of each member on the behavior of vehicle suspension. Pearson correlation coefficient is applied to analyze the sensitivity of each suspension member according to vehicle objective functions such as sprung mass acceleration, etc. Besides this matter, the estimation of Pearson correlation coefficient between variables is analyzed in this method. It is understood that the Pearson correlation coefficient is an efficient method for analyzing the vehicle suspension which leads to a better design of Macpherson suspension system.
Design and Identification of the Train Model in Automatic Train Operation (AT...IJRES Journal
ATO(Automatic Train Operation) is an important part of the ATC(Automatic Train Control), in which train modeling is the core of ATO. This paper designs a train model including three parts, and identify the train model by PEM method according to data of line 3.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Structural measurements in oriented core photograph january 2019_galkineVadim Galkine
n this post I describe the method of structural measurements of planar structures using oriented core digital photographs. The main advantage of the method is an opportunity to reduce field-based time of the drill-core processing. All the measurements can be done in the office.
Users can work either in the standard GIS platforms (ArcMap, MapInfo etc) or even use digitizers outside of GIS environment which makes the technique comparatively cheap.
The method consists of two steps:
1) digitazing photographs and obtaining a table of xy coordinates of the three-point sets of planar structures
2) calculating actual structure orientations using the MSExcel calculation spreadsheets.
The spreadsheets are provided as attachments to the post. They can also be downloaded from http://remoteexploration.com/oriented-core-techniques.html
Autonomous Parallel Parking Methodology for Ackerman Configured VehiclesIDES Editor
Parallel parking is challenge for all drivers
say amateurs or the experts. An automatic car parking
system is a solution to this ordeal. This vehicular
technology has been implemented using many other
sPaud Road, Kothrud, Pune, Maharashtra, India –
411038ystems but a cost effective, simple and accurate
solution will be greatly appreciated. This paper explains
in detail a simple and precise autonomous car-parking
algorithm for Ackerman steering configuration. A twoparttrajectory-
planning algorithm consists of the
steeringplanning and simple distance calculations. The
limits of vehiclemechanism and drive torque are taken
into account.Simulation results are presented to illustrate
theapplication of the proposed algorithm.The algorithm
uses simple geometry for its path planning and odometry.
The system uses sonar sensors and wheel encoders for its
perception. This sensed data is interpreted in the
processor of the vehicle. As per the trajectory
determined, the vehicle parks itself into the parking
space. Simulation and experiment results shows that using
this algorithm the parking maneuver will become more
safe, efficient and fast.
Design and Implementation of Mobile Map Application for Finding Shortest Dire...Eswar Publications
The shortest path problem is an approach towards finding the shortest and quickest path or route from a starting point to a final destination, four major algorithms are peculiar to solving the shortest path problem. The algorithms include Dijkstra’s Algorithm, Floyd-Warshall Algorithm, Bellman-Ford Algorithm and Alternative Path Algorithm. This research work is focused on the design of mobile map application for finding the shortest
route from one location to another within Yaba College of Technology and its environ. The design was focused on
Dijkstra’s algorithm that source node as a first permanent node, and assign it 0 cost and check all neighbor nodes
from the previous permanent node and calculate the cumulative cost of each neighbor nodes and make them
temporary, then chooses the node with the smallest cumulative cost, and make it as a permanent node. The different nodes that lead to a particular destination were identified, the distance and time from a source to a destination is calculated using the Google map. The application then recommends the shortest and quickest route to the destination.
Simulation of Robot Manipulator Trajectory Optimization DesignIJRESJOURNAL
ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end trajectory is preset, the first trajectory is planned by combining the first order acceleration planning and the arc transition. Then, the target model is optimized for the average power and the movement time. Finally, a non-dominated sorting algorithm is introduced to optimize the trajectory to obtain the best performance trajectory. The simulation results show that the optimized trajectory has a certain amount of time-consuming increase compared with the traditional trajectory of SCARA robot, but its energy consumption is obviously reduced, and the overall optimization result is obvious.
Optimum range of angle tracking radars: a theoretical computingIJECEIAES
In this paper, we determine an optimal range for angle tracking radars (ATRs) based on evaluating the standard deviation of all kinds of errors in a tracking system. In the past, this optimal range has often been computed by the simulation of the total error components; however, we are going to introduce a closed form for this computation which allows us to obtain the optimal range directly. Thus, for this purpose, we firstly solve an optimization problem to achieve the closed form of the optimal range (Ropt.) and then, we compute it by doing a simple simulation. The results show that both theoretical and simulation-based computations are similar to each other.
A Discrete Algorithm of S-shape Acceleration and DecelerationIJRES Journal
A new control algorithm for S-shape acceleration and deceleration is proposed. An accurate
solution is calculated before interpolation process. The speed curve was constructed by five segments, and
position, velocity, acceleration and jerk requirement can be satisfied.
Particle Swarm Optimization for the Path Loss Reduction in Suburban and Rural...IJECEIAES
In the present work, a precise optimization method is proposed for tuning the parameters of the COST231 model to improve its accuracy in the path loss propagation prediction. The Particle Swarm Optimization is used to tune the model parameters. The predictions of the tuned model are compared with the most popular models. The performance criteria selected for the comparison of various empirical path loss models is the Root Mean Square Error (RMSE). The RMSE between the actual and predicted data are calculated for various path loss models. It turned out that the tuned COST 231 model outperforms the other studied models.
Kinematic Model of Anthropomorphic Robotics Finger MechanismsIOSR Journals
Abstract: Research on Kinematic Model of Anthropomorphic robotics Finger mechanisms is being carried out
to accommodate a variety of tasks such as grasping and manipulation of objects in the field of industrial
applications, service robots, and rehabilitation robots. The first step in realizing a fully functional of
anthropomorphic robotics Finger mechanisms is kinematic modeling. In this paper, a Kinematic Model of
Anthropomorphic robotics Finger mechanism is proposed based on the biological equivalent of human hand
where each links interconnect at the metacarpophalangeal (MCP), proximal interphalangeal (PIP) and distal
interphalangeal (DIP) joints respectively. The Kinematic modeling was carried out using Denavit Hartenburg
(DH) algorithm for the proposed of Kinematic Model of Anthropomorphic robotics Finger mechanisms.
Index Terms— Anthropomorphic robot Finger, Modeling, Robotics, Simulation
Artificial Intelligence: Introduction, Typical Applications. State Space Search: Depth Bounded
DFS, Depth First Iterative Deepening. Heuristic Search: Heuristic Functions, Best First Search,
Hill Climbing, Variable Neighborhood Descent, Beam Search, Tabu Search. Optimal Search: A
*
algorithm, Iterative Deepening A*
, Recursive Best First Search, Pruning the CLOSED and OPEN
Lists
A Much Advanced and Efficient Lane Detection Algorithm for Intelligent Highwa...cscpconf
This paper presents a much advanced and efficient lane detection algorithm. The algorithm is based on (ROI) Region of Interest segmentation. In this algorithm images are pre-processed by top-hat transform for de-noising and enhancing contrast. ROI of a test image is then extracted. For detecting lines in the ROI, Hough transform is used. Estimation of the distance between Hough origin and lane-line midpoint is made. Lane departure decision is made based on the difference between these distances. As for the simulation part we have used Matlab software.Experiments show that the proposed algorithm can detect the lane markings accurately and quickly.
The shortest not necessarily the best. other path on the basis of the optimal...eSAT Journals
Abstract
This paper presents a different perspective on the Dijkstra algorithm. In paper this algorithm is used to the further analyses to find another paths between nodes in maritime traffic. In many cases, the best solution for a single criterion is not sufficient. Finding more effective solutions can be the starting point to use for subsequent analysis or making decision by the captain of the vessel. Using advanced reasoning mechanisms it is possible to create a decision support system based on well-known Dijkstra algorithm.
Keywords: Sea Transport, Networks and Graphs, Intelligent Transportation System
Offine/Online Optimum Routing of a UAV using Auxiliary Points IJECEIAES
This paper presents a method to determine the route of a three-dimensional UAV. Three criteria; the height, the length of flight path and the un authorized areas are used as the constraints and combined in a fuzzy function as the evaluation function. The article aimed to discover a minimum cost route from source to destination considering the constrains. In this paper a new searching methodis proposed, with use of auxiliary points. The auxiliary point method iterativelydivides a straight line to two shorter lines with less cost of evaluation function. Implementation results show that the proposed method dramatically decreasesthe calculations; meanwhile the ight route is sub-optimum.
AN EFFICIENT LINE CLIPPING ALGORITHM FOR CIRCULAR WINDOWS USING VECTOR CALCUL...ijcga
With the advent of digitization and growing abundance of graphic and image processing tools, use cases
for clipping using circular windows have grown considerably. This paper presents an efficient clipping
algorithm for line segments using geometrical features of circle and vector calculus. Building upon the
research with rectangular windows, this method is proposed with the belief that computations are more
expensive (heavy) than other computations. Execution time can be drastically improved if we replace
expensive computations with cheaper computations. The cheaper computations can be computed even more
efficiently using parallelization thus improving time complexity.
An Efficient Line Clipping Algorithm for Circular Windows Using Vector Calcul...ijcga
With the advent of digitization and growing abundance of graphic and image processing tools, use cases for clipping using circular windows have grown considerably. This paper presents an efficient clipping algorithm for line segments using geometrical features of circle and vector calculus. Building upon the research with rectangular windows, this method is proposed with the belief that computations are more expensive (heavy) than other computations. Execution time can be drastically improved if we replace expensive computations with cheaper computations. The cheaper computations can be computed even more efficiently using parallelization thus improving time complexity.
AN EFFICIENT LINE CLIPPING ALGORITHM FOR CIRCULAR WINDOWS USING VECTOR CALCUL...ijcga
With the advent of digitization and growing abundance of graphic and image processing tools, use cases
for clipping using circular windows have grown considerably. This paper presents an efficient clipping
algorithm for line segments using geometrical features of circle and vector calculus. Building upon the
research with rectangular windows, this method is proposed with the belief that computations are more
expensive (heavy) than other computations. Execution time can be drastically improved if we replace
expensive computations with cheaper computations. The cheaper computations can be computed even more
efficiently using parallelization thus improving time complexity.
Similar to AGV PATH PLANNING BASED ON SMOOTHING A* ALGORITHM (20)
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AGV PATH PLANNING BASED ON SMOOTHING A* ALGORITHM
1. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
DOI : 10.5121/ijsea.2015.6501 1
AGV PATH PLANNING BASED ON SMOOTHING A*
ALGORITHM
Xie Yang and Cheng Wushan
College of Mechanical Engineering, Shanghai University of Engineering Science,
Shanghai 201620, China
ABSTRACT
The path consumption of the digital map in the grid as the environment expression way is discrete, for
Automated Guided Vehicle(AGV) to achieve low consumption and smooth path planning target, the A*
algorithm is applied to the path planning based on grid, and the optimal path is realized. A path smoothing
method is proposed and applied to the path of A*. The smoothing method satisfies the AGV turning radius,
makes the path smooth transition at the break point, and realizes the smooth path deviation. The simulation
results are verified by using the grid method, and the path of the proposed method is smoother, the path
consumes less and the path error is less than that of the A*.
KEYWORDS
Automated Guided Vehicle (AGV), A* Algorithm , Smooth Path
1. INTRODUCTION
Path planning technology is one of the key technologies of AGV. Its task is to find a path from
the initial state (including position and attitude) to the target state (position and attitude) in the
environment with obstacles. The A* algorithm is based on the grid map, and the grid map is a
way of environmental expression which can be obtained by the discretization of the actual
environment. In the cell interior, the path is the same, and the path between the adjacent grid and
the grid is not continuous [1-2]
.
Because the path of each unit cell is discrete, each grid is used as a whole to participate in the
path planning algorithm, such as A* algorithm, the final design of the path is composed of a
representative unit grid (or center) endpoint connection, the path direction changes the increment
only is pi / 4, so the design path are usually not the actual environment optimal, smooth path [3-4]
.
A* algorithm can achieve the continuous path, but the path of the change is usually not
continuous, which is due to the approximate expression of the path. The design of the final path
must meet the dynamic characteristics of AGV itself, such as: the initial speed direction, turning
radius and so on, the algorithm needs to calculate the path of smooth [5]
. According to the
information around the obstacles, this paper presents a tangential smoothing method based on A*
algorithm, to realize continuous change of the direction of the path. The proposed smoothing
method is applied to the path planning algorithm, the path of the final path is optimized and the
smooth transition of the path is satisfied.
2. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
2
2. PRINCIPLE OF A* ALGORITHM
The search space is described as a set of nodes and the edges are connected to each side, each side
length is given to the path value, so that the path of the search can be represented by the nodes in
the space. A* searches for the shortest path by selecting the node sequence of the path between
the start node and the destination node. The AGV path search area is required to be grid, and the
AGV runtime environment map is partitioned into a set of size uniform squares, each of which
represents a certain position in the environment (as shown in Figure 1). The core part of the A*
algorithm is the evaluation function:
* * *
( ) ( ) ( )f n g n h n= + (1-1)
In the formula: n represents the current node to search; *
( )f n is the evaluation function, which
means that the cost of the optimal path from the initial position to the target position after the
node n is reached; *
( )g n represents the actual value of the minimum path from the initial
position to the node n , if n is the starting point, then the *
( ) 0g n = ; *
( )h n is the cost value of
the optimal path to "estimate" from the node n to the target location.
n
Figure 1. A* algorithm development node orientation map
An evaluation function of *
( )h n is the type (1-2), the current node n coordinates 1 1( , )x y , and
the target node coordinates are 2 2( , )x y :
* 2 2 2
1 2 1 2( ) [( ) ( ) ]h n x x y y= − + −
(1-2)
Then the evaluation function is:
* * 2 2 2
1 2 1 2( ) ( ) [( ) ( ) ]f n g n x x y y= + − + −
The A* algorithm is extended from the 8 directions of the starting node, and the direction is
shown in Figure 1. We select the node as the *
( )h n value of the second nodes in the 8 nodes, and
then expand the sequence of second nodes. This way, the path can be simply iterated until the
destination node is searched. The A* algorithm is set up to two lists: one is open list (OPEN), the
other is closed down list (CLOSED). When the node is expanded, the existing obstacles and the
existing node direction will not be extended, and stored in the closed list.
3. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
3
3. AGV MOTION MODEL
Single steering wheel is a common AGV wheel structure types, including a main navigation
wheel, two driven wheel, and a plurality of universal auxiliary supporting wheel, its structure is
shown in figure 2. This structure of the AGV turning radius is small, and the movement is
flexible. Among them, the main navigation wheel is both the driving wheel and the steering
wheel, which is driven by different servo motors. A driven wheel is fixed on the lower part of the
support body after landing fork, do not rotate about the direction can be realized. According to the
kinematic model of AGV and the return data of the encoder, it can be used to solve the position
and attitude of AGV, and then realize the real-time positioning of AGV.
ϕ
θ
Figure 2. The kinematics model of single wheel AGV
Considering the minimum turning radius as AGV kinematic constraints in the running process,
figure 2 is a simplified model of the single wheel AGV [6]
.
Assume that AGV's posture is ( , , )x y θ , the ,x y is the position coordinates of the AGV, θ is the
direction angle of the AGV, ϕ is the central axle and the front wheel of the AGV driving
direction angle, known as a steering angle. AGV wheel steering mechanism has the mechanical
characteristics of the constraint:
maxϕ ϕ≤ (1-3)
There is an upper bound of the path curvature ρ of the path of AGV:
min max
1 1
cotR L
ρ
ϕ
≤ =
(1-4)
In the formula, L is the front and rear wheel axis distance, as shown in Figure 2, the minimum
turning radius is:
4. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
4
min maxcotR L ϕ= (1-5)
Therefore, when the AGV turn, we take the minimum turning radius as its kinematic constraint.
We will use it as a path to smooth processing.
4. SMOOTH PATH PLANNING METHOD
4.1. Inscribed circle smoothing method
The inscribed circle smoothing method is independent ofθ , the inscribed circle to achieve the
smooth transition of the path, with the radius of the arc is minR we replace the original line in the
corner, the arc tangent to two lines, as shown in Figure 3, and then the broken line 1S Q 、
2QS will be replaced by 1 2S S .
im
1im +
1o
1S
2S
Q θ
_Max error
R
Figure 3. Inscribed circle smoothing method
The path is smoothed:
1 2 1 1 1 2i im S S m R S O S+ = ∠
(1-6)
The maximum error deviation from the original route is calculated as follows:
1
_ - ( -1)
sin( ) sin( )
2 2
R
Max error R R
θ θ
= =
(1-7)
In the selection of the path smoothing method, we first determine whether it can meet the
requirements of security, here to determine the maximum deviation of the path of the path of the
unit path. When the path of the bias point is far greater than the discount of the unit path, that is,
the deviation can be regarded as an obstacle, and then the smoothing method cannot be applied to
the smooth [7-9]
.
For the inscribed circle smooth method, when the angle θ between the connected paths is
smaller, and turning radius R is larger, smoothed path of maximum deviation Max _ error is
bigger, so we take the minimum turning radius of AGV is minR , the smooth two section path angle
isθ .
5. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
5
4.2. Special Case 1
If the corner is sufficient for two smooth arc tangent to the path, as shown in Figure 4 (a), we
draw Inscribed circle with im and 1im + 、 1im + and 2im + respectively, tangent point is
1
S and 2S 、
3S and 4S respectively, and the new path is 1 2 1 3 4 2i i im S S m S S m+ ++ + + + . If the corner is not
enough for the two smooth arc tangent to the path, as shown in Figure 4 (b), we draw Inscribed
circle with im and 2im + , tangent point is 1S and 2S , and the new path is 1 2 2i im S S m ++ + .
1S
2S 3S
4S
1o 2o
im
1im +
2im +
minR minR
(a)
im
1im +
2im +
1o
1S 2S
minR
(b)
Figure 4. Special case 1
4.3. Special Case 2
If the corner is sufficient for two smooth arc tangent to the path, as shown figure in Figure 5 (a),
we draw Inscribed circle with im and 1im + 、 1im + and 2im + respectively, tangent point is 1S and 2S
、 3S and 4S respectively, and the new path is 1 2 1 3 4 2i i im S S m S S m+ ++ + + + . If the corner is not
enough for the two smooth arc tangent to the path, as shown in Figure 5 (b), we draw Inscribed
circle with im and 1im + 、 1im + and 2im + respectively, tangent point is 1S and 2S 、
3S and 4S respectively, and we draw Inscribed circle with im and 1 2S S 、 1 2S S and 2im + , the final
processing method is shown in Figure 5 (a).
6. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
6
1o
2o
im
1im +
2im +
minR
minR
1S
2S
3S
4S
(a)
1o
2o
minR
minR
im
2im +
1im +
1S
4S
2S
3S
(b)
Figure 5. Special case 2
5. SIMULATIONS
We take max( 2 1) , 45L m ϕ= + = o
, and then min maxcot ( 2 1)R L mϕ= = + . Using the
minimum turning radius circle to replace the key points of the broken line, combined with the
analysis of the path of the above, the path is shown in Figure 6.In the graph, the black path is the
path before the smooth, and the red path is the path of the process. It can be seen that the path of
the process is much smoother than the previous path.
7. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
7
Figure 6. Simulation results
For the evaluation of the path can be used in the path of the consumption of the path as an
evaluation index, the path is less consumption of the path is more excellent.
Table 1. Comparison of simulation results
Path consumption (m) Maximum deviation (m)
A* Algorithm 29.6
0.21Smoothing A* algorithm 27.8
8. International Journal of Software Engineering & Applications (IJSEA), Vol.6, No.5, September 2015
8
6. CONCLUSIONS
When the A* algorithm searches path, each step is to the adjacent eight grid search, and then into
the next grid. If the simple lattice to the grid is acceptable, but if it is a real experiment in
particular the mobile robot which needs to smooth, which is unacceptable.
Taking into account the new path in the presence of some abrupt turning point and local area have
jitter, combined with the AGV motion constraints, w extract the key points in the path, and follow
the path to the smooth processing.
The path smoothing method proposed in this paper can be very good to meet the dynamic
characteristics of AGV, especially to meet the AGV turning radius. In addition, the local path
deviation is minimized by the judgment of the information of the obstacle, and the total deviation
of the path is achieved.
REFERENCES
[1] Liu Wei,Zheng Zheng,Cai Kaiyuan,(2012)Smooth path planning for unmanned aerial vehicles in
unknown complex environments[J],Control Theory & Applications,Vol.29,No.11,pp1403-1412.
[2] Zhang Jinxue,Li Yuanyuan,Zhang Ming, (2012)Path panning method for car -like mobile
robot[J],Computer Simulation,No.01,pp176-179+205.
[3] Stentz A,(1995)The focussed D* algorithm for real-time replanning[C], Proceedings International
Joint Conference on Artificial Intelligence, Montreal, Canada: IJCAI, pp1652-1659.
[4] Wang Dianjun,(2012)Indoor mobile-robot path panning based on an improved A*
algorithm[J],Journal of Tsinghua University(Science and Technology),Vol.52,No.8,pp1085-1089.
[5] Wu Chaoshuai,(2012)The improved A * algorithm and its application in ASR mobile robot for path
planning[D],College of Information Engineering.
[6] Shan Wei,Meng Zhengda,(2010)Smooth path design for mobile service robots based on improved A*
algorithm[J],Journal of Southeast University(Natural Science Edition),Vol.40,No.40,pp155-161.
[7] Gao Bo, Xu Demin, Yan Weisheng, Zhang Fubin,(2009)Method of Designing Optimal Smooth Way
for Vehicle[J],Journal of System Simulation,Vol.21,No.23,pp7536-7539.
[8] Li Hongchao,Huang Yalou,Que Jialan,Xu Jun,Sun Fengchi,(2001)An approach to path smoothing for
wheeled mobile robots based on quadtree environment model[J],Robot,Vol.23,No.5,pp426-430.
[9] Shu Lei,(2013)Mission-level path planning and smoothing of lunar rover based on grid
map[D],Harbin Institute of Technology.
AUTHORS
Corresponding author: Xie Yang (1990-), male, master of engineering, research direction
for robotics and intelligent control.E-mail:xie__yang@126.com