Ranging based on the reflection principle of ultrasonic wave propagating in the air has been widely used in modern life, such as car reversing radar, robot automatic obstacle avoidance etc. Aiming at the situation that the blinds have no way to know whether there are obstacles or big safety risks in front of them when they are walking, this paper designed obstacle avoidance gloves for the blinds based on ultrasonic sensors. With Arduino Nano single chip microcomputer as main controller, combined with ultrasonic sensor module, bluetooth module and speaker module, the glove realized the function of obstacle detection and alarm. The main working principle is by using the ultrasonic sensors to transmit and receive ultrasonic, the time difference for transmitting and receiving to detect the distance of obstacles ahead. Besides, by means of voice module output audio signals with different frequency according to the obstacle distance, the blinds can judge the distance between them to the obstacles based on the sound with different frequencies they heard. In this way, they can make responses in advance to avoid the obstacles ahead and the happening of the risk.
{"title":"Obstacle Avoidance Gloves for the Blind Based on Ultrasonic Sensor","authors":"Ruochuan Zhou","doi":"10.4236/ICA.2019.103007","DOIUrl":"https://doi.org/10.4236/ICA.2019.103007","url":null,"abstract":"Ranging based on the reflection principle of ultrasonic wave propagating in the air has been widely used in modern life, such as car reversing radar, robot automatic obstacle avoidance etc. Aiming at the situation that the blinds have no way to know whether there are obstacles or big safety risks in front of them when they are walking, this paper designed obstacle avoidance gloves for the blinds based on ultrasonic sensors. With Arduino Nano single chip microcomputer as main controller, combined with ultrasonic sensor module, bluetooth module and speaker module, the glove realized the function of obstacle detection and alarm. The main working principle is by using the ultrasonic sensors to transmit and receive ultrasonic, the time difference for transmitting and receiving to detect the distance of obstacles ahead. Besides, by means of voice module output audio signals with different frequency according to the obstacle distance, the blinds can judge the distance between them to the obstacles based on the sound with different frequencies they heard. In this way, they can make responses in advance to avoid the obstacles ahead and the happening of the risk.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46587503","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}
The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.
{"title":"Practical Application of a Tongue-Operated Joystick Device with Force Feedback Mechanism","authors":"S. Kajikawa, Taku Ohba","doi":"10.4236/ICA.2019.103006","DOIUrl":"https://doi.org/10.4236/ICA.2019.103006","url":null,"abstract":"The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42875175","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}
The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the recognition of the operator’s movements. Through the filtering process of real-time data by the host computer platform with computer software as the core, the algorithm is programmed to realize the conversion from data to control signals. The system transmits the signal to the lower computer platform with Arduino as the core through the transmission mode of the serial communication, thereby completing the control of the steering gear. In order to verify the feasibility of the theory, the team built a 4-DOF robotic arm control system and completed software development. It can display other functions such as the current bone angle and motion status in real time on the computer operation interface. The experimental data shows that the Kinect-based motion recognition method can effectively complete the tracking of the expected motion and complete the grasping and transfer of the specified objects, which has extremely high operability.
{"title":"Kinect-Based Motion Recognition Tracking Robotic Arm Platform","authors":"Jinxiao Gao, Yinan Chen, Fuhao Li","doi":"10.4236/ICA.2019.103005","DOIUrl":"https://doi.org/10.4236/ICA.2019.103005","url":null,"abstract":"The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the recognition of the operator’s movements. Through the filtering process of real-time data by the host computer platform with computer software as the core, the algorithm is programmed to realize the conversion from data to control signals. The system transmits the signal to the lower computer platform with Arduino as the core through the transmission mode of the serial communication, thereby completing the control of the steering gear. In order to verify the feasibility of the theory, the team built a 4-DOF robotic arm control system and completed software development. It can display other functions such as the current bone angle and motion status in real time on the computer operation interface. The experimental data shows that the Kinect-based motion recognition method can effectively complete the tracking of the expected motion and complete the grasping and transfer of the specified objects, which has extremely high operability.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42882435","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}
M. Miyagawa, Yuko Yasuhara, T. Tanioka, R. Locsin, W. Kongsuwan, E. Catangui, Kazuyuki Matsumoto
Older adults with dementia are increasing in Japan. Because of this, “communication robots” are being introduced into nursing settings to substitute for the shortage of nurses and other care workers. Our research group is currently developing a humanoid nursing robot with caring function (HNR), specifically for the functional and practical use of older adults with dementia. The purpose of this study was to clarify improvement points of the current function of humanoid robot’s (Pepper) (SoftBank Robotics) dialog pattern for improving optimal communication between humanoid robot and older adults. Dialog programs were installed in the humanoid robot Pepper, including the application program Care Prevention Gymnastics Exercises for Pepper (Pepper-CPGE) that was made by Xing Company, Japan. Dialogues between older adults and Pepper-CPGE were recorded by video camera. Data from transcriptions of the conversations captured from video and from field notes were analyzed focusing on human-robot interaction. From the recorded scenes and conversations, the following were points to be improved: 1) Intonation of the words vocalized by Pepper-CPGE was different from that expected by the older adult resulted in inappropriate responses by the older adult; 2) The timing between Pepper’s questions and the responses of the older adult were not timely and did not match (differences in the question-response time), which lead to confusion among the older adults; and 3) Other surroundings older adults were interested in the dialogue with Pepper-CPGE. However, Pepper-CPGE cannot communicate with multiple older adults. ImprovingPepper-CPGE’s ability to communicate with multiple older adults as an older adult’s dialogue with Pepper-CPGE can cause other older adults to also interact not only with the older adult that Pepper-CPGE is interacting with but also with Pepper-CPGE. This study shows that transactive relations among humanoid robots and older adults can be facilitated. Improving communication between humanoid robots and the older adults by optimizing a structured dialogue is needed to enhance appropriate engagement and participation. It is necessary to create a “Caring dialogue Database” for HNRs in order to know the patient/client and to share the aesthetic experiences of human-robot interactions. Also, it is important to develop a dialog pattern that enables humanoid robots to sympathize with older adults.
{"title":"The Optimization of Humanoid Robot’s Dialog in Improving Communication between Humanoid Robot and Older Adults","authors":"M. Miyagawa, Yuko Yasuhara, T. Tanioka, R. Locsin, W. Kongsuwan, E. Catangui, Kazuyuki Matsumoto","doi":"10.4236/ICA.2019.103008","DOIUrl":"https://doi.org/10.4236/ICA.2019.103008","url":null,"abstract":"Older adults with dementia are increasing in Japan. Because of this, “communication robots” are being introduced into nursing settings to substitute for the shortage of nurses and other care workers. Our research group is currently developing a humanoid nursing robot with caring function (HNR), specifically for the functional and practical use of older adults with dementia. The purpose of this study was to clarify improvement points of the current function of humanoid robot’s (Pepper) (SoftBank Robotics) dialog pattern for improving optimal communication between humanoid robot and older adults. Dialog programs were installed in the humanoid robot Pepper, including the application program Care Prevention Gymnastics Exercises for Pepper (Pepper-CPGE) that was made by Xing Company, Japan. Dialogues between older adults and Pepper-CPGE were recorded by video camera. Data from transcriptions of the conversations captured from video and from field notes were analyzed focusing on human-robot interaction. From the recorded scenes and conversations, the following were points to be improved: 1) Intonation of the words vocalized by Pepper-CPGE was different from that expected by the older adult resulted in inappropriate responses by the older adult; 2) The timing between Pepper’s questions and the responses of the older adult were not timely and did not match (differences in the question-response time), which lead to confusion among the older adults; and 3) Other surroundings older adults were interested in the dialogue with Pepper-CPGE. However, Pepper-CPGE cannot communicate with multiple older adults. ImprovingPepper-CPGE’s ability to communicate with multiple older adults as an older adult’s dialogue with Pepper-CPGE can cause other older adults to also interact not only with the older adult that Pepper-CPGE is interacting with but also with Pepper-CPGE. This study shows that transactive relations among humanoid robots and older adults can be facilitated. Improving communication between humanoid robots and the older adults by optimizing a structured dialogue is needed to enhance appropriate engagement and participation. It is necessary to create a “Caring dialogue Database” for HNRs in order to know the patient/client and to share the aesthetic experiences of human-robot interactions. Also, it is important to develop a dialog pattern that enables humanoid robots to sympathize with older adults.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48343218","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}
Traditional reinforcement learning (RL) uses the return, also known as the expected value of cumulative random rewards, for training an agent to learn an optimal policy. However, recent research indicates that learning the distribution over returns has distinct advantages over learning their expected value as seen in different RL tasks. The shift from using the expectation of returns in traditional RL to the distribution over returns in distributional RL has provided new insights into the dynamics of RL. This paper builds on our recent work investigating the quantum approach towards RL. Our work implements the quantile regression (QR) distributional Q learning with a quantum neural network. This quantum network is evaluated in a grid world environment with a different number of quantiles, illustrating its detailed influence on the learning of the algorithm. It is also compared to the standard quantum Q learning in a Markov Decision Process (MDP) chain, which demonstrates that the quantum QR distributional Q learning can explore the environment more efficiently than the standard quantum Q learning. Efficient exploration and balancing of exploitation and exploration are major challenges in RL. Previous work has shown that more informative actions can be taken with a distributional perspective. Our findings suggest another cause for its success: the enhanced performance of distributional RL can be partially attributed to its superior ability to efficiently explore the environment.
{"title":"Distributional Reinforcement Learning with Quantum Neural Networks","authors":"Wei Hu, James Hu","doi":"10.4236/ICA.2019.102004","DOIUrl":"https://doi.org/10.4236/ICA.2019.102004","url":null,"abstract":"Traditional reinforcement learning (RL) uses the return, also known as the expected value of cumulative random rewards, for training an agent to learn an optimal policy. However, recent research indicates that learning the distribution over returns has distinct advantages over learning their expected value as seen in different RL tasks. The shift from using the expectation of returns in traditional RL to the distribution over returns in distributional RL has provided new insights into the dynamics of RL. This paper builds on our recent work investigating the quantum approach towards RL. Our work implements the quantile regression (QR) distributional Q learning with a quantum neural network. This quantum network is evaluated in a grid world environment with a different number of quantiles, illustrating its detailed influence on the learning of the algorithm. It is also compared to the standard quantum Q learning in a Markov Decision Process (MDP) chain, which demonstrates that the quantum QR distributional Q learning can explore the environment more efficiently than the standard quantum Q learning. Efficient exploration and balancing of exploitation and exploration are major challenges in RL. Previous work has shown that more informative actions can be taken with a distributional perspective. Our findings suggest another cause for its success: the enhanced performance of distributional RL can be partially attributed to its superior ability to efficiently explore the environment.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45577282","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}
In this paper, as a new contribution to the tensor-centric warfare (TCW) series [1] [2] [3] [4], we extend the kinetic TCW-framework to include non-kinetic effects, by addressing a general systems confrontation [5], which is waged not only in the traditional physical Air-Land-Sea domains, but also simultaneously across multiple non-physical domains, including cyberspace and social networks. Upon this basis, this paper attempts to address a more general analytical scenario using rigorous topological methods to introduce a two-level topological representation of modern armed conflict; in doing so, it extends from the traditional red-blue model of conflict to a red-blue-green model, where green represents various neutral elements as active factions; indeed, green can effectively decide the outcomes from red-blue conflict. System confrontations at various stages of the scenario will be defined by the non-equilibrium phase transitions which are superficially characterized by sudden entropy growth. These will be shown to have the underlying topology changes of the systems-battlespace. The two-level topological analysis of the systems-battlespace is utilized to address the question of topology changes in the combined battlespace. Once an intuitive analysis of the combined battlespace topology is performed, a rigorous topological analysis follows using (co)homological invariants of the combined systems-battlespace manifold.
{"title":"Tensor-Centric Warfare V: Topology of Systems Confrontation","authors":"V. Ivancevic, P. Pourbeik, D. Reid","doi":"10.4236/ICA.2019.101002","DOIUrl":"https://doi.org/10.4236/ICA.2019.101002","url":null,"abstract":"In this paper, as a new contribution to the tensor-centric warfare (TCW) series [1] [2] [3] [4], we extend the kinetic TCW-framework to include non-kinetic effects, by addressing a general systems confrontation [5], which is waged not only in the traditional physical Air-Land-Sea domains, but also simultaneously across multiple non-physical domains, including cyberspace and social networks. Upon this basis, this paper attempts to address a more general analytical scenario using rigorous topological methods to introduce a two-level topological representation of modern armed conflict; in doing so, it extends from the traditional red-blue model of conflict to a red-blue-green model, where green represents various neutral elements as active factions; indeed, green can effectively decide the outcomes from red-blue conflict. System confrontations at various stages of the scenario will be defined by the non-equilibrium phase transitions which are superficially characterized by sudden entropy growth. These will be shown to have the underlying topology changes of the systems-battlespace. The two-level topological analysis of the systems-battlespace is utilized to address the question of topology changes in the combined battlespace. Once an intuitive analysis of the combined battlespace topology is performed, a rigorous topological analysis follows using (co)homological invariants of the combined systems-battlespace manifold.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42896452","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}
We propose a global warfare model that integrates the models of the whole tensor-centric warfare series, represented as a high-dimensional entangled warfare category. Its underpinning metaphysics is “entangled fusion”: this is the macroscopic entanglement concept inspired by high-dimensional (HD) quantum computation (the “quantum brain”), in which any number of entangled wave-functions can be highly correlated, with neuron-like signaling among them. From this entangled perspective, war and battle is seen essentially as a holistic phenomenon: if any one of a set of mutually entangled warring parties is removed from the equation, then the war as it is instantly stops, possibly to be replaced by a new conflict between the remaining parties but distinct from that which it supplants. The formal global warfare framework developed in this paper expresses this fundamental idea of arbitrary many interrelated/entangled conflicts, each of them defined by its own battle-manifold (with warfighting tensor fields acting on it) and occurring (more-or-less) simultaneously on the planet; we call this entangled category
{"title":"Tensor-Centric Warfare VI: A Global Warfare Model","authors":"V. Ivancevic, D. Reid, P. Pourbeik, M. Pilling","doi":"10.4236/ICA.2019.101003","DOIUrl":"https://doi.org/10.4236/ICA.2019.101003","url":null,"abstract":"We propose a global warfare model that integrates the models of the whole tensor-centric warfare series, represented as a high-dimensional entangled warfare category. Its underpinning metaphysics is “entangled fusion”: this is the macroscopic entanglement concept inspired by high-dimensional (HD) quantum computation (the “quantum brain”), in which any number of entangled wave-functions can be highly correlated, with neuron-like signaling among them. From this entangled perspective, war and battle is seen essentially as a holistic phenomenon: if any one of a set of mutually entangled warring parties is removed from the equation, then the war as it is instantly stops, possibly to be replaced by a new conflict between the remaining parties but distinct from that which it supplants. The formal global warfare framework developed in this paper expresses this fundamental idea of arbitrary many interrelated/entangled conflicts, each of them defined by its own battle-manifold (with warfighting tensor fields acting on it) and occurring (more-or-less) simultaneously on the planet; we call this entangled category","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41361725","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}
A new approach has been proposed to improve the performance of the in-telligent lighting system by estimating personal illuminance and desired color temperature at the workplace. We are considering the problem of using the sensing devices manually for the intelligent lighting system. The lighting control system has not become useful without sensing devices to measure the provided illuminance and color temperature. In this paper, we have used the property of light for the color temperature to estimate the level of color temperature for each user at the workplace. The new method will give personal illuminance for each user at the workplace and decrease the power consumption of the environment as well. As a result, the proposed method of the intelligent lighting system has realized the target of illuminance and color temperature for each user at the workplace by adapting dimming levels using illuminance sensing information for each user. Thus, the energy of the workplace has reduced by using a distributed luminance to realize the target for each user.
{"title":"Distributed Intelligent Lighting System by Performing New Model for Illuminance and Color Temperature in the Workplace","authors":"Mohammed Hajjaj, M. Miki","doi":"10.4236/ICA.2019.101001","DOIUrl":"https://doi.org/10.4236/ICA.2019.101001","url":null,"abstract":"A new approach has been proposed to improve the performance of the in-telligent lighting system by estimating personal illuminance and desired color temperature at the workplace. We are considering the problem of using the sensing devices manually for the intelligent lighting system. The lighting control system has not become useful without sensing devices to measure the provided illuminance and color temperature. In this paper, we have used the property of light for the color temperature to estimate the level of color temperature for each user at the workplace. The new method will give personal illuminance for each user at the workplace and decrease the power consumption of the environment as well. As a result, the proposed method of the intelligent lighting system has realized the target of illuminance and color temperature for each user at the workplace by adapting dimming levels using illuminance sensing information for each user. Thus, the energy of the workplace has reduced by using a distributed luminance to realize the target for each user.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49594644","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}
Urban search and rescue robots are playing an increasingly important role during disasters and with their ability to search within hazardous and dangerous environments to assist the first respond teams. Surveying and remote sensing the hazardous areas are two of the urgent needs of the rescue team to identify the risks before the intervention of the emergency teams. With such time-critical missions, the path planning and autonomous navigation of the robot is one of the primary concerns due to the need of fast and feasible path that is comprehensive enough to assess the associated risks. This paper presents a path planning method for navigating an unmanned ground vehicle within in an indoor hazardous area with minimum priori information. The algorithm can be generalized to any given map and is based on probabilistic roadmap path planning method with spiral dynamics optimization algorithm to obtain the optimal navigating path. Simulations of the algorithm are presented in this paper, and the results promising results are illustrated using Matlab and Simulink simulation environments.
{"title":"Optimal Path Planning for a Remote Sensing Unmanned Ground Vehicle in a Hazardous Indoor Environment","authors":"M. Alenezi, A. Almeshal","doi":"10.4236/ICA.2018.94011","DOIUrl":"https://doi.org/10.4236/ICA.2018.94011","url":null,"abstract":"Urban search and rescue robots are playing an increasingly important role during disasters and with their ability to search within hazardous and dangerous environments to assist the first respond teams. Surveying and remote sensing the hazardous areas are two of the urgent needs of the rescue team to identify the risks before the intervention of the emergency teams. With such time-critical missions, the path planning and autonomous navigation of the robot is one of the primary concerns due to the need of fast and feasible path that is comprehensive enough to assess the associated risks. This paper presents a path planning method for navigating an unmanned ground vehicle within in an indoor hazardous area with minimum priori information. The algorithm can be generalized to any given map and is based on probabilistic roadmap path planning method with spiral dynamics optimization algorithm to obtain the optimal navigating path. Simulations of the algorithm are presented in this paper, and the results promising results are illustrated using Matlab and Simulink simulation environments.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"9 1","pages":"147-157"},"PeriodicalIF":0.0,"publicationDate":"2018-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47830135","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}
This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW; for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of classical Lanchester-type combat equations, entropic Lie-dragging and commutators for modeling warfare uncertainty and symmetry, and various delta-strikes and missiles (both deterministic and random). The present paper gives a unique synthesis of the Red vs. Blue vectorfields into a single complex battle-vectorfield, using dynamics on Kahler manifolds as a rigorous framework for extending the TCW concept. The global Kahler dynamics framework, with its rigorous underpinning called the Kahler-Ricci flow, provides not only a new insight into the “geometry of warfare”, but also into the “physics of warfare”, in terms of Lagrangian and Hamiltonian structures of the battlefields. It also provides a convenient and efficient computational framework for entropic wargaming.
{"title":"Tensor-Centric Warfare IV: Kähler Dynamics of Battlefields","authors":"V. Ivancevic, D. Reid, P. Pourbeik","doi":"10.4236/ICA.2018.94010","DOIUrl":"https://doi.org/10.4236/ICA.2018.94010","url":null,"abstract":"This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW; for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of classical Lanchester-type combat equations, entropic Lie-dragging and commutators for modeling warfare uncertainty and symmetry, and various delta-strikes and missiles (both deterministic and random). The present paper gives a unique synthesis of the Red vs. Blue vectorfields into a single complex battle-vectorfield, using dynamics on Kahler manifolds as a rigorous framework for extending the TCW concept. The global Kahler dynamics framework, with its rigorous underpinning called the Kahler-Ricci flow, provides not only a new insight into the “geometry of warfare”, but also into the “physics of warfare”, in terms of Lagrangian and Hamiltonian structures of the battlefields. It also provides a convenient and efficient computational framework for entropic wargaming.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"09 1","pages":"123-146"},"PeriodicalIF":0.0,"publicationDate":"2018-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45479664","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：