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相关概念视频

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

563
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
563
Turbulent Flow: Problem Solving01:09

Turbulent Flow: Problem Solving

192
Carbonation is a process used to dissolve carbon dioxide gas in a liquid, commonly used in the production of carbonated beverages. Achieving efficient carbonation requires careful control of temperature, pressure, and flow conditions. By adjusting these parameters, carbonation efficiency can be maximized, producing a higher concentration of CO2 in the liquid.
Temperature is a key factor in CO2 solubility. In this case, the CO2 gas and the liquid are cooled to 20°C. Lower temperatures...
192
Open and closed-loop control systems01:17

Open and closed-loop control systems

1.0K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.0K
Distributed Loads: Problem Solving01:21

Distributed Loads: Problem Solving

744
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
744
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

453
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
453
Statically Indeterminate Problem Solving01:16

Statically Indeterminate Problem Solving

505
Statically indeterminate problems are those where statics alone can not determine the internal forces or reactions. Consider a structure comprising two cylindrical rods made of steel and brass. These rods are joined at point B and restrained by rigid supports at points A and C. Now, the reactions at points A and C and the deflection at point B are to be determined. This rod structure is classified as statically indeterminate as the structure has more supports than are necessary for maintaining...
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相关实验视频

Updated: Sep 18, 2025

A Networked Desktop Virtual Reality Setup for Decision Science and Navigation Experiments with Multiple Participants
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A Networked Desktop Virtual Reality Setup for Decision Science and Navigation Experiments with Multiple Participants

Published on: August 26, 2018

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分散的非线性模型基于预测控制的集群导航,在未知的阻碍环境中实时避开障碍物.

Nuthasith Gerdpratoom1, Kaoru Yamamoto1

  • 1Graduate School and Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan.

Frontiers in robotics and AI
|June 25, 2025
PubMed
概括

这项研究提高了使用非线性模型预测控制 (NMPC) 的机器人导航,并避免了局部障碍. 改进的NMPC使机器人机队能够在复杂的,受阻的环境中安全导航.

科学领域:

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

背景情况:

  • 分布式非线性模型预测控制 (NMPC) 对机器人舰队导航至关重要.
  • 现有的方法需要改进,以便在未知的环境中切实避免障碍.

研究的目的:

  • 将现实的本地避障策略整合到机器人车队的分布式NMPC框架中.
  • 开发高效的点云处理,以实时检测和响应障碍.

主要方法:

  • 在NMPC框架内使用点云数据纳入局部避障约束.
  • 开发一个点云处理技术,涉及方向过和下方采样,以提高计算效率.
  • 通过Gazebo中的3D模拟和嵌入式平台上的硬件在循环 (HIL) 测试进行验证.

主要成果:

  • 机器人代理人通过受阻环境进行安全导航.
  • 证实了点云处理技术的计算效率.
  • 通过HIL模拟验证了NMPC方案在嵌入式系统上的实际可行性.

结论:

  • 拟议的NMPC方案具有集成的局部避障系统,对于分散的机器人系统是有效的.
关键词:
分布式控制是指分布式的控制.蜂群繁殖 蜂群繁殖在循环中的硬件.避免当地障碍 避免当地障碍非线性MPC是指非线性的MPC.

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  • 该方法适用于复杂和动态环境中的现实世界部署.
  • 高效的点云处理是实现NMPC中实时避障的关键.