Search results for "Holon"
showing 10 items of 35 documents
Fuzzy EKF Control for Wheeled Nonholonomic Vehicles
2006
In this paper a new Fuzzy extended Kalman robust control system for position and orientation tracking of nonholonomic vehicles with two wheels actuated by two independent DC motors is presented. The problem of robustness and localization are solved simultaneously. About the robustness, some perturbations coming from the outside environment and depending on the contact between the wheels and the ground, involve violations of the nonholonomic constraints. The fuzzy controller of this work is able to obtain a dynamic term of robustness with respect to the perturbations above. However, by using encoders only, the measures of actual position and orientation of the vehicle are with Gaussian noise…
Fuzzy cooperative control of automated ground passenger vehicles
2007
In this paper a fuzzy motion control for cooperative passenger automated vehicles where there are not collisions between the closest ones is proposed. Based on the position of the target and on the initial position of each cooperative vehicle, a supervisory plans nonholonomic circular trajectories which are without intersections, while a fuzzy control strategy assures the asymptotical stability of the motion errors and the reaching of the target with low acceleration values along the planned trajectories. Based on the ISO 2631-1 standard, the saturation properties of the fuzzy maps guarantees low values of the longitudinal and lateral accelerations to assure the comfort of the passengers. T…
Predictive Intelligent Fuzzy Control for Cooperative Motion of Two Nonholonomic Wheeled Cars
2007
In this paper a problem of intelligent cooperative motion control of two wheeled nonholonomic cars (target and follower) is considered. Once a target car converges to a fixed state (position and orientation), a follower car coming from different position and orientation, converges to the state above, without excessive delay between the known arrival time of the target car and the arrival time of the follower. In this sense we present a new predictive fuzzy control system. A Kalman's filter and an odometric model are used to predict the future position and orientation of the target car. The prediction above is employed to plane a circular nonholonomic reference motion for the follower car. A…
Modeling of Offshore Crane and Marine Craft in Wave Motion
2020
Safe handling of heavy payloads in an offshore environment requires careful planning and depends on the interaction between a crane and a vessel. This paper investigates the coupled dynamics between a multipurpose crane with payload, and an offshore carrying vessel. A classical multi-body model is derived using holonomic constraints and Newton-Euler kinetics. The resulting index-3 system of differential-algebraic equation (DAE) is transformed into an index-1 system and solved using commonly used numerical ode solvers. Numerical simulations are carried out to show that the proposed models behave in a physically realistic manner. © 2020 IEEE. Personal use of this material is permitted. Permis…
Higher Order Integrability in Generalized Holonomy
2004
Supersymmetric backgrounds in M-theory often involve four-form flux in addition to pure geometry. In such cases, the classification of supersymmetric vacua involves the notion of generalized holonomy taking values in SL(32,R), the Clifford group for eleven-dimensional spinors. Although previous investigations of generalized holonomy have focused on the curvature \Rm_{MN}(\Omega) of the generalized SL(32,R) connection \Omega_M, we demonstrate that this local information is incomplete, and that satisfying the higher order integrability conditions is an essential feature of generalized holonomy. We also show that, while this result differs from the case of ordinary Riemannian holonomy, it is n…
Dynamics for a 2-vertex Quantum Gravity Model
2010
We use the recently introduced U(N) framework for loop quantum gravity to study the dynamics of spin network states on the simplest class of graphs: two vertices linked with an arbitrary number N of edges. Such graphs represent two regions, in and out, separated by a boundary surface. We study the algebraic structure of the Hilbert space of spin networks from the U(N) perspective. In particular, we describe the algebra of operators acting on that space and discuss their relation to the standard holonomy operator of loop quantum gravity. Furthermore, we show that it is possible to make the restriction to the isotropic/homogeneous sector of the model by imposing the invariance under a global …
Coherent quantum evolution via reservoir driven holonomies.
2006
We show that in the limit of a strongly interacting environment a system initially prepared in a decoherence-free subspace (DFS) coherently evolves in time, adiabatically following the changes of the DFS. If the reservoir cyclicly evolves in time, the DFS states acquire a holonomy.
Relativistic holonomic fluids
1989
The notion of holonomic fluid in relativity is reconsidered. An intrinsic characterization of holonomic fluids, involving only the unit velocity, is given, showing that in spite of its dynamical appearance the notion of holonomic fluid is a kinematical notion. The relations between holonomic and thermodynamic perfect fluids are studied.
Discretization of harmonic measures for foliated bundles
2012
We prove in this note that there is, for some foliated bundles, a bijective correspondance between Garnett's harmonic measures and measures on the fiber that are stationary for some probability measure on the holonomy group. As a consequence, we show the uniqueness of the harmonic measure in the case of some foliations transverse to projective fiber bundles.
Holonomic Quantum Computation
2008
In this brief review we describe the idea of holonomic quantum computation. The idea of geometric phase and holonomy is introduced in a general way and we provide few examples that should help the reader understand the issues involved.