Search results for: linear degradation path
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 2654

Search results for: linear degradation path

2654 A Partially Accelerated Life Test Planning with Competing Risks and Linear Degradation Path under Tampered Failure Rate Model

Authors: Fariba Azizi, Firoozeh Haghighi, Viliam Makis

Abstract:

In this paper, we propose a method to model the relationship between failure time and degradation for a simple step stress test where underlying degradation path is linear and different causes of failure are possible. It is assumed that the intensity function depends only on the degradation value. No assumptions are made about the distribution of the failure times. A simple step-stress test is used to shorten failure time of products and a tampered failure rate (TFR) model is proposed to describe the effect of the changing stress on the intensities. We assume that some of the products that fail during the test have a cause of failure that is only known to belong to a certain subset of all possible failures. This case is known as masking. In the presence of masking, the maximum likelihood estimates (MLEs) of the model parameters are obtained through an expectation-maximization (EM) algorithm by treating the causes of failure as missing values. The effect of incomplete information on the estimation of parameters is studied through a Monte-Carlo simulation. Finally, a real example is analyzed to illustrate the application of the proposed methods.

Keywords: Expectation-maximization (EM) algorithm, cause of failure, intensity, linear degradation path, masked data, reliability function.

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2653 Optimizing Network Latency with Fast Path Assignment for Incoming Flows

Authors: Qing Lyu, Hang Zhu

Abstract:

Various flows in the network require to go through different types of middlebox. The improper placement of network middlebox and path assignment for flows could greatly increase the network latency and also decrease the performance of network. Minimizing the total end to end latency of all the ows requires to assign path for the incoming flows. In this paper, the flow path assignment problem in regard to the placement of various kinds of middlebox is studied. The flow path assignment problem is formulated to a linear programming problem, which is very time consuming. On the other hand, a naive greedy algorithm is studied. Which is very fast but causes much more latency than the linear programming algorithm. At last, the paper presents a heuristic algorithm named FPA, which takes bottleneck link information and estimated bandwidth occupancy into consideration, and achieves near optimal latency in much less time. Evaluation results validate the effectiveness of the proposed algorithm.

Keywords: Latency, Fast path assignment, Bottleneck link.

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2652 Decomposition of Graphs into Induced Paths and Cycles

Authors: I. Sahul Hamid, Abraham V. M.

Abstract:

A decomposition of a graph G is a collection ψ of subgraphs H1,H2, . . . , Hr of G such that every edge of G belongs to exactly one Hi. If each Hi is either an induced path or an induced cycle in G, then ψ is called an induced path decomposition of G. The minimum cardinality of an induced path decomposition of G is called the induced path decomposition number of G and is denoted by πi(G). In this paper we initiate a study of this parameter.

Keywords: Path decomposition, Induced path decomposition, Induced path decomposition number.

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2651 The Same or Not the Same - On the Variety of Mechanisms of Path Dependence

Authors: Jürgen Beyer

Abstract:

In association with path dependence, researchers often talk of institutional “lock-in", thereby indicating that far-reaching path deviation or path departure are to be regarded as exceptional cases. This article submits the alleged general inclination for stability of path-dependent processes to a critical review. The different reasons for path dependence found in the literature indicate that different continuity-ensuring mechanisms are at work when people talk about path dependence (“increasing returns", complementarity, sequences etc.). As these mechanisms are susceptible to fundamental change in different ways and to different degrees, the path dependence concept alone is of only limited explanatory value. It is therefore indispensable to identify the underlying continuity-ensuring mechanism as well if a statement-s empirical value is to go beyond the trivial, always true “history matters".

Keywords: path dependence, increasing returns, historicalinstitutionalism, lock-in.

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2650 Using Multi-Thread Technology Realize Most Short-Path Parallel Algorithm

Authors: Chang-le Lu, Yong Chen

Abstract:

The shortest path question is in a graph theory model question, and it is applied in many fields. The most short-path question may divide into two kinds: Single sources most short-path, all apexes to most short-path. This article mainly introduces the problem of all apexes to most short-path, and gives a new parallel algorithm of all apexes to most short-path according to the Dijkstra algorithm. At last this paper realizes the parallel algorithms in the technology of C # multithreading.

Keywords: Dijkstra algorithm, parallel algorithms, multi-thread technology, most short-path, ratio.

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2649 An UML Statechart Diagram-Based MM-Path Generation Approach for Object-Oriented Integration Testing

Authors: Ruilian Zhao, Ling Lin

Abstract:

MM-Path, an acronym for Method/Message Path, describes the dynamic interactions between methods in object-oriented systems. This paper discusses the classifications of MM-Path, based on the characteristics of object-oriented software. We categorize it according to the generation reasons, the effect scope and the composition of MM-Path. A formalized representation of MM-Path is also proposed, which has considered the influence of state on response method sequences of messages. .Moreover, an automatic MM-Path generation approach based on UML Statechart diagram has been presented, and the difficulties in identifying and generating MM-Path can be solved. . As a result, it provides a solid foundation for further research on test cases generation based on MM-Path.

Keywords: MM-Path, Message Sequence, Object-Oriented Integration Testing, Response Method Sequence, UML Statechart Diagram.

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2648 Induced Acyclic Path Decomposition in Graphs

Authors: Abraham V. M., I. Sahul Hamid

Abstract:

A decomposition of a graph G is a collection ψ of graphs H1,H2, . . . , Hr of G such that every edge of G belongs to exactly one Hi. If each Hi is either an induced path in G, then ψ is called an induced acyclic path decomposition of G and if each Hi is a (induced) cycle in G then ψ is called a (induced) cycle decomposition of G. The minimum cardinality of an induced acyclic path decomposition of G is called the induced acyclic path decomposition number of G and is denoted by ¤Çia(G). Similarly the cyclic decomposition number ¤Çc(G) is defined. In this paper we begin an investigation of these parameters.

Keywords: Cycle decomposition, Induced acyclic path decomposition, Induced acyclic path decomposition number.

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2647 Blind Image Deconvolution by Neural Recursive Function Approximation

Authors: Jiann-Ming Wu, Hsiao-Chang Chen, Chun-Chang Wu, Pei-Hsun Hsu

Abstract:

This work explores blind image deconvolution by recursive function approximation based on supervised learning of neural networks, under the assumption that a degraded image is linear convolution of an original source image through a linear shift-invariant (LSI) blurring matrix. Supervised learning of neural networks of radial basis functions (RBF) is employed to construct an embedded recursive function within a blurring image, try to extract non-deterministic component of an original source image, and use them to estimate hyper parameters of a linear image degradation model. Based on the estimated blurring matrix, reconstruction of an original source image from a blurred image is further resolved by an annealed Hopfield neural network. By numerical simulations, the proposed novel method is shown effective for faithful estimation of an unknown blurring matrix and restoration of an original source image.

Keywords: Blind image deconvolution, linear shift-invariant(LSI), linear image degradation model, radial basis functions (rbf), recursive function, annealed Hopfield neural networks.

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2646 A Feasible Path Selection QoS Routing Algorithm with two Constraints in Packet Switched Networks

Authors: P.S.Prakash, S.Selvan

Abstract:

Over the past several years, there has been a considerable amount of research within the field of Quality of Service (QoS) support for distributed multimedia systems. One of the key issues in providing end-to-end QoS guarantees in packet networks is determining a feasible path that satisfies a number of QoS constraints. The problem of finding a feasible path is NPComplete if number of constraints is more than two and cannot be exactly solved in polynomial time. We proposed Feasible Path Selection Algorithm (FPSA) that addresses issues with pertain to finding a feasible path subject to delay and cost constraints and it offers higher success rate in finding feasible paths.

Keywords: feasible path, multiple constraints, path selection, QoS routing

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2645 Weight Loss Degradation of Hybrid Blends LLDPE/Starch/PVA upon Exposure to UV Light and Soil Burial

Authors: M. Rahmah, Noor Zuhaira Abd Aziz, M. Mohd Muizz Fahimi, M. Farhan

Abstract:

Poly bag and mulch films for agricultural field caused pose environmental problem due to the non-degradable plastics wastes upon disposal. Thus, a degradable poly bag was designed with hybrid sago starch (SS) and polyvinyl alcohol (PVA). Two Different blended compositions of SS and PVA hybrid have been compounded. Then, the hybrids blended are mixed with linear line density polyethylene (LLDPE) resin to fabricate poly bag film through conventional film blowing process. Samples of LLDPE, SS and PVA hybrid film were exposed to UV light and soil burial. The weight losses were determined during degradation process. Hybrid film by degradation of starch was found to hydrolyze and hydroxyl groups decrease on esterification upon exposure to soil burial and uv radiation. It was found out that, the hybrid film for 60% of SS composition showed greatest degradation in soil and UV radiation.

Keywords: LLDPE, PVA, sago starch, degradation, soil burial, UV radiation.

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2644 A New Multi-Target, Multi-Agent Search-and-Rescue Path Planning Approach

Authors: Jean Berger, Nassirou Lo, Martin Noel

Abstract:

Perfectly suited for natural or man-made emergency and disaster management situations such as flood, earthquakes, tornadoes, or tsunami, multi-target search path planning for a team of rescue agents is known to be computationally hard, and most techniques developed so far come short to successfully estimate optimality gap. A novel mixed-integer linear programming (MIP) formulation is proposed to optimally solve the multi-target multi-agent discrete search and rescue (SAR) path planning problem. Aimed at maximizing cumulative probability of successful target detection, it captures anticipated feedback information associated with possible observation outcomes resulting from projected path execution, while modeling agent discrete actions over all possible moving directions. Problem modeling further takes advantage of network representation to encompass decision variables, expedite compact constraint specification, and lead to substantial problem-solving speed-up. The proposed MIP approach uses CPLEX optimization machinery, efficiently computing near-optimal solutions for practical size problems, while giving a robust upper bound obtained from Lagrangean integrality constraint relaxation. Should eventually a target be positively detected during plan execution, a new problem instance would simply be reformulated from the current state, and then solved over the next decision cycle. A computational experiment shows the feasibility and the value of the proposed approach.

Keywords: Search path planning, search and rescue, multi-agent, mixed-integer linear programming, optimization.

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2643 Image Restoration in Non-Linear Filtering Domain using MDB approach

Authors: S. K. Satpathy, S. Panda, K. K. Nagwanshi, C. Ardil

Abstract:

This paper proposes a new technique based on nonlinear Minmax Detector Based (MDB) filter for image restoration. The aim of image enhancement is to reconstruct the true image from the corrupted image. The process of image acquisition frequently leads to degradation and the quality of the digitized image becomes inferior to the original image. Image degradation can be due to the addition of different types of noise in the original image. Image noise can be modeled of many types and impulse noise is one of them. Impulse noise generates pixels with gray value not consistent with their local neighborhood. It appears as a sprinkle of both light and dark or only light spots in the image. Filtering is a technique for enhancing the image. Linear filter is the filtering in which the value of an output pixel is a linear combination of neighborhood values, which can produce blur in the image. Thus a variety of smoothing techniques have been developed that are non linear. Median filter is the one of the most popular non-linear filter. When considering a small neighborhood it is highly efficient but for large window and in case of high noise it gives rise to more blurring to image. The Centre Weighted Mean (CWM) filter has got a better average performance over the median filter. However the original pixel corrupted and noise reduction is substantial under high noise condition. Hence this technique has also blurring affect on the image. To illustrate the superiority of the proposed approach, the proposed new scheme has been simulated along with the standard ones and various restored performance measures have been compared.

Keywords: Filtering, Minmax Detector Based (MDB), noise, centre weighted mean filter, PSNR, restoration.

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2642 Module and Comodule Structures on Path Space

Authors: Lili Chen, Chao Yuan

Abstract:

On path space kQ, there is a trivial kQa-module structure determined by the multiplication of path algebra kQa and a trivial kQc-comodule structure determined by the comultiplication of path coalgebra kQc. In this paper, on path space kQ, a nontrivial kQa-module structure is defined, and it is proved that this nontrivial left kQa-module structure is isomorphic to the dual module structure of trivial right kQc-comodule. Dually, on path space kQ, a nontrivial kQc-comodule structure is defined, and it is proved that this nontrivial right kQc-comodule structure is isomorphic to the dual comodule structure of trivial left kQa-module. Finally, the trivial and nontrivial module structures on path space are compared from the aspect of submodule, and the trivial and nontrivial comodule structures on path space are compared from the aspect of subcomodule.

Keywords: Quiver, path space, module, comodule, dual.

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2641 Passive Non-Prehensile Manipulation on Helix Path Based on Mechanical Intelligence

Authors: Abdullah Bajelan, Adel Akbarimajd

Abstract:

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled. The manipulation path is a helix track with constant radius and incline. The method presented in this paper proposes a system which has not the actuator and the active controller. So this system requires a passive mechanical intelligence to convey the object from the status of the source along the specified path to the goal state. This intelligent is created based on utilizing the geometry of the system components. A general set up for the components of the system is considered to satisfy the required conditions. Then after kinematical analysis, detailed dimensions and geometry of the mechanism is obtained. The kinematical results are verified by simulation in ADAMS.

Keywords: Mechanical intelligence, Object manipulation, Passive mechanism, Passive non-prehensile manipulation.

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2640 A Review on Comparative Analysis of Path Planning and Collision Avoidance Algorithms

Authors: Divya Agarwal, Pushpendra S. Bharti

Abstract:

Autonomous mobile robots (AMR) are expected as smart tools for operations in every automation industry. Path planning and obstacle avoidance is the backbone of AMR as robots have to reach their goal location avoiding obstacles while traversing through optimized path defined according to some criteria such as distance, time or energy. Path planning can be classified into global and local path planning where environmental information is known and unknown/partially known, respectively. A number of sensors are used for data collection. A number of algorithms such as artificial potential field (APF), rapidly exploring random trees (RRT), bidirectional RRT, Fuzzy approach, Purepursuit, A* algorithm, vector field histogram (VFH) and modified local path planning algorithm, etc. have been used in the last three decades for path planning and obstacle avoidance for AMR. This paper makes an attempt to review some of the path planning and obstacle avoidance algorithms used in the field of AMR. The review includes comparative analysis of simulation and mathematical computations of path planning and obstacle avoidance algorithms using MATLAB 2018a. From the review, it could be concluded that different algorithms may complete the same task (i.e. with a different set of instructions) in less or more time, space, effort, etc.

Keywords: Autonomous mobile robots, obstacle avoidance, path planning, and processing time.

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2639 The Problem of Using the Calculation of the Critical Path to Solver Instances of the Job Shop Scheduling Problem

Authors: Marco Antonio Cruz-Chávez, Juan Frausto-Solís, Fernando Ramos-Quintana

Abstract:

A procedure commonly used in Job Shop Scheduling Problem (JSSP) to evaluate the neighborhoods functions that use the non-deterministic algorithms is the calculation of the critical path in a digraph. This paper presents an experimental study of the cost of computation that exists when the calculation of the critical path in the solution for instances in which a JSSP of large size is involved. The results indicate that if the critical path is use in order to generate neighborhoods in the meta-heuristics that are used in JSSP, an elevated cost of computation exists in spite of the fact that the calculation of the critical path in any digraph is of polynomial complexity.

Keywords: Job Shop, CPM, critical path, neighborhood, meta-heuristic.

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2638 An Improved Transfer Logic of the Two-Path Algorithm for Acoustic Echo Cancellation

Authors: Chang Liu, Zishu He

Abstract:

Adaptive echo cancellers with two-path algorithm are applied to avoid the false adaptation during the double-talk situation. In the two-path algorithm, several transfer logic solutions have been proposed to control the filter update. This paper presents an improved transfer logic solution. It improves the convergence speed of the two-path algorithm, and allows the reduction of the memory elements and computational complexity. Results of simulations show the improved performance of the proposed solution.

Keywords: Acoustic echo cancellation, Echo return lossenhancement (ERLE), Two-path algorithm, Transfer logic

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2637 Three-Dimensional Off-Line Path Planning for Unmanned Aerial Vehicle Using Modified Particle Swarm Optimization

Authors: Lana Dalawr Jalal

Abstract:

This paper addresses the problem of offline path planning for Unmanned Aerial Vehicles (UAVs) in complex threedimensional environment with obstacles, which is modelled by 3D Cartesian grid system. Path planning for UAVs require the computational intelligence methods to move aerial vehicles along the flight path effectively to target while avoiding obstacles. In this paper Modified Particle Swarm Optimization (MPSO) algorithm is applied to generate the optimal collision free 3D flight path for UAV. The simulations results clearly demonstrate effectiveness of the proposed algorithm in guiding UAV to the final destination by providing optimal feasible path quickly and effectively.

Keywords: Obstacle Avoidance, Particle Swarm Optimization, Three-Dimensional Path Planning Unmanned Aerial Vehicles.

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2636 Effect of Different pH on Canthaxanthin Degradation

Authors: N. Seyedrazi, S. H. Razavi, Z. Emam-Djomeh

Abstract:

In this research, natural canthaxanthin as one of the most important carotenoids was extracted from Dietzia natronolimnaea HS-1. The changes of canthaxanthin enriched in oilin- water emulsions with vegetable oil (5 mg/ 100 mL), Arabic gum (5 mg/100 mL), and potassium sorbate (0.5 g/100 mL) was investigated. The effects of different pH (3, 5 and 7), as well as, time treatment (3, 18 and 33 days) in the environmental temperature (24°C) on the degradation were studied by response surface methodology (RSM). The Hunter values (L*, a*, and b*) and the concentration of canthaxanthin (C, mg/L) illustrated more degradation of this pigment at low pHs (pH≤ 4) by passing the time (days≥10) with R² 97.00%, 91.31%, 97.60%, and 99.54% for C, L*, a*, and b* respectively. The predicted model were found to be significant (p<0.05).

Keywords: Degradation, Emulsion, Response SurfaceMethodology (RSM)

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2635 A Comparison of the Sum of Squares in Linear and Partial Linear Regression Models

Authors: Dursun Aydın

Abstract:

In this paper, estimation of the linear regression model is made by ordinary least squares method and the partially linear regression model is estimated by penalized least squares method using smoothing spline. Then, it is investigated that differences and similarity in the sum of squares related for linear regression and partial linear regression models (semi-parametric regression models). It is denoted that the sum of squares in linear regression is reduced to sum of squares in partial linear regression models. Furthermore, we indicated that various sums of squares in the linear regression are similar to different deviance statements in partial linear regression. In addition to, coefficient of the determination derived in linear regression model is easily generalized to coefficient of the determination of the partial linear regression model. For this aim, it is made two different applications. A simulated and a real data set are considered to prove the claim mentioned here. In this way, this study is supported with a simulation and a real data example.

Keywords: Partial Linear Regression Model, Linear RegressionModel, Residuals, Deviance, Smoothing Spline.

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2634 Induced Graphoidal Covers in a Graph

Authors: K. Ratan Singh, P. K. Das

Abstract:

An induced graphoidal cover of a graph G is a collection ψ of (not necessarily open) paths in G such that every path in ψ has at least two vertices, every vertex of G is an internal vertex of at most one path in ψ, every edge of G is in exactly one path in ψ and every member of ψ is an induced cycle or an induced path. The minimum cardinality of an induced graphoidal cover of G is called the induced graphoidal covering number of G and is denoted by ηi(G) or ηi. Here we find induced graphoidal cover for some classes of graphs.

Keywords: Graphoidal cover, Induced graphoidal cover, Induced graphoidal covering number.

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2633 Drivers of Land Degradation in Trays Ecosystem as Modulated under a Changing Climate: Case Study of Côte d'Ivoire

Authors: Kadio Valere R. Angaman, Birahim Bouna Niang

Abstract:

Land degradation is a serious problem in developing countries including Cote d’Ivoire, which has its economy focused on agriculture. It occurs in all kinds of ecosystems over the world. However, the drivers of land degradation vary from one region to another, and from one ecosystem to another. Thus, identifying these drivers is an essential prerequisite to develop and implement appropriate policies to reverse the trend of land degradation in the country, especially in the trays ecosystem. Using the binary logistic model with primary data obtained through 780 farmers surveyed, we analyze and identify the drivers of land degradation in the trays ecosystem. The descriptive statistics show that 52% of farmers interviewed have stated facing land degradation in their farmland. This high rate shows the extent of land degradation in this ecosystem. Also, the results obtained from the binary logit regression reveal that land degradation is significantly influenced by a set of variables such as sex, education, slope, erosion, pesticide, agricultural activity, deforestation, and temperature. The drivers identified are mostly local, as a result, the government must implement some policies and strategies that facilitate and incentive the adoption of sustainable land management practices by farmers to reverse the negative trend of land degradation.

Keywords: Drivers, land degradation, trays ecosystem, sustainable land management.

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2632 An Approach to the Solving Non-Steiner Minimum Link Path Problem

Authors: V. Tereshchenko, A. Tregubenko

Abstract:

In this study we survey the method for fast finding a minimum link path between two arbitrary points within a simple polygon, which can pass only through the vertices, with preprocessing.

Keywords: Minimum link path, simple polygon, Steiner points, optimal algorithm.

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2631 Memetic Algorithm Based Path Planning for a Mobile Robot

Authors: Neda Shahidi, Hadi Esmaeilzadeh, Marziye Abdollahi, Caro Lucas

Abstract:

In this paper, the problem of finding the optimal collision free path for a mobile robot, the path planning problem, is solved using an advanced evolutionary algorithm called memetic algorithm. What is new in this work is a novel representation of solutions for evolutionary algorithms that is efficient, simple and also compatible with memetic algorithm. The new representation makes it possible to solve the problem with a small population and in a few generations. It also makes the genetic operator simple and allows using an efficient local search operator within the evolutionary algorithm. The proposed algorithm is applied to two instances of path planning problem and the results are available.

Keywords: Path planning problem, Memetic Algorithm, Representation.

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2630 Thermal Analysis of the Current Path from Circuit Breakers Using Finite Element Method

Authors: Adrian T. Plesca

Abstract:

This paper describes a three-dimensional thermal model of the current path included in the low voltage power circuit breakers. The model can be used to analyse the thermal behaviour of the current path during both steady-state and transient conditions. The current path lengthwise temperature distribution and timecurrent characteristic of the terminal connections of the power circuit breaker have been obtained. The influence of the electric current and voltage drop on main electric contact of the circuit breaker has been investigated. To validate the three-dimensional thermal model, some experimental tests have been done. There is a good correlation between experimental and simulation results.

Keywords: Current path, power circuit breakers, temperature distribution, thermal analysis.

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2629 Simplex Method for Fuzzy Variable Linear Programming Problems

Authors: S.H. Nasseri, E. Ardil

Abstract:

Fuzzy linear programming is an application of fuzzy set theory in linear decision making problems and most of these problems are related to linear programming with fuzzy variables. A convenient method for solving these problems is based on using of auxiliary problem. In this paper a new method for solving fuzzy variable linear programming problems directly using linear ranking functions is proposed. This method uses simplex tableau which is used for solving linear programming problems in crisp environment before.

Keywords: Fuzzy variable linear programming, fuzzy number, ranking function, simplex method.

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2628 Induced Acyclic Graphoidal Covers in a Graph

Authors: K. Ratan Singh, P. K. Das

Abstract:

An induced acyclic graphoidal cover of a graph G is a collection ψ of open paths in G such that every path in ψ has atleast two vertices, every vertex of G is an internal vertex of at most one path in ψ, every edge of G is in exactly one path in ψ and every member of ψ is an induced path. The minimum cardinality of an induced acyclic graphoidal cover of G is called the induced acyclic graphoidal covering number of G and is denoted by ηia(G) or ηia. Here we find induced acyclic graphoidal cover for some classes of graphs.

Keywords: Graphoidal cover, Induced acyclic graphoidal cover, Induced acyclic graphoidal covering number.

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2627 Path Planning of a Robot Manipulator using Retrieval RRT Strategy

Authors: K. Oh, J. P. Hwang, E. Kim, H. Lee

Abstract:

This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the SVM is built and selects a proper path from the bank of RRTs for a given environment. At the second level, a real path is planned by the RRT planners for the given environment. The suggested method is applied to the control of KUKA™,, a commercial 6 DOF robot manipulator, and its feasibility and efficiency are demonstrated via the cosimulatation of MatLab™, and RecurDyn™,.

Keywords: Path planning, RRT, 6 DOF manipulator, SVM.

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2626 Optimal Path Planning under Priori Information in Stochastic, Time-varying Networks

Authors: Siliang Wang, Minghui Wang, Jun Hu

Abstract:

A novel path planning approach is presented to solve optimal path in stochastic, time-varying networks under priori traffic information. Most existing studies make use of dynamic programming to find optimal path. However, those methods are proved to be unable to obtain global optimal value, moreover, how to design efficient algorithms is also another challenge. This paper employs a decision theoretic framework for defining optimal path: for a given source S and destination D in urban transit network, we seek an S - D path of lowest expected travel time where its link travel times are discrete random variables. To solve deficiency caused by the methods of dynamic programming, such as curse of dimensionality and violation of optimal principle, an integer programming model is built to realize assignment of discrete travel time variables to arcs. Simultaneously, pruning techniques are also applied to reduce computation complexity in the algorithm. The final experiments show the feasibility of the novel approach.

Keywords: pruning method, stochastic, time-varying networks, optimal path planning.

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2625 Path-Tracking Controller for Tracked Mobile Robot on Rough Terrain

Authors: Toshifumi Hiramatsu, Satoshi Morita, Manuel Pencelli, Marta Niccolini, Matteo Ragaglia, Alfredo Argiolas

Abstract:

Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.

Keywords: Agricultural robot, autonomous control, path-tracking control, tracked mobile robot.

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