Search results for "Trajectory"
showing 10 items of 203 documents
Incomplete 3D motion trajectory segmentation and 2D-to-3D label transfer for dynamic scene analysis
2017
International audience; The knowledge of the static scene parts and the moving objects in a dynamic scene plays a vital role for scene modelling, understanding, and landmark-based robot navigation. The key information for these tasks lies on semantic labels of the scene parts and the motion trajectories of the dynamic objects. In this work, we propose a method that segments the 3D feature trajectories based on their motion behaviours, and assigns them semantic labels using 2D-to-3D label transfer. These feature trajectories are constructed by using the proposed trajectory recovery algorithm which takes the loss of feature tracking into account. We introduce a complete framework for static-m…
Modelling of non-stationary mobile radio channels using two-dimensional brownian motion processes
2013
The interdisciplinary idea of this paper is to employ a two-dimensional (2D) Brownian motion (BM) process to model non-stationary mobile fading channels. It is assumed that the mobile station (MS) starts moving from a fixed point along a random path in the 2D plane. We model such a moving scenario by a 2D BM process, in which the variance of the process determines the deviation of the MS from its starting point. The propagation area is modelled by a non-centred one-ring scattering model, where the local scatterers are uniformly distributed on a ring centred not necessarily on the MS. The random movement of the MS in the proposed scattering model results in local angles-of-arrival (AOAs) and…
A Trajectory-Driven SIMO mm-Wave Channel Model for a Moving Point Scatterer
2021
In this paper, we propose a trajectory-based three-dimensional (3D) non-stationary channel model for a millimeter wave (mm-Wave) single-input multiple-output (SIMO) system. The proposed channel model is designed to capture the mobility of a moving point scatterer in an indoor environment. We derive the expression of the time-variant (TV) channel transfer function (CTF). We study the TV Doppler characteristics of the channel, such as the TV Doppler power spectrum and the TV mean Doppler shift. To validate the proposed channel model, we performed a measurement campaign in an indoor environment using a software defined radar operating at 24 GHz. As a moving object, we consider a single swingin…
Robust coordinated control algorithm for multiple marine vessels with external disturbances
2013
Published version of an article in the journal: Mathematical Problems in Engineering. Also available from the publisher at: http://dx.doi.org/10.1155/2013/597195 Open Access The problem of coordinated control for multiple marine vessels in the presence of external disturbances is considered in this paper. A robust coordinated control algorithm is proposed for multiple marine vessels. The proposed robust coordinated control algorithm is divided into two parts. The first part develops an extended state observer to estimate the disturbances of marine vessels. The second part presents a robust coordinated control algorithm based on the output of the extended state observer. Furthermore, the rob…
Batch fermentation process: Modelling and direct sensitivity analysis
2009
Based on a nonlinear model, this article realizes an investigation of dynamic behaviour of a batch fermentation process using direct sensitivity analysis (DSA). The used nonlinear mathematical model has a good qualitative and quantitative description of the alcoholic fermentation process. This model has been discussed and validated by authors in other studies. The DSA of dynamic model was used to calculate the matrix of the sensitivity functions in order to determine the influence of the small deviations of initial state, control inputs, and parameters from the ideal nominal values on the state trajectory and system output in time. Process optimization and advanced control strategies can be…
An empirically grounded agent based model for modeling directs, conflict detection and resolution operations in air traffic management
2017
We present an agent based model of the Air Traffic Management socio-technical complex system that aims at modeling the interactions between aircrafts and air traffic controllers at a tactical level. The core of the model is given by the conflict detection and resolution module and by the directs module. Directs are flight shortcuts that are given by air controllers to speed up the passage of an aircraft within a certain airspace and therefore to facilitate airline operations. Conflicts resolution between flight trajectories can arise during the en-route phase of each flight due to both not detailed flight trajectory planning or unforeseen events that perturb the planned flight plan. Our mod…
Optimal Control Under Fuzzy Conditions for Dynamical Systems Associated with the Second Order Linear Differential Equations
2020
This paper is devoted to an optimal trajectory planning problem with uncertainty in location conditions considered as a problem of constrained optimal control for dynamical systems. Fuzzy numbers are used to incorporate uncertainty of constraints into the classical setting of the problem under consideration. The proposed approach applied to dynamical systems associated with the second order linear differential equations allows to find an optimal control law at each \(\alpha \)-level using spline-based methods developed in the framework of the theory of splines in convex sets. The solution technique is illustrated by numerical examples.
PhDs' early career trajectories strongly differentiated
2017
International audience
Experimental Researches Regarding Strain Measurement of Incrementally Formed Sheet Metal Parts Done Using an Industrial Robot
2014
This paper aims to provide results regarding the measurement of the strains in the material of sheet metal parts which have been incrementally formed. The incremental forming of the steel sheets has been performed with the aid of a KUKA KR 6 industrial robot on a specially constructed stand, and the measurement of the strains has been done using ARAMIS optical measurement system. The trajectory of the forming punch which is attached to the robot was designed using CATIA V5 and the movements of the robot were designed and simulated in DELMIA software. DELMIA generated the program code needed for the robot to execute the desired movements in order to form the sheet metal parts.
An adaptive control law for robotic manipulator without velocity feedback
2003
In this paper, a new adaptive control law is designed for robotic manipulators, based on the use of reference velocities instead of the actual ones and feedback signals generated from position errors. The law in question is suitable for trajectory tracking and positioning tasks. Its peculiarities are implementation without velocity measurements and estimation, high signal-to-noise ratio in control torques and absence of parameter drift in positioning tasks. Experimental tests are shown with the aim to confirm the validity of the control law and to illustrate its actual effects on the behaviour of the system.