Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151972
C. Dickerson, S. J. Clement, D. Webster, D. McKee, Jie Xu, D. Battersby
Distributed virtual simulation is a capability that is increasing in demand within the automotive manufacturing industry. The distributed and networked approach to system level design and simulation stands to benefit from a unifying relational oriented modeling and simulation framework due to the large number of simulation technologies that must be integrated. This will also permit innovative use of existing independent simulations for increased concurrency in design and verification and validation. Through relational orientation, high level syntax and semantics for representing models and simulations have been developed for proof of concept analysis. This paper presents an approach to drive a process of analysis of the vehicle as a complex system through the combination of a relational trade-off analysis framework and a distributed simulation execution delivered through a service-oriented integration architecture. This promises to provide a rigorous, traceable and agile approach to early stage conceptual vehicle design and analysis.
{"title":"A service oriented virtual environment for complex system analysis: Preliminary report","authors":"C. Dickerson, S. J. Clement, D. Webster, D. McKee, Jie Xu, D. Battersby","doi":"10.1109/SYSOSE.2015.7151972","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151972","url":null,"abstract":"Distributed virtual simulation is a capability that is increasing in demand within the automotive manufacturing industry. The distributed and networked approach to system level design and simulation stands to benefit from a unifying relational oriented modeling and simulation framework due to the large number of simulation technologies that must be integrated. This will also permit innovative use of existing independent simulations for increased concurrency in design and verification and validation. Through relational orientation, high level syntax and semantics for representing models and simulations have been developed for proof of concept analysis. This paper presents an approach to drive a process of analysis of the vehicle as a complex system through the combination of a relational trade-off analysis framework and a distributed simulation execution delivered through a service-oriented integration architecture. This promises to provide a rigorous, traceable and agile approach to early stage conceptual vehicle design and analysis.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124244982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151989
Eduardo Quintero-Manriquez, E. Sánchez, R. A. Félix
This paper presents a comparison between two control techniques: Direct Field-Oriented Control (DFOC) and Second Order Sliding Mode Control (SOSMC), both on real-time implementations. DFOC is one of the most popular control strategies in the industry for induction motor drives and has the advantage to produce a continuous control signal, helping to extend life of electric vehicle batteries. On the other hand SOSMC is based on the super-twisting algorithm, which reduces chattering, rejects disturbances and produces a continuous control signal. To modulate the inverter pulses, Space Vector Modulation (SVM) is used and to estimate the rotor flux, a sliding mode observer is applied. Real-time implementation of these controllers have been successfully done, using a 1/4 hp induction motor prototype. Results are presented to illustrate the respective advantages and drawbacks. The proposed schemes allow easy integration of these kind of vehicles into a system of systems configuration.
{"title":"Real-time direct field-oriented and second order sliding mode controllers of induction motor for electric vehicles applications","authors":"Eduardo Quintero-Manriquez, E. Sánchez, R. A. Félix","doi":"10.1109/SYSOSE.2015.7151989","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151989","url":null,"abstract":"This paper presents a comparison between two control techniques: Direct Field-Oriented Control (DFOC) and Second Order Sliding Mode Control (SOSMC), both on real-time implementations. DFOC is one of the most popular control strategies in the industry for induction motor drives and has the advantage to produce a continuous control signal, helping to extend life of electric vehicle batteries. On the other hand SOSMC is based on the super-twisting algorithm, which reduces chattering, rejects disturbances and produces a continuous control signal. To modulate the inverter pulses, Space Vector Modulation (SVM) is used and to estimate the rotor flux, a sliding mode observer is applied. Real-time implementation of these controllers have been successfully done, using a 1/4 hp induction motor prototype. Results are presented to illustrate the respective advantages and drawbacks. The proposed schemes allow easy integration of these kind of vehicles into a system of systems configuration.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114681142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151934
Ahmad Koubeissi, M. Ayache, R. Merzouki, B. Conrard
The main focus of this paper is on graphical modeling of wireless link of a System of Systems (SoS) for the purpose of Fault Tolerance Level Assessment. Having used hypergraphs previously for modeling the structural organization of SoS, it's now important to introduce another graphical tool for modeling the wireless communication channel (WCL) between component systems of SoS, namely Bond Graph, and to evaluate at the same time, the fault tolerance level of each WCL so that we are able to compare various SoS configurations in terms of communication reliability and robustness. We perform an experiment on cooperative behavior of NAO humanoids forming an SoS to exploit model benefits at microscopic level and at macroscopic level, by developing a simulator that demonstrates how we can assess the fault tolerance level of each WCL in SoS.
本文主要研究了多系统系统(System of Systems, SoS)无线链路的图形化建模，用于容错水平评估。在之前使用超图对SoS的结构组织进行建模之后，现在重要的是引入另一种图形工具，用于对SoS组件系统之间的无线通信通道(WCL)进行建模，即Bond Graph，同时评估每个WCL的容错级别，以便我们能够在通信可靠性和鲁棒性方面比较不同的SoS配置。我们通过开发一个模拟器来演示我们如何评估SoS中每个WCL的容错水平，对NAO类人组织形成SoS的合作行为进行了实验，以在微观和宏观层面上利用模型收益。
{"title":"Bond graph model-based for fault tolerance level assessment of a wireless communication link in a system of systems concept","authors":"Ahmad Koubeissi, M. Ayache, R. Merzouki, B. Conrard","doi":"10.1109/SYSOSE.2015.7151934","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151934","url":null,"abstract":"The main focus of this paper is on graphical modeling of wireless link of a System of Systems (SoS) for the purpose of Fault Tolerance Level Assessment. Having used hypergraphs previously for modeling the structural organization of SoS, it's now important to introduce another graphical tool for modeling the wireless communication channel (WCL) between component systems of SoS, namely Bond Graph, and to evaluate at the same time, the fault tolerance level of each WCL so that we are able to compare various SoS configurations in terms of communication reliability and robustness. We perform an experiment on cooperative behavior of NAO humanoids forming an SoS to exploit model benefits at microscopic level and at macroscopic level, by developing a simulator that demonstrates how we can assess the fault tolerance level of each WCL in SoS.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"209 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121457130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151914
F. Sahin, Brianne Stevenson
In the every expanding field of robotics, mobile robots come in a two primary variations: wheeled and legged. This paper will focus on the latter, specifically a hexapod with a circular body that has its six legs distributed axisymmetrically around the body. The core goal of the project discussed here is to allow the robot to dynamically change foot placement based on an input vector in addition to controlling the position and orientation of the body. Specific attention is also given to a simulation model that can mimic this control of the robot in a virtual environment. Having a high level of control enhances the robot's ability to move in a very smooth and purposeful manner.
{"title":"Modeling and dynamic control for a hexapod robot","authors":"F. Sahin, Brianne Stevenson","doi":"10.1109/SYSOSE.2015.7151914","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151914","url":null,"abstract":"In the every expanding field of robotics, mobile robots come in a two primary variations: wheeled and legged. This paper will focus on the latter, specifically a hexapod with a circular body that has its six legs distributed axisymmetrically around the body. The core goal of the project discussed here is to allow the robot to dynamically change foot placement based on an input vector in addition to controlling the position and orientation of the body. Specific attention is also given to a simulation model that can mimic this control of the robot in a virtual environment. Having a high level of control enhances the robot's ability to move in a very smooth and purposeful manner.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129588547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151977
L. Luque-Vega, Luis Enrique González Jiménez, B. Castillo-Toledo, A. Loukianov, J. Ghommam, M. Saad
The distributed cooperative tracking control problem for a group of quadrotors in a three-dimensional space is addressed in this paper. The controller design is divided in two stages. In the first stage, local distributed controllers for the translational dynamics are designed, forcing the quadrotor to asymptotically track the desired trajectory with the required separation and therefore a specific formation. In the second stage, the rotational dynamics is asymptotically stabilized. The controllers implemented in both stages are based in a combination of block control technique and the super twisting control algorithm which ensures robustness with respect to external disturbances and parameter uncertainties. Moreover, a first order exact differentiator is used to estimate the virtual control inputs, simplifying the control law design. The stability proof of the complete closed-loop system is shown to be asymptotically stable. Finally, numerical simulations are carried out to show that theoretical conclusions are effective.
{"title":"Distributed super twisting controller for multiple quadrotors","authors":"L. Luque-Vega, Luis Enrique González Jiménez, B. Castillo-Toledo, A. Loukianov, J. Ghommam, M. Saad","doi":"10.1109/SYSOSE.2015.7151977","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151977","url":null,"abstract":"The distributed cooperative tracking control problem for a group of quadrotors in a three-dimensional space is addressed in this paper. The controller design is divided in two stages. In the first stage, local distributed controllers for the translational dynamics are designed, forcing the quadrotor to asymptotically track the desired trajectory with the required separation and therefore a specific formation. In the second stage, the rotational dynamics is asymptotically stabilized. The controllers implemented in both stages are based in a combination of block control technique and the super twisting control algorithm which ensures robustness with respect to external disturbances and parameter uncertainties. Moreover, a first order exact differentiator is used to estimate the virtual control inputs, simplifying the control law design. The stability proof of the complete closed-loop system is shown to be asymptotically stable. Finally, numerical simulations are carried out to show that theoretical conclusions are effective.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129825645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151964
Hong Ma, Wei Zhang, Simon X. Yang
The objective of this research is to develop a system model and an intelligent controller for the meat drying process, which will lead to better control accuracy than the current PID control system used in meat manufacturing. In meat drying rooms, temperature and relative humidity are coupled by nonlinear thermodynamic laws. The coupling results in nonlinear fluctuations in relative humidity. The classical PID control method is not able to effectively control the relative humidity. The models of the systems of temperature and relative humidity for a meat drying room in this paper include the model of the plant, the model of the coupling, the controller, and the complete control system of the meat drying room. The proposed intelligent control uses the methods of a fuzzy PID controller to limit the fluctuations in the meat drying system. Results show that the performance of the proposed fuzzy PID control systems is superior in terms of relative humidity control to the classical PID control method used in the current control systems for the meat drying rooms.
{"title":"Systems modeling and intelligent control of meat drying process","authors":"Hong Ma, Wei Zhang, Simon X. Yang","doi":"10.1109/SYSOSE.2015.7151964","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151964","url":null,"abstract":"The objective of this research is to develop a system model and an intelligent controller for the meat drying process, which will lead to better control accuracy than the current PID control system used in meat manufacturing. In meat drying rooms, temperature and relative humidity are coupled by nonlinear thermodynamic laws. The coupling results in nonlinear fluctuations in relative humidity. The classical PID control method is not able to effectively control the relative humidity. The models of the systems of temperature and relative humidity for a meat drying room in this paper include the model of the plant, the model of the coupling, the controller, and the complete control system of the meat drying room. The proposed intelligent control uses the methods of a fuzzy PID controller to limit the fluctuations in the meat drying system. Results show that the performance of the proposed fuzzy PID control systems is superior in terms of relative humidity control to the classical PID control method used in the current control systems for the meat drying rooms.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117236767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151961
M. Nikolaidou, G. Kapos, Anargyros Tsadimas, V. Dalakas, D. Anagnostopoulos
SysML language, proposed by OMG, is a commonly accepted standard to model and study systems-of-systems (SoS). It provides the means to depict SoS components and their behavior in a multi-layer fashion and explore alterative architectures for their design. To validate SysML models in terms of performance criteria, simulation is usually the preferred method employed. To this end, different SysML diagrams are utilized, while numerous simulation methodologies and tools are employed. There are many efforts targeting simulation code generation from SysML models. Model-based system engineering concepts are adopted in most of them to generate simulation models from SysML models. Nevertheless, this process is not standardized, although most of current approaches tend to follow the same steps, even if they employ different tools. The scope of this paper is to provide a comprehensive understanding of the similarities and differences of existing approaches and identify current challenges in fully automating SysML models simulation process.
{"title":"Simulating SysML models: Overview and challenges","authors":"M. Nikolaidou, G. Kapos, Anargyros Tsadimas, V. Dalakas, D. Anagnostopoulos","doi":"10.1109/SYSOSE.2015.7151961","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151961","url":null,"abstract":"SysML language, proposed by OMG, is a commonly accepted standard to model and study systems-of-systems (SoS). It provides the means to depict SoS components and their behavior in a multi-layer fashion and explore alterative architectures for their design. To validate SysML models in terms of performance criteria, simulation is usually the preferred method employed. To this end, different SysML diagrams are utilized, while numerous simulation methodologies and tools are employed. There are many efforts targeting simulation code generation from SysML models. Model-based system engineering concepts are adopted in most of them to generate simulation models from SysML models. Nevertheless, this process is not standardized, although most of current approaches tend to follow the same steps, even if they employ different tools. The scope of this paper is to provide a comprehensive understanding of the similarities and differences of existing approaches and identify current challenges in fully automating SysML models simulation process.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124094476","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151928
P. Cooper, Tom Crick, T. Tryfonas
In the developed world, two distinct trends are emerging to shake-up the current dominance of privately-owned, combustion motor car transport. The first is the emergence of the electric powertrain for vehicles as an affordable and massmarketed means of transport. This carries with it the potential to address many of the immediate shortcomings of the current paradigm, especially CO2 emissions, air and noise pollution. The second is the rise of new hire models of car ownership - the concept of paying for the use of a car as and when you need it. This carries with it the potential to address many of the existing issues: outlay-induced car use, residential parking and social division. On a similar timescale, we are witnessing the rise of smart technologies and smart cities, concepts that use data about the state of a system or elements of it to create value. There have been relatively few examples of schemes that have combined the electric and hire-model concepts, despite the huge potential for synergy. Indeed, the majority is against them on both counts - cars are predominantly privately-owned and driven by internal combustion engines. Nevertheless, there is significant potential for this to change over the coming years.
{"title":"Smart data-harnessing for financial value in short-term hire electric car schemes","authors":"P. Cooper, Tom Crick, T. Tryfonas","doi":"10.1109/SYSOSE.2015.7151928","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151928","url":null,"abstract":"In the developed world, two distinct trends are emerging to shake-up the current dominance of privately-owned, combustion motor car transport. The first is the emergence of the electric powertrain for vehicles as an affordable and massmarketed means of transport. This carries with it the potential to address many of the immediate shortcomings of the current paradigm, especially CO2 emissions, air and noise pollution. The second is the rise of new hire models of car ownership - the concept of paying for the use of a car as and when you need it. This carries with it the potential to address many of the existing issues: outlay-induced car use, residential parking and social division. On a similar timescale, we are witnessing the rise of smart technologies and smart cities, concepts that use data about the state of a system or elements of it to create value. There have been relatively few examples of schemes that have combined the electric and hire-model concepts, despite the huge potential for synergy. Indeed, the majority is against them on both counts - cars are predominantly privately-owned and driven by internal combustion engines. Nevertheless, there is significant potential for this to change over the coming years.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128167800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151974
Sherif Haggag, Shady M. K. Mohamed, A. Bhatti, H. Haggag, S. Nahavandi
EEG signal is one of the most important signals for diagnosing some diseases. EEG is always recorded with an amount of noise, the more noise is recorded the less quality is the EEG signal. The included noise can represent the quality of the recorded EEG signal, this paper proposes a signal quality assessment method for EEG signal. The method generates an automated measure to detect the noise level of the recorded EEG signal. Mel-Frequency Cepstrum Coefficient is used to represent the signals. Hidden Markov Models were used to build a classification model that classifies the EEG signals based on the noise level associated with the signal. This EEG quality assessment measure will help doctors and researchers to focus on the patterns in the signal that have high signal to noise ratio and carry more information. Moreover, our model was applied on an uncontrolled environment and on controlled environment and a result comparison was applied.
{"title":"Noise level classification for EEG using Hidden Markov Models","authors":"Sherif Haggag, Shady M. K. Mohamed, A. Bhatti, H. Haggag, S. Nahavandi","doi":"10.1109/SYSOSE.2015.7151974","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151974","url":null,"abstract":"EEG signal is one of the most important signals for diagnosing some diseases. EEG is always recorded with an amount of noise, the more noise is recorded the less quality is the EEG signal. The included noise can represent the quality of the recorded EEG signal, this paper proposes a signal quality assessment method for EEG signal. The method generates an automated measure to detect the noise level of the recorded EEG signal. Mel-Frequency Cepstrum Coefficient is used to represent the signals. Hidden Markov Models were used to build a classification model that classifies the EEG signals based on the noise level associated with the signal. This EEG quality assessment measure will help doctors and researchers to focus on the patterns in the signal that have high signal to noise ratio and carry more information. Moreover, our model was applied on an uncontrolled environment and on controlled environment and a result comparison was applied.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130700623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151903
Chris Johnson, F. Sahin
Adaptable gaits are pivotal for allowing legged robots to navigate difficult terrain. One of the best gait styles to accomplish this goal is the rule-based free gait. First the forward and inverse kinematic solutions are solved for TigerBug, a circular hexapod. Then a rule based free gait is implemented on the circular hexapod in order to provide a platform for future rough terrain navigation.
{"title":"Omnidirectional rule-based free gait utilizing restrictedness","authors":"Chris Johnson, F. Sahin","doi":"10.1109/SYSOSE.2015.7151903","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151903","url":null,"abstract":"Adaptable gaits are pivotal for allowing legged robots to navigate difficult terrain. One of the best gait styles to accomplish this goal is the rule-based free gait. First the forward and inverse kinematic solutions are solved for TigerBug, a circular hexapod. Then a rule based free gait is implemented on the circular hexapod in order to provide a platform for future rough terrain navigation.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133510708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：