When ships conduct offshore operations in the ocean, they are subject to disturbances from natural factors such as sea breezes and waves. These disturbances lead to movements detrimental to the ship’s stability, especially heave movement in the...
The advantages of hybrid models for time series forecasting have received significant attention, and several studies focus on and test their application in the seakeeping of ship motions. A hybrid model integrating an LSTM encoder and Transformer dec...
In recent years, as intelligent ship-navigation technology has advanced, the challenge of accurately modeling and predicting the dynamic environment and motion status of ships has emerged as a prominent area of research. In response to the diverse ti...
Simulation models are a valuable tool for exoskeleton development, especially for system optimization and evaluation. It allows an assessment of the performance and effectiveness of exoskeletons even at an early stage of their development without phy...
Optimal and intuitive robotic machining is still a challenge. One of the main reasons for this is the lack of robot stiffness, which is also dependent on the robot positioning in the Cartesian space. To make up for this deficiency and with the aim of...
Robotic contact-rich insertion tasks present a significant challenge for motion planning due to the complex force interaction between robots and objects. Although many learning-based methods have shown success in contact tasks, most methods need samp...
This paper presents a method to design a static output feedback active suspension controller with a quarter-car model for motion sickness mitigation. To mitigate motion sickness in a vehicle, it has been known that the vertical acceleration and pitch...
Efficient operation of robotic manipulators in constrained workspaces requires careful coordination of robot placement, motion planning, and posture optimization. This paper presents a hierarchical optimization framework that addresses these challeng...
Ground-based three-dimensional motion testing of space manipulators typically relies on active suspension-based gravity compensation systems. The design of such systems faces two fundamental challenges: first, how multiple suspension winch units can...
Quantitative evaluation of human motion from image data requires both high geometric precision and mathematical interpretability. To address the limitations of pixel-level posture analysis and empirical performance scoring, this study proposes a geom...
Model-based force control for motion and force tracking faces significant challenges on real quadruped platforms due to the apparent model inaccuracies. In this paper, we present a multi-objective optimal torque control for hydraulic quadruped robots...
This work demonstrates distributed motion planning for multi-rotor unmanned aerial vehicle in a windy outdoor environment. The motion planning is modeled as a receding horizon mixed integer nonlinear programming (RH-MINLP) problem. Each quadrotor sol...
Repairing veneer defects is the key to ensuring the quality of plywood. In order to improve the maintenance quality and material utilization efficiency during the maintenance process, this paper proposes a bidirectional maintenance method based on ge...
The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all,...
In the Black and Scholes system, the underlying asset price model follows geometric Brownian motion (GBM) with no bankruptcy risk. While GBM is a commonly used model in financial markets, bankruptcy risk should be considered in the case of a severe e...
In this study, a grasping motion simulation method based on finite element analysis was developed for the virtual evaluation of gripping comfort while gripping a cylindrical object. The validity of the grasping motion simulation was verified by compa...
An increasing number of scholars are researching underwater acoustic sensor networks (UASNs), including the physical layer, the protocols of the routing layer, the MAC layer, and the cross-layer. In UASNs, the ultimate goal is to transmit data from t...
At present, most quadruped robots can move quickly and steadily on both flat and undulating ground; however, natural environments are complex and changeable, so it is important for a quadruped robot to be able to jump over obstacles immediately. Insp...
Ship dynamic models serve as the foundation for designing ship controllers, trajectory planning, and obstacle avoidance. Support vector regression (SVR) is a commonly used nonparametric modelling method for ship dynamics. Achieving high accuracy SVR...
This study presents a sustainable and adaptive approach to mineral processing. A hybrid intelligent control system was developed to beneficiate fine chromite ore in a jigging machine. The objective is to enhance separation efficiency and reduce chrom...
In this paper, an ocean wave energy conversion system (OWECS) is modeled and experimented in the Yellow Sea near Lianyungang port, and an optimized control method based on the sliding mode control is proposed to improve the efficiency of OWECS. First...
As a whole, human sprinting seems to be a completely periodic and symmetrical motion. This view is changed when a person runs with a running-specific prosthesis after a unilateral amputation. The aim of our study is to investigate differences and sim...
Airborne synthetic aperture radar (Airborne SAR) can accurately locate key targets and regions by using the flight parameters of the aircraft and the relative position information between the aircraft and the target which can be obtained from the air...
We propose an optimized Structure-from-Motion (SfM) Multi-View Stereopsis (MVS) workflow, based on minimizing different errors and inaccuracies of historical aerial photograph series (1945, 1979, 1984, and 2008 surveys), prior to generation of elevat...
This study endeavors to explore the intricate interplay between the fundamental skills of basketball—defensive slide, crossover dribbling, and full approach jump—and the shoe outsole friction coefficient, with the overarching goal of adva...
As one of the main areas of value investing, the stock market attracts the attention of many investors. Among investors, market index movements are a focus of attention. In this paper, combining the efficient market hypothesis and the fractal market...
Energy consumption is an important performance index of quadruped robots. In this paper, the energy consumptions of the quadruped robot SCalf with a trot gait under different gait parameters are analyzed. Firstly, the kinematics and dynamics models o...
This paper presents a novel motion control strategy based on model predictive control (MPC) for distributed drive electric vehicles (DDEVs), aiming to simultaneously control the longitudinal and lateral motion while considering efficiency and the dri...
Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in...
T-foils with active control systems can adjust their attack angle according to the movement of the ship in real time, providing higher lift force and improving the seakeeping performance of a ship. The optimization of the control signal and that of t...
Several researchers are considering the plausibility of being able to rapidly launch a mission to an asteroid, which would fly in close proximity of the asteroid to deliver an impulse in a particular direction so as to deflect the asteroid from its c...
Navigating robotic systems autonomously through unknown, dynamic and GPS-denied environments is a challenging task. One requirement of this is a path planner which provides safe trajectories in real-world conditions such as nonlinear vehicle dynamics...
This paper presents a comprehensive study on autonomous vehicle parking challenges, focusing on kinematic and reverse parking models. The research develops models for various scenarios, including turning, reverse, vertical, and parallel parking while...
Model predictive control (MPC) approaches are widely used in robotics, because they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the tracking terms...
A humanoid robot has a similar form to humans, allowing it to be deployed directly into many existing infrastructures built for people, making it highly applicable to future industries or services. However, generating motion is challenging, and it is...
Nonlinear Model Predictive Control (NMPC) is an effective approach for motion planning in autonomous vehicles that need to satisfy multiple driving demands. Within the realm of planner design, current strategies inadequately address the issues relate...
Optical motion capture systems are state-of-the-art in motion acquisition; however, like any measurement system they are not error-free: noise is their intrinsic feature. The works so far mostly employ a simple noise model, expressing the uncertainty...
This paper proposes a replicable methodology to enhance the accuracy of the photogrammetric reconstruction of large-scale objects based on the optimization of the procedures for Unmanned Aerial Vehicle (UAV) camera image acquisition. The relationship...
The imagery of airborne highly squinted synthetic aperture radar (SAR) with curved trajectory is a challenging task due to the translational-variant range cell migration (RCM) and azimuth modulation. However, in most cases of practical application, t...
This article deals with the identification of a superior forecasting method for market liquidity using a calibrated Heston model for the bid/ask price path simulation instead of a standard Brownian motion, as well as a compound Poisson process and in...
The biomechanical-model-based approach with a contact model offers advantages in estimating ground reaction forces (GRFs) and ground reaction moments (GRMs), as it does not rely on the need for training data and gait assumptions. However, this approa...
The traditional mechanical transmission system motion accuracy allocation process has the following problems: the error modeling process can not reflect the error formation mechanism of the system, and the influence of maintenance costs and the motio...
The Stirling engine is one of the most promising devices for the recovery of waste heat. Its power output can be optimized by several means, in particular by an optimized piston motion. Here, we investigate its potential performance improvements in t...
In this paper, we consider the relative motion of a follower spacecraft orbiting the Earth in a near circular orbit with respect to a leader spacecraft. The relative orbital motion-control problem of the follower spacecraft is studied here. In order...
An attempt to construct a universal stabilisation system that ensures the object motion along specified trajectory from certain class is presented. If such a stabilisation system is constructed, then only the problem of optimal control is solved, but...
In this paper, an investigation is presented that demonstrates the application of a new approach for enabling the reduction of liquid slosh by implementing optimized motion profiles over a continuous range of operating speeds. Liquid slosh occurs in...
Chest wall motion can provide information on critical vital signs, including respiration and heartbeat. Mathematical modelling of chest wall motion can reduce an extensive requirement of human testing in the development of many biomedical application...
This paper presents a novel approach for analyzing and optimizing motion coupling in the coordinated operation tasks of flexible space multi-arm robots (FMSRs). The method integrates motion coupling between multiple arms and system stiffness to impro...
In recent years, researchers have focused on analyzing humans’ daily living activities to study various performance metrics that humans subconsciously optimize while performing a particular task. In order to recreate these motions in robotic st...
We propose a method to control the motion of a capsule endoscope (CE) in the stomach utilizing either a single external permanent magnet (EPM) or dual EPMs to extend the examination of the upper gastrointestinal tract. When utilizing the conventional...
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