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相关概念视频

Survival Tree01:19

Survival Tree

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Survival trees are a non-parametric method used in survival analysis to model the relationship between a set of covariates and the time until an event of interest occurs, often referred to as the "time-to-event" or "survival time." This method is particularly useful when dealing with censored data, where the event has not occurred for some individuals by the end of the study period, or when the exact time of the event is unknown.
 Building a Survival Tree
Constructing a...
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Space Trusses: Problem Solving01:29

Space Trusses: Problem Solving

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A space truss is a three-dimensional counterpart of a planar truss. These structures consist of members connected at their ends, often utilizing ball-and-socket joints to create a stable and versatile framework. Due to its adaptability and capacity to withstand complex loads, the space truss is widely used in various construction projects.
Consider a tripod consisting of a tetrahedral space truss with a ball-and-socket joint at C. Suppose the height and lengths of the horizontal and vertical...
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Collisions in Multiple Dimensions: Problem Solving01:06

Collisions in Multiple Dimensions: Problem Solving

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In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
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Circular Orbits and Critical Velocity for Satellites01:16

Circular Orbits and Critical Velocity for Satellites

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The Moon orbits around the Earth. In turn, the Earth (and other planets) orbit the Sun. The space directly above our atmosphere is filled with artificial satellites in orbit. One can examine the circular orbit, the simplest kind of orbit, to understand the relationship between the speed and the period of planets and satellites with respect to their positions and the bodies that they orbit.
Nicolaus Copernicus (1473-1543) first suggested that the Earth and all other planets orbit the Sun in...
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Adjusting a Traverse01:12

Adjusting a Traverse

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In the site survey of a four-sided traverse, internal angles are essential to ensure geometric accuracy. The survey revealed that the sum of the measured internal angles was 359 degrees and 48 minutes, which is 12 minutes less than the expected 360 degrees. This discrepancy signals an error likely arising from measurement inaccuracies during the fieldwork.To rectify this error, the adjustment process involved distributing the 12-minute shortfall equally across the four internal angles. By...
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Elastic Collisions: Case Study01:15

Elastic Collisions: Case Study

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Elastic collision of a system demands conservation of both momentum and kinetic energy. To solve problems involving one-dimensional elastic collisions between two objects, the equations for conservation of momentum and conservation of internal kinetic energy can be used. For the two objects, the sum of momentum before the collision equals the total momentum after the collision. An elastic collision conserves internal kinetic energy, and so the sum of kinetic energies before the collision equals...
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相关实验视频

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Operation of the Collaborative Composite Manufacturing CCM System
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在线基于树的规划,用于积极的航天器故障估计和避免碰撞.

James Ragan1, Benjamin Riviere1, Fred Y Hadaegh1

  • 1Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA 91125, USA.

Science robotics
|August 28, 2024
PubMed
概括

自主机器人现在可以通过主动传感树搜索 (s-FEAST) 使用安全故障估计来识别故障. 这种方法确保了在不确定的环境中安全和最佳性能,这对于危险的任务至关重要.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工智能的人工智能
  • 控制系统 控制系统

背景情况:

  • 自主机器人需要在不确定的环境中进行强大的故障识别.
  • 结合故障模式和状态不确定性对现有方法构成挑战.
  • 时间最佳的故障隔离对于安全受限制的操作至关重要.

研究的目的:

  • 为自主机器人开发一种方法,在安全限制下识别和隔离有缺陷的部件.
  • 为了应对与机器人状态估计交织在一起的模两可的故障的挑战.
  • 为了使动作计划能够区分同时执行器和传感器故障.

主要方法:

  • 结合信念空间树搜索,边缘化过和集中不平等.
  • 通过主动传感树搜索 (s-FEAST) 计划器开发了安全故障估计.
  • 利用主动传感来获得信息观测,同时执行概率状态约束.

主要成果:

  • 从理论上证明了s-FEAST的趋同到最佳政策.
  • 在机器人航天器模拟器中实验验证了s-FEAST,成功执行了故障估计.
  • 成功导航了与模型彗星的碰撞轨道,同时识别了断层.

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相关实验视频

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结论:

  • s-FEAST 能够在自动驾驶系统中安全有效地进行故障估计.
  • 该方法即使在合故障模式和状态不确定性的情况下也有效.
  • 通过模拟和机器人航天器场景验证,显示强大的性能.