LUZ aiuta i Brand a creare un legame con i consumatori: raccontando Storie che li coinvolgano. Infatti, i nostri Autori riescono a catturare le emozioni ed i temi che attirano l’attenzione e guadagnano la fiducia di un pubblico mondiale.
LUZ sa abbinare i linguaggi unici di ciascun Autore con le dimensioni emozionali dei Brand, per poi progettare la miglior strategia per diffondere le Storie con successo.
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LUZ can help Brands creating emotional bonds with customers: telling engaging stories. Indeed, our Authors capture emotions and themes that catch the attention and trust of a worldwide audience.
LUZ is able to match the peculiar language of each Author with the Brand’s emotional assets, and to design the right strategy to spread the story in a successful way.
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PrestaShop Customizer module by FME keep the customer engage by allowing them to customize the products they want. This extension is appropriate solution to increase serving standards of your e-store.
Download Link: http://www.fmemodules.com/en/85-custom-product-design.html
LUZ aiuta i Brand a creare un legame con i consumatori: raccontando Storie che li coinvolgano. Infatti, i nostri Autori riescono a catturare le emozioni ed i temi che attirano l’attenzione e guadagnano la fiducia di un pubblico mondiale.
LUZ sa abbinare i linguaggi unici di ciascun Autore con le dimensioni emozionali dei Brand, per poi progettare la miglior strategia per diffondere le Storie con successo.
Per saperne di più, seguite il link: http://bit.ly/23SxBvN
LUZ can help Brands creating emotional bonds with customers: telling engaging stories. Indeed, our Authors capture emotions and themes that catch the attention and trust of a worldwide audience.
LUZ is able to match the peculiar language of each Author with the Brand’s emotional assets, and to design the right strategy to spread the story in a successful way.
Learn more about it at: http://bit.ly/23SxBvN
PrestaShop Customizer module by FME keep the customer engage by allowing them to customize the products they want. This extension is appropriate solution to increase serving standards of your e-store.
Download Link: http://www.fmemodules.com/en/85-custom-product-design.html
Los glúcidos, carbohidratos, hidratos de carbono o sacáridos son biomoléculas compuestas por carbono, hidrógeno y oxígeno y cuyas principales funciones en los seres vivos son el prestar energía inmediata y estructural
Generate and send numerous triggered emails based on customer activity to build productive relationships with clients and increase the number of repeated purchases. Customize email templates and effectively manage emails dispatch.
Los glúcidos, carbohidratos, hidratos de carbono o sacáridos son biomoléculas compuestas por carbono, hidrógeno y oxígeno y cuyas principales funciones en los seres vivos son el prestar energía inmediata y estructural
Generate and send numerous triggered emails based on customer activity to build productive relationships with clients and increase the number of repeated purchases. Customize email templates and effectively manage emails dispatch.
4. Fig 4 Organizational structure diagram of individual robotic software modules
Fig 5 Schematic diagram of the behavior-based control of robotics
Telecommunicati
on
Command
Tasks
Behavior
Arbiter
Target
Info.
Obstacles
Info.
Coordinate
Info.
Part path
planning
Tracking
algorithm
Movement
controller
Electrical
machine
Arbiter
Obstacle
testing 1
Obstacle
testing 2
Obstacle
testing 3
Laser
device
Ultrasoni
c device
Infrared
device
Arbiter
Overall
location
systems
Part
location
systems
STARGAZER
indoor locating
system
Digital
compa
ss
Coded
disc.
5. 5 多机器人的协调控制系统
两机器人的编队跟踪问题,我们采用
虚拟领队(virtual leading)和编队跟踪控
制方法。虚拟领队机器人编队的几何关系是
由虚拟领队机器人与跟最机器人之间的相
对位置确定的。如图 6 所示。
多机器人编队完成特定任务是机器人
协调系统的典型任务。本实验采用了多机器
人编队控制策略,由文【3】知,我们利用在
行为融合中采用各行为适量的加权求和算
法。如图 所示, ∑= iiUWU0 式中 0U
为运动控制器矢量, iW 为权系数, iU
为子行为输出矢量, ...3,2,1=i 。在存在
障碍物环境的多机器人编队控制实验中,
通过利用以太网(ethernet)传递定位信息
和超声波和红外数据,实现了基于传感器
信息共享的运动协调。
Fig 6 diagram of real robot and the master-slave tracking of virtual leader
Sensor systems
Wireless ethernet
Obstacle avoidance
formation
randomness
W1
W2
W3
W4
Movement controller
Multi-robot
Target tracking
6. Fig 7 diagram of coordinated control of robot formation
6 实验结果综述
为了验证基于虚拟领队的两机器人的
地面编队跟踪控制,以及三机器人的协调
控制完成任务的实验,我们在基于
ROBOCON2009 比赛的主题上,开发了三
台机器人:领队机器人(leader robot)、
跟随机器人(following robot)、敲鼓机器
人(drumbeating robot),机器人的主要
参数如 table 1。
robots Weight
(Kg)
hieght
(mm)
Radius of
wheels (mm)
Wheeltrea
d (mm)
Wheelbase
(mm)
Leader 14 740 100 540 600
Follower 13 720 100 720 600
Drum-beater 8 680 100 440 400
Table1. the physical parameter of the robots
我们把机器人完成各个子任务的时间
和机器人在各阶段的精度和最后完成任务
的精度,以及机器人成功完成人物的概率
信息在 Table 2 中展示。
Table2. Results of robot-controlling experiment
8. 8 Reference
[1] Chen W.D.,Xi Y.G.,Gu D.L.,Dong.S.L.
A task-oriented distributed controlling
system based on multi-robot. Application
and Theory of Automation Technology,
2002.8
[2]Zhang Y.,Luo Y., Zheng T.X.
Technology and applications of mobile
robots. Beijing: Electronic Industry Press,
2007.9
[3]Luo Z.Z. Cooperation of robotic sensing
and information. Beijing Mechanical
Industry Press, 2002
[4]Ma M.S.,He K.Z.,Research of outdoor
robotic localization, Electronic
Technology, 1998
[5]Deng.X.Y., Song Y.D., Anderson J.N.,
Performance of a menory-based
approach to the control of robotic
manipulators, System Theory, 1997
[6]Song Y.D., Memory-based control of
Non-linear Dynamic Systems Part I-
Design and Analysis, Industrial
Electronics and Applications, 2006
[7]Cai W.C.,Weng R.,Zhang B.,Li
F.,Stewart A.,Dhaliwal and Song Y.D.,
Development of Real0time Control Test-
bed for Unmanned Mobile Vehicles. Conf.
IEEE Industrial Electronics Paris,
FRANCE, 2006.10