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Zeitschriftenartikel zum Thema "Timed elastic band"

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Yu, Lingli, Hanzhao Wu, Chongliang Liu, and Hao Jiao. "An Optimization-Based Motion Planner for Car-like Logistics Robots on Narrow Roads." Sensors 22, no. 22 (2022): 8948. http://dx.doi.org/10.3390/s22228948.

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Thanks to their strong maneuverability and high load capacity, car-like robots with non-holonomic constraints are often used in logistics to improve efficiency. However, it is difficult to plan a safe and smooth optimal path in real time on the restricted narrow roads of the logistics park. To solve this problem, an optimization-based motion planning method inspired by the Timed-Elastic-Band algorithm is proposed, called Narrow-Roads-Timed-Elastic-Band (NRTEB). Three optimization modules are added to the inner and outer workflow of the Timed-Elastic-Band framework. The simulation results show that the proposed method achieves safe reversing planning on narrow roads while the jerk of the trajectory is reduced by 72.11% compared to the original method. Real-world experiments reveal that the proposed method safely and smoothly avoids dynamic obstacles in real time when navigating forward and backward. The motion planner provides a safer and smoother trajectory for car-like robots on narrow roads in real time, which greatly enhances the safety, robustness and reliability of the Timed-Elastic-Band planner in logistics parks.
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Zhu, Hao, Kefan Jin, Rui Gao, Jialin Wang, and Richard Shi. "Timed-Elastic-Band-Based Variable Splitting for Autonomous Trajectory Planning." Symmetry 17, no. 6 (2025): 848. https://doi.org/10.3390/sym17060848.

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Existing trajectory planning methods often face challenges in ensuring stable robot motion control, leading to significant positional errors during navigation. This study proposes Timed-Elastic-Band-Based Variable Splitting (TEB-VS), a novel framework that integrates variable splitting (VS)—a constrained optimization technique—with the classical Timed-Elastic-Band (TEB) algorithm. Unlike incremental modifications to TEB, TEB-VS introduces a systematic combination of VS and TEB to decompose non-convex global constraints into tractable subproblems while leveraging symmetry principles for balanced multi-objective control (e.g., velocity, acceleration, and obstacle avoidance). Experimental results demonstrate that TEB-VS achieves a 46.5% improvement in motion stability over traditional TEB in obstacle-free simulations and a 37% enhancement in dynamic obstacle scenarios. Real-world tests show a 26.7% reduction in angular velocity oscillations, with computational efficiency comparable to TEB. The framework’s effectiveness in harmonizing trajectory smoothness and dynamic adaptability is validated through extensive simulations and TurtleBot2 experiments.
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Wu, Jiafeng, Xianghua Ma, Tongrui Peng, and Haojie Wang. "An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment." Sensors 21, no. 24 (2021): 8312. http://dx.doi.org/10.3390/s21248312.

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In recent decades, the Timed Elastic Band (TEB) algorithm is widely used for the AGV local path panning because of its convenient and efficiency. However, it may make a local detour when encountering a curve turn and cause excessive energy consumption. To solve this problem, this paper proposed an improved TEB algorithm to make the AGV walk along the wall when turning, which shortens the planning time and saves energy. Experiments were implemented in the Rviz visualization tool platform of the robot operating system (ROS). Simulated experiment results reflect that an amount of 5% reduction in the planning time has been achieved and the velocity curve implies that the operation was relatively smooth. Practical experiment results demonstrate the effectiveness and feasibility of the proposed method that the robots can avoid obstacles smoothly in the unknown static and dynamic obstacle environment.
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Eko, Purbo Wahyono, Suryawati Ningrum Endah, Sanggar Dewanto Raden, and Pramadihanto Dadet. "Stereo vision-based obstacle avoidance module on 3D point cloud data." TELKOMNIKA Telecommunication, Computing, Electronics and Control 18, no. 3 (2020): 1514–21. https://doi.org/10.12928/TELKOMNIKA.v18i3.14829.

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This paper deals in building a 3D vision-based obstacle avoidance and navigation. In order for an autonomous system to work in real life condition, a capability of gaining surrounding environment data, interpret the data and take appropriate action is needed. One of the required capability in this matter for an autonomous system is a capability to navigate cluttered, unorganized environment and avoiding collision with any present obstacle, defined as any data with vertical orientation and able to take decision when environment update exist. Proposed in this work are two-step strategy of extracting the obstacle position and orientation from point cloud data using plane based segmentation and the resultant segmentation are mapped based on obstacle point position relative to camera using occupancy grid map to acquire obstacle cluster position and recorded the occupancy grid map for future use and global navigation, obstacle position gained in grid map is used to plan the navigation path towards target goal without going through obstacle position and modify the navigation path to avoid collision when environment update is present or platform movement is not aligned with navigation path based on timed elastic band method.
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Sun, Junkai, Zezhou Sun, Pengfei Wei, et al. "Path Planning Algorithm for a Wheel-Legged Robot Based on the Theta* and Timed Elastic Band Algorithms." Symmetry 15, no. 5 (2023): 1091. http://dx.doi.org/10.3390/sym15051091.

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Aimed at the difficulty of path planning resulting from the variable configuration of the wheel-legged robot for future deep space explorations, this paper proposes a path planning algorithm based on the Theta* algorithm and Timed Elastic Band (TEB) algorithm. Firstly, the structure of the wheel-legged robot is briefly introduced, and the workspace of a single leg is analyzed. Secondly, a method to judge complete obstacles and incomplete obstacles according to the height of the obstacles is proposed alongside a method to search for virtual obstacles, to generate a grid map of the wheel and a grid map of the body, respectively. By dividing obstacles into complete obstacles and incomplete obstacles, the path planning of the wheel-legged robot is split into the planning of the body path and the planning of the wheel path. The body can be still simplified as a point by searching for the virtual obstacle, which avoids the difficulty of a planning path of a variable shape. Then, we proposed hierarchical planning and multiple optimization algorithms for the body path and wheel path based on the Theta* algorithm and TEB algorithm. The path can be optimized and smoothed effectively to obtain a shorter length and higher safety. On that basis, the proposed algorithm is simulated by Matlab. The results of simulations show that the algorithm proposed in this paper can effectively plan the path of the wheel-legged robot by using variable configurations for different types of obstacles. The path-planning algorithm of the wheel-legged robot proposed in this paper has a broad prospect for deep space exploration.
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Choi, Hyun-Min, Chansol Hurr, and Sukwon Kim. "Effects of Elastic Band Exercise on Functional Fitness and Blood Pressure Response in the Healthy Elderly." International Journal of Environmental Research and Public Health 17, no. 19 (2020): 7144. http://dx.doi.org/10.3390/ijerph17197144.

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Purpose: This study investigated the effects of 12 weeks of moderate intensity elastic band exercise (EBE) on functional fitness and blood pressure parameters in the elderly. Methods: 27 healthy older adults were randomly assigned to an exercise group (n = 15, age: 75.1 ± 1.4 years) and a control group (n = 12, age: 72.3 ± 1.4 years). Participants performed EBE for 60 min, three times a week, over the course of three months. The EBE consisted of incremental resistance and aerobic exercises designed to improve whole body fitness. Functional fitness and resting cardiovascular parameters were assessed before and after the exercise training program. Results: Grip strength, sit and reach, and one-leg stance improved significantly in the exercise group, while no significant improvements were found in chair stand and timed up and go (p < 0.05). Cardiovascular parameters including systolic blood pressure, diastolic blood pressure, mean arterial pressure, and pulse pressure significantly decreased in the exercise group relative to the control group (p < 0.05). Conclusions: Findings of the present study suggest that safe, inexpensive, and easily accessible EBE program with circuit training components play a significant role in improving upper and lower body fitness, as well as cardiovascular fitness, in the elderly.
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Hsu, Yen-I., Ying-Chou Chen, Chia-Lun Lee, and Nai-Jen Chang. "Effects of Diet Control and Telemedicine-Based Resistance Exercise Intervention on Patients with Obesity and Knee Osteoarthritis: A Randomized Control Trial." International Journal of Environmental Research and Public Health 18, no. 15 (2021): 7744. http://dx.doi.org/10.3390/ijerph18157744.

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This study investigated the effects of home-based nutritional and telemedicine-based resistance exercise interventions on improving body composition, blood biochemistry, and lower-limb functional performance. In total, 66 obese patients with mild-to-moderate knee osteoarthritis were randomly divided into a diet control group (D), elastic band resistance exercise group (E), and diet control plus elastic band exercise group (D + E). Each group was supervised by a clinical dietitian and follow-up was conducted via telephone calls or a communication application to track the participants’ progress. After 12 weeks of intervention, the D (p < 0.001) and D + E (p < 0.001) groups achieved significant weight loss. The D + E group exhibited a significant reduction in body fat relative to the D (p = 0.019) and E (p = 0.012) groups. Compared with the D (p = 0.002) and E (p = 0.019) groups, the D + E group achieved significant improvements in the timed up-and-go test and Western Ontario and McMaster Universities Osteoarthritis total scale. The D + E group experienced significant improvements in total cholesterol (p = 0.001), low-density lipoprotein cholesterol (p = 0.01), and triglyceride levels (p = 0.007) relative to other groups. In conclusion, individual diet control intervention combined with telemedicine-based resistance exercise intervention significantly improved the body composition, blood biochemistry, and lower-limb functional performance of the investigated population with comorbid conditions.
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Nguyen Lan Anh. "AN INTEGERATED NAVIGATION SYSTEM FOR AUTONOMOUS MOBILE ROBOT IN DYNAMIC ENVIROMENTS." Journal of Military Science and Technology, no. 66A (May 6, 2020): 32–46. http://dx.doi.org/10.54939/1859-1043.j.mst.66a.2020.32-46.

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To enable an autonomous mobile robot to navigate safely in a dy- namic environment, the mobile robot must address four typical functional blocks of the navigation system including perception, localization, motion planning, and motor control. In this study, we present an integrated navigation system for the autonomous mobile robot in the dynamic environment by incorporating the techniques proposed in our previous studies, including object detection and tracking system, localization system and motion planning system, into a completed navigation system. In addition, we propose an extended timed elastic band (ETEB) technique for online trajectory planning, which allows the mobile robot to proactively avoid obstacles in the surrounding environment. We validate the effectiveness of the proposed model through a series of experiments in both simulated and real-world environments. The experimental results show that our proposed motion model is capable of driving the mobile robots to proactively avoid dynamic obstacles, providing safe navigation for the robots.
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Lee, Moon Jin, Jun-Young Sung, and Jiyoun Kim. "Effect of Low-Intensity High-Repetition Versus High-Intensity Low-Repetition Elastic Band Resistance Training on Functional Physical Fitness and Myokine Levels in Older Adults." Applied Sciences 15, no. 2 (2025): 757. https://doi.org/10.3390/app15020757.

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This study investigates the effects of low-intensity high-repetition (LI-HR) and high-intensity low-repetition (HI-LR) resistance training (RT) on functional fitness and myokines in older adults. A total of 30 participants (mean age ~76 years) were randomized into control (n = 10), LI-HR (n = 10), or HI-LR (n = 10) groups. Participants in LI-HR and HI-LR groups performed elastic band-based RT three times per week for 12 weeks. Pre- and post-intervention assessments included functional fitness (relative grip strength, sit-to-stand, 4 m walk, timed up-and-go (TUG)), ankle muscle strength, lower extremity power, and myokine levels (IL-6, IGF-1, SPARC, BDNF). Both experimental groups showed significant IL-6 reduction (LI-HR: p = 0.033; HI-LR: p = 0.015) and IGF-1 increase (LI-HR: p = 0.003; HI-LR: p < 0.001). SPARC increased significantly only in the HI-LR group (p = 0.021). Functional improvements were noted in TUG for both groups, while the 4 m walk improved significantly in the HI-LR group (p < 0.001). Body fat percentage increased in both LI-HR (p = 0.003) and HI-LR (p = 0.047). In conclusion, both LI-HR and HI-LR RT effectively enhance functional fitness and key myokines, with LI-HR emerging as a promising, accessible option for older adults.
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Andreasson, Henrik, Jonas Larsson, and Stephanie Lowry. "A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization." Sensors 22, no. 7 (2022): 2588. http://dx.doi.org/10.3390/s22072588.

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This paper presents a local planning approach that is targeted for pseudo-omnidirectional vehicles: that is, vehicles that can drive sideways and rotate on the spot. This local planner—MSDU–is based on optimal control and formulates a non-linear optimization problem formulation that exploits the omni-motion capabilities of the vehicle to drive the vehicle to the goal in a smooth and efficient manner while avoiding obstacles and singularities. MSDU is designed for a real platform for mobile manipulation where one key function is the capability to drive in narrow and confined areas. The real-world evaluations show that MSDU planned paths that were smoother and more accurate than a comparable local path planner Timed Elastic Band (TEB), with a mean (translational, angular) error for MSDU of (0.0028 m, 0.0010 rad) compared to (0.0033 m, 0.0038 rad) for TEB. MSDU also generated paths that were consistently shorter than TEB, with a mean (translational, angular) distance traveled of (0.6026 m, 1.6130 rad) for MSDU compared to (0.7346 m, 3.7598 rad) for TEB.
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Dissertationen zum Thema "Timed elastic band"

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Mohamed, Zozk. "Analys av metoder för lokal rörelseplanering." Thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-92687.

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Under senare år har vi med hjälp av robotar som använder rörelseplanering kunnat automatisera olika processer och uppgifter. Idag finns det väldigt få strategier för lokal rörelseplanering vid jämförelse med global rörelseplanering. Syftet med det här projektet har varit att analysera tre strategier för lokal rörelseplanering, dessa har varit Dynamic Window Approach (DWA), Elastic Band (Eband) och Timed Elastic Band (TEB).I projektet har styrkor, svagheter, beteenden och förbättringsmöjligheter för respektive strategi studerats närmare genom att utföra olika simulerade tester. I testerna mätes tid för att nå mål, antal kollisioner och antalet gånger som målet nåddes. Under projektet användes en virtuell allriktad robot från ABB för att testa strategierna. Testerna genomfördes på ett så rättvist sätt som möjligt, där alla strategier fick samma antal försök och hade samma information om robotens begränsningar.Resultatet visar att TEB är den snabbaste strategin, följt av DWA och sista Eband som var den långsammaste strategin. TEB var också den strategi som presterade bäst vid dynamiska hinder, däremot var den också den strategi som kolliderade mest i testerna, medan Eband kolliderade minst.<br>In recent years, we have been able to automate various processes and tasks with the help of robots that use motion planning. Today, there are very few strategies for local motion planning when compared to global motion planning. The purpose of this project has been to analyze three strategies for local motion planning, these have been Dynamic Window Approach (DWA), Elastic Band (Eband) and Timed Elastic Band (TEB).In the project, strengths, weaknesses, behaviours and opportunities for improvement for each strategy have been studied in more detail by performing various simulated tests. The tests measure time to reach the goal, the number of collisions and the number of succeeding attempts. During the project, a virtual omni-directional robot from ABB was used to perform the tests. The tests were performed in as fair a way as possible, where all strategies got the same number of attempts and had the same information about the robot's limitations.The results show that TEB is the fastest strategy, followed by DWA and last Eband that was the slowest strategy. TEB was also the strategy that performed best in dynamic obstacles, however, it was also the strategy that collided most of the tests, while Eband collided the least.
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Hongisto, Jonas. "Performance Analysis of Elastic Band Based Time Optimal Control Formulations for Industrial Robots." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-260073.

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Industrial robots are becoming an integral part of the production industry. Efficientoperation with respect to fast movements is critical to increase the economicbenefits of automating the production line. Facilitating near optimalitywith regards to time has high computational demands however and multipleframeworks have been suggested to remedy this. In this thesis we consider oneof these frameworks, namely the elastic band framework. We investigate howthe elastic band time optimal control framework performs regarding computationaltime for point-to-point movements on a SCARA type robot with threerevolute and one prismatic joint. We compare an unconstrained elastic bandformulation with a constrained formulation in the open loop, along with simulatingperformance in the closed-loop. We show that a constrained formulationwhich considers the sparseness of underlying matrices in the optimizationproblem has the lowest computational time. Additionally, we show that the unconstrainedformulation benefits from early stopping. Finally, we show that acontroller implementing this formulation can be used in a model predictivecontroller, although the computational time is still too high for commercialuse on the hardware used in testing.<br>Industrirobotar har blivit en viktig del av produktionsindustrin. Effektiv driftmed avseende på snabba rörelser är avgörande för att öka de ekonomiska fördelarnaav att använda industrirobotar. I detta examensarbete analyserar vi hurdet så kallade elastic band-ramvärket presterar med avseende på beräkningstidför poit-to-point rörelser på en robot av typ SCARA med tre roterande led ochett prismatikt led. I synnerhet jämför vi en formulering med bivilkor med enformulering där bivilkoren inkorporerats i kostnadsfunktionen. Vi simulerarockså prestanda i ett slutet system. Vi visar att formulering med bivilkor somtar hänsyn till de underliggande matrisernas gleshet har den lägsta beräkningstiden. Vidare visar vi att lösande av optimeringsproblemet för formuleringendär bivilkoren inkorporerats i kostnadsfunktionen kan stoppas tidigt utanstörre försämring av resultat. Till sist visar vi att en regulator som implmenterardenna formulering kan användas i MPC styrning. Beräkningstiden är dockfortfarande för hög för kommersiell användning på hårdvaran som användes idetta exjobb.
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Cebrecos, Ruiz Alejandro. "Transmission, reflection and absorption in Sonic and Phononic Crystals." Doctoral thesis, Universitat Politècnica de València, 2015. http://hdl.handle.net/10251/56463.

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[EN] Phononic crystals are artificial materials formed by a periodic arrangement of inclusions embedded into a host medium, where each of them can be solid or fluid. By controlling the geometry and the impedance contrast of its constituent materials, one can control the dispersive properties of waves, giving rise to a huge variety of interesting and fundamental phenomena in the context of wave propagation. When a propagating wave encounters a medium with different physical properties it can be transmitted and reflected in lossless media, but also absorbed if dissipation is taken into account. These fundamental phenomena have been classically explained in the context of homogeneous media, but it has been a subject of increasing interest in the context of periodic structures in recent years as well. This thesis is devoted to the study of different effects found in sonic and phononic crystals associated with transmission, reflection and absorption of waves, as well as the development of a technique for the characterization of its dispersive properties, described by the band structure. We start discussing the control of wave propagation in transmission in conservative systems. Specifically, our interest is to show how sonic crystals can modify the spatial dispersion of propagating waves leading to control the diffractive broadening of sound beams. Making use of the spatial dispersion curves extracted from the analysis of the band structure, we first predict zero and negative diffraction of waves at frequencies close to the band-edge, resulting in collimation and focusing of sound beams in and behind a 3D sonic crystal, and later demonstrate it through experimental measurements. The focusing efficiency of a 3D sonic crystal is limited due to the strong scattering inside the crystal, characteristic of the diffraction regime. To overcome this limitation we consider axisymmetric structures working in the long wavelength regime, as a gradient index lens. In this regime, the scattering is strongly reduced and, in an axisymmetric configuration, the symmetry matching with acoustic sources radiating sound beams increase its efficiency dramatically. Moreover, the homogenization theory can be used to model the structure as an effective medium with effective physical properties, allowing the study of the wave front profile in terms of refraction. We will show the model, design and characterization of an efficient focusing device based on these concepts. Consider now a periodic structure in which one of the parameters of the lattice, such as the lattice constant or the filling fraction, gradually changes along the propagation direction. Chirped crystals represent this concept and are used here to demonstrate a novel mechanism of sound wave enhancement based on a phenomenon known as "soft" reflection. The enhancement is related to a progressive slowing down of the wave as it propagates along the material, which is associated with the group velocity of the local dispersion relation at the planes of the crystal. A model based on the coupled mode theory is proposed to predict and interpret this effect. Two different phenomena are observed here when dealing with dissipation in periodic structures. On one hand, when considering the propagation of in-plane sound waves in a periodic array of absorbing layers, an anomalous decrease in the absorption, combined with a simultaneous increase of reflection and transmission at Bragg frequencies is observed, in contrast to the usual decrease of transmission, characteristic in conservative periodic systems at these frequencies. For a similar layered media, backed now by a rigid reflector, out-of-plane waves impinging the structure from a homogeneous medium will increase dramatically the interaction strength. In other words, the time delay of sound waves inside the periodic system will be considerably increased resulting in an enhanced absorption, for a broadband spectral range.<br>[ES] Los cristales fonónicos son materiales artificiales formados por una disposición periódica de inclusiones en un medio, pudiendo ambos ser de carácter sólido o fluido. Controlando la geometría y el contraste de impedancias entre los materiales constituyentes se pueden controlar las propiedades dispersivas de las ondas. Cuando una onda propagante se encuentra un medio con diferentes propiedades físicas puede ser transmitida y reflejada, en medios sin pérdidas, pero también absorbida, si la disipación es tenida en cuenta. La presente tesis está dedicada al estudio de diferentes efectos presentes en cristales sónicos y fonónicos relacionados con la transmisión, reflexión y absorción de ondas, así como el desarrollo de una técnica para la caracterización de sus propiedades dispersivas, descritas por la estructura de bandas. En primer lugar, se estudia el control de la propagación de ondas en transmisión en sistemas conservativos. Específicamente, nuestro interés se centra en mostrar cómo los cristales sónicos son capaces de modificar la dispersión espacial de las ondas propagantes, dando lugar al control del ensanchamiento de haces de sonido. Haciendo uso de las curvas de dispersión espacial extraídas del análisis de la estructura de bandas, se predice primero la difracción nula y negativa de ondas a frecuencias cercanas al borde de la banda, resultando en la colimación y focalización de haces acústicos en el interior y detrás de un cristal sónico 3D, y posteriormente se demuestra mediante medidas experimentales. La eficiencia de focalización de un cristal sónico 3D está limitada debido a las múltiples reflexiones existentes en el interior del cristal. Para superar esta limitación se consideran estructuras axisimétricas trabajando en el régimen de longitud de onda larga, como lentes de gradiente de índice. En este régimen, las reflexiones internas se reducen fuertemente y, en configuración axisimétrica, la adaptación de simetría con fuentes acústicas radiando haces de sonido incrementa la eficiencia drásticamente. Además, la teoría de homogenización puede ser empleada para modelar la estructura como un medio efectivo con propiedades físicas efectivas, permitiendo el estudio del frente de ondas en términos refractivos. Se mostrará el modelado, diseño y caracterización de un dispositivo de focalización eficiente basado en los conceptos anteriores. Considérese ahora una estructura periódica en la que uno de los parámetros de la red, sea el paso de red o el factor de llenado, cambia gradualmente a lo largo de la dirección de propagación. Los cristales chirp representan este concepto y son empleados aquí para demostrar un mecanismo novedoso de incremento de la intensidad de la onda sonora basado en un fenómeno conocido como reflexión "suave". Este incremento está relacionado con una ralentización progresiva de la onda conforme se propaga a través del material, asociado con la velocidad de grupo de la relación de dispersión local en los planos del cristal. Un modelo basado en la teoría de modos acoplados es propuesto para predecir e interpretar este efecto. Se observan dos fenómenos diferentes al considerar pérdidas en estructuras periódicas. Por un lado, si se considera la propagación de ondas sonoras en un array periódico de capas absorbentes, cuyo frente de ondas es paralelo a los planos del cristal, se produce una reducción anómala en la absorción combinada con un incremento simultáneo de la reflexión y transmisión a las frecuencias de Bragg, de forma contraria a la habitual reducción de la transmisión, característica de sistemas periódicos conservativos a estas frecuencias. En el caso de la misma estructura laminada en la que se cubre uno de sus lados mediante un reflector rígido, la incidencia de ondas sonoras desde un medio homogéneo, cuyo frente de ondas es perpendicular a los planos del cristal, produce un gran incremento de la fuerza de<br>[CAT] Els cristalls fonònics són materials artificials formats per una disposició d'inclusions en un medi, ambdós poden ser sòlids o fluids. Controlant la geometría i el contrast d'impedàncies dels seus materials constituents, és poden controlar les propietats dispersives de les ondes, permetent una gran varietatde fenòmens fonamentals interessants en el context de la propagació d'ones. Quan una ona propagant troba un medi amb pèrdues amb propietats físiques diferents es pot transmetre i reflectir, però també absorbida si la dissipació es té en compte. Aquests fenòmens fonamentals s'han explicat clàssicament en el context de medis homogenis, però també ha sigut un tema de creixent interés en el context d'estructures periòdiques en els últims anys. Aquesta tesi doctoral tracta de l'estudi de diferents efectes en cristalls fonònics i sònics lligats a la transmissió, reflexió i absorció d'ones, així com del desenvolupament d'una tècnica de caracterització de les propietats dispersives, descrites mitjançant la estructura de bandes. En primer lloc, s'estudia el control de la propagació ondulatori en transmissió en sistemes conservatius. Més específicament, el nostre interés és mostrar com els cristalls sonors poden modificar la dispersió espacial d'ones propagants donant lloc al control de l'amplària per difracció dels feixos sonors. Mitjançant les corbes dispersió espacial obtingudes de l'anàlisi de l'estructura de bandes, es prediu, en primer lloc, la difracció d'ones zero i negativa a freqüències próximes al final de banda. El resultat és la collimació i focalització de feixos sonors dins i darrere de cristalls de so. Després es mostra amb mesures experimentals. L'eficiència de focalització d'un cristall de so 3D està limitada per la gran dispersió d'ones dins del cristall, que és característic del règim difractiu. Per a superar aquesta limitació, estructures axisimètriques que treballen en el règim de llargues longituds d'ona, i es comporten com a lents de gradient d'índex. En aquest règim, la dispersió es redueix enormement i, en una configuració axisimètrica, a causa de l'acoblament de la simetría amb les fonts acústiques que radien feixos sonors, l'eficiència de radiació s'incrementa significativament. D'altra banda, la teoria d'homogeneïtzació es pot utilitzar per a modelar, dissenyar i caracteritzar un dispositiu eficient de focalització basat en aquests conceptes. Considerem ara una estructura periòdica en la qual un dels seus paràmetres de xarxa, com ara la constant de xarxa o el factor d'ompliment canvia gradualment al llarg de la direcció de propagació. Els cristalls chirped representen aquest concepte i s'utilitzen ací per a demostrar un mecanisme nou d'intensificació d'ones sonores basat en el fenòmen conegut com a reflexió "suau". La intensificació està relacionada amb la alentiment progressiva de l'ona conforme propaga al llarg del material, que està associada amb la velocitat de grup de la relació de dispersió local en els diferents plànols del cristall. Es proposa un model basat en la teoria de modes acoblats per a predir i interpretar este efecte. Dos fenòmens diferents cal destacar quan es tracta d'estructures periòdiques amb dissipació. Per un costat, al considerar la propagació d'ones sonores en el plànol en un array periòdic de capes absorbents, s'observa una disminució anòmala de l'absorció i es combina amb un augment simultani de reflexió i transmissió en les freqüències de Bragg que contrasta amb la usual disminució de transmissió, característica dels sistemes conservatius a eixes freqüències. Per a un medi similar de capes, amb un reflector rígid darrere, les ones fora del pla incidint l'estructura des de un medi homogeni, augmentaran considerablement la interacció. En altres paraules, el retràs temporal de les ones sonores dins del sistema periòdic augmentarà significativament produint un augmen<br>Cebrecos Ruiz, A. (2015). Transmission, reflection and absorption in Sonic and Phononic Crystals [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/56463<br>TESIS<br>Premiado
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Bücher zum Thema "Timed elastic band"

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Onyx (Asterales) Ultra 12-Month Day-at-a-time Hardback Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Onyx (Asterales) Mini 12-Month Day-at-a-time Hardback Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Azure (Equinoxe) Ultra 12-Month Day-at-a-time Hardback Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Porto (Portuguese Tiles) Midi 12-Month Day-at-a-time Hardback Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Porto (Portuguese Tiles) Ultra 12-Month Day-at-a-time Hardback Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Wild Thistle (Vox Botanica) Mini 12-Month Day-at-a-time Hardback Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Restoration (the Queen's Binding) Ultra 12-Month Day-at-a-time Softcover Flexi Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Morris Pink Honeysuckle (William Morris) Mini 12-Month Day-at-a-time Hardback Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Firebird (Birds of Happiness) Midi 12-Month Day-at-a-time Softcover Flexi Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Wild Flowers (Playful Creations) Midi 12-Month Day-at-a-time Softcover Flexi Dayplanner 2025 (Elastic Band Closure). Paperblanks Ltd., 2024.

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Buchteile zum Thema "Timed elastic band"

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Ochkov, Valery, Alan Stevens, and Anton Tikhonov. "Three Circles Tied with an Elastic Band or New Pendulum." In STEM Problems with Mathcad and Python. Chapman and Hall/CRC, 2022. http://dx.doi.org/10.1201/9781003228356-19.

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Rösmann, Christoph, Frank Hoffmann, and Torsten Bertram. "Online Trajectory Planning in ROS Under Kinodynamic Constraints with Timed-Elastic-Bands." In Studies in Computational Intelligence. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-54927-9_7.

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Martínez-Gutiérrez, Alberto, Javier Díez-González, Paula Verde, Rubén Ferrero-Guillén, and Hilde Perez. "Analysis of Navigation Algorithms for a Fleet of Mobile Robots by Means of Digital Twins." In Proceedings of the XV Ibero-American Congress of Mechanical Engineering. Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-38563-6_60.

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AbstractIndustrial maintenance is undergoing a process of digitalization and automation through the use of Industry 4.0 technologies. An example is the employment of digital twins which allow virtualizing assets such as a fleet of Autonomous Mobile Robots (AMR) . In this paper, we analyze two local navigation algorithms for AMRs navigation in a digitized environment: Dynamic Window Approximation (DWA) and Time Elastic Band (TEB) . For this purpose, a digital twin is implemented in the ROS ecosystem. In this environment, a combined mission of a fleet of three AMRs is simulated where they navigate together in order to compare the behavior of the algorithms in dynamic industrial environments. As a result, the trajectories of each AMR that are key for production cost planning are analyzed. Finally, we introduce in this work a web server to interact with the developed digital twin facilitating its use.
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Kafesaki, M., M. M. Sigalas, and N. Garcia. "The Finite Difference Time Domain Method for the Study of Two-Dimensional Acoustic and Elastic Band Gap Materials." In Photonic Crystals and Light Localization in the 21st Century. Springer Netherlands, 2001. http://dx.doi.org/10.1007/978-94-010-0738-2_5.

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Hürst, Wolfgang. "Elastic Interfaces for Visual Data Browsing." In Encyclopedia of Human Computer Interaction. IGI Global, 2006. http://dx.doi.org/10.4018/978-1-59140-562-7.ch030.

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In this article, we discuss the concept of elastic interfaces, which was originally introduced by Masui, Kashiwagi, and Borden (1995) a decade ago for the manipulation of discrete, time-independent data. It gained recent attraction again by our own work in which we adapted and extended it in order to use it in a couple of other applications, most importantly in the context of continuous, time-dependent documents (Hürst &amp; Götz, 2004; Hürst, Götz, &amp; Lauer, 2004). The basic idea of an elastic interface is illustrated in Figure 1. Normally, objects are moved by dragging them directly to the target position (direct positioning). With elastic interfaces, the object follows the cursor or mouse pointer on its way to the target position with a speed s that is a function of the distance d between the cursor and the object. They are called elastic because the behavior can be explained by the rubber-band metaphor, in which the connection between the cursor and the object is seen as a rubber band: The more the band is stretched, the stronger the force between the object and the cursor gets, which makes the object move faster. Once the object and cursor come closer to each other, the pressure on the rubber band decreases, thus slowing down the object’s movement. In the next section we describe when and why elastic interfaces are commonly used and review related approaches. Afterward, we illustrate different scenarios and applications in which elastic interfaces have been used successfully for visual data browsing, that is, for skimming and navigating through visual data. First, we review the work done by Masui (1998) and Masui et al. (1995) in the context of discrete, time-independent data. Then we describe our own work, which applies the concept of elastic interfaces to continuous, time-dependent media streams. In addition, we discuss specific aspects considering the integration of such an elastic behavior into common GUIs (graphical user interfaces) and introduce a new interface design that is especially useful in context with multimedia-document skimming.
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Altabey, Wael A. "Improvement of Adaptive Vibration Isolators Based on Magnetorheological Elastomer Materials." In Advances in Transdisciplinary Engineering. IOS Press, 2024. http://dx.doi.org/10.3233/atde240636.

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As a composite material, the magnetic flow in the Magnetorheological elastomer (MRE) becomes elastable particles suspended in the non-magnetic elastomer body. The magnetic field effect can make the material have variable stiffness and damping characteristics, so that it is adaptive and controllable. The biggest disadvantage of traditional MRE is that the width of the operating band is limited and narrow. The present work proposes a new model of seismic isolator based on MRE mixed with carbon Nano-tubes. During the curing process, a multi-wall carbon Nano-tubes (MWCNTs), which provides the adaptive frequency for real-time vibration control under transient disturbance. The adaptability has greatly improved the sustainability of the structures, especially for the high-risk structures of earthquakes. We found that the magnetic flow into the elastic body has more effective functions when mixed with MWCNTs. Compared with the traditional isolators, the magnetic and mechanical properties of the material are improved well, and it is expected to achieve structure optimization and adaptive performance.
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Huang, Yi, Diqiu Lu, Dabin Xu, and Guilin Du. "Design of Intake Tower Structure Based on Elastic Stress Diagram Method." In Advances in Transdisciplinary Engineering. IOS Press, 2024. http://dx.doi.org/10.3233/atde240690.

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In the building of hydro-power station, the inlet tower structure of the spillway tunnel is an important building to ensure the realization of the flood discharge function of the hydro-power station. The tower inlet is a tower-shaped junction against the bank slope. The shaft type water inlet is a gate arranged in the shaft, which is generally suitable for the part of the bank slope is slow and the inlet section has good conditions for forming holes. In this project, the slope of the water inlet is steep and the topographic elevation is low. If the shaft intake is used, there is no condition for the layout of the shaft, and the position of the shaft is close to the left dam abutment, which conflicts with the layout of the dam, so the inlet type is chosen as the tower type. In order to study the rationality and seismic resistance of the design of the intake tower of a hydro-power station preferably, the numerical simulation of the intake tower is carried out based on the finite element analysis method. At the same time, the vertical stress and maximum principal stress of the typical position of the intake tower under two working conditions are given. The calculation results show that the stability of the intake tower is good and the design of the intake tower is reasonable, which provides a scientific basis for the design and construction of the intake water tower and similar research.
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Pradhan, Amit, Puja Acharya, and Manjula Y. "ROUTING AND SPECTRUM ASSIGNMENT IN ELASTIC OPTICAL NETWORKS PERFORMANCE OF QUANTUM DOT BASED INTERMEDIATE BAND SOLAR CELLS." In 9th National Conference & Exhibition on Emerging and Innovative Trends in Engineering Technology (NCEEITET). IARS' Press Australia, 2023. https://doi.org/10.62431/7dm2kh48.

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Researchers are struggling to create a high-speed communication system that meets society's present needs. Because internet traffic demand is rising rapidly. Internet bandwidth consumption is rising rapidly. Information exchange enables real-time multimedia applications, e-science, video on demand, online banking, electronically accessible equipment, online auction services, video-conferencing, big-data files, and more. Data transfer is likely due to the fast development of high-speed communication networks. This need required new electronic networks and platforms since conventional ones couldn't meet it. An optical network might supply this need. Fibers enable massive capacity, reliable communication across long distances, and reduced user downtime in optical networks. Fixed grid Wavelength Division Multiplexed (WDM) networks are unlikely to function for future uses. High-speed communication and data transfer are in demand. This resulted. This preset grid system led researchers to study adjustable grid solutions with expandable bandwidth. Inefficient resource consumption caused this. Flexible grid generates subdivisions within the set grid channel bandwidth. This is done by gridding the channel. This will divide the channel's resources. Slot width, modulation format, and connection demands define the number of continuous slots. We estimate that the slot bandwidth is 12.5 GHz on average, however it might vary from 6.25 GHz to 12.5 GHz (as per ITU-T Recommendation). The greatest communication reach between the source and destination nodes will determine the modulation strategy. We have worked hard to find the best elastic optical network bandwidth allocation method.
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Taneri, Sencer. "A Monte Carlo Assisted Simulation of Stochastic Molecular Dynamics for Folding of the Protein Crambin in a Viscous Environment." In Applied Biomathematics for Nucleic Acid Chemistry and Protein Folding: Quantitative Simulations. BENTHAM SCIENCE PUBLISHERS, 2023. http://dx.doi.org/10.2174/9789815179965123010006.

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In Chapter 3, we investigate the folding dynamics of the plant-seed protein Crambin in a liquid environment, that usually happens to be water with some certain viscosity. To take into account the viscosity, necessitates a stochastic approach. This can be summarized by a 2D-Langevin equation, even though the simulation is still carried out in 3D. Solution of the Langevin equation will be the basic task in order to proceed with a Molecular Dynamics simulation, which will accompany a delicate Monte Carlo technique. The potential wells, used to engineer the energy space assuming the interaction of monomers constituting the protein-chain, are simply modeled by a combination of two parabola. This combination will approximate the real physical interactions, that are given by the well known Lennard-Jones potential. Contributions to the total potential from torsion, bending and distance dependent potentials are good to the fourth nearest neighbor. The final image is in very good geometric agreement with the real shape of the protein chain, which can be obtained from the protein data bank. The quantitative measure of this agreement is the similarity parameter with the native structure, which is found to be 0.91 &lt; 1 for the best sample. The folding time can be determined from Debye-relaxation process. We apply two regimes and calculate the folding time, corresponding to the elastic domain mode, which yields 5.2ps for the same sample.
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Arıkan, Halime, and Erkan Erol. "Current Exercise Approaches in Hip Pathologies." In Current Exercise Approaches in Orthopedic Disorders: A handbook for rehabilitation professionals. Nobel Tip Kitabevleri, 2024. http://dx.doi.org/10.69860/nobel.9786053358770.7.

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Physiotherapy approaches aim to eliminate pain, restore joint movement, and enhance strength and agility, with a focus on the hip region. Planned, structured, and intentional physical activity, or exercise, is vital in rehabilitation for improving physical fitness components like cardiovascular health, muscle strength, endurance, flexibility, and body composition.rnVarious exercise types, including isometric, isotonic, and isokinetic exercises, enhance muscle performance and function in the hip area. The FITT principle (Frequency, Intensity, Type, Time) guides exercise prescription, emphasizing progression and enjoyment to ensure continuous participation.rnAerobic (Cardiovascular) Exercises: Activities like walking, jogging, running, cycling, and swimming improve endurance and benefit hip mobility and stability.rnRange of Motion (Mobility) Exercises: These aim to improve hip joint movement and can be active, active-assisted, or passive, targeting flexibility and range of motion.rnStretching (Flexibility) Exercises: These lengthen the muscles around the hip to improve flexibility and elasticity. They include ballistic, dynamic, static, and proprioceptive neuromuscular facilitation (PNF) stretching.rnStrengthening (Resistance) Exercises: These increase hip muscle strength and endurance using free weights, machines, or elastic bands. Key exercises include squats, lunges, and hip bridges, targeting gluteal muscles and hip flexors.rnEndurance Exercises: Repeated isotonic contractions, like running and swimming, improve anaerobic threshold and sustain activity, crucial for hip endurance and stability.rnProprioception Exercises: These enhance hip joint and body movement awareness, crucial for balance and movement, including single-leg stands and stability ball exercises.rnNeuromotor (Neuromuscular) Exercises: These improve sensorimotor control and functional joint stabilization by focusing on movement quality around the hip, involving controlled leg lifts and hip rotations.rnBalance and Coordination Exercises: These help control the center of gravity and execute smooth, accurate motor responses by optimizing muscle interaction, crucial for hip stability. Activities include single-leg balance drills and tandem walking.rnPlyometrics Exercises: Explosive movements like jump squats and lateral hops enhance hip muscle strength and stiffness.rnIn conclusion, various exercises target different aspects of hip health and function. Effective exercise therapy requires understanding the effects of exercise on multiple body systems, functional assessment, anatomy, kinesiology, injury and illness management, recovery, complications, and preventive methods, all focused on the hip region.
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Konferenzberichte zum Thema "Timed elastic band"

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Xi, Haoyu, Wei Li, Fangzhou Zhao, Liang Chen, and Yu Hu. "A Safe and Efficient Timed-Elastic-Band Planner for Unstructured Environments." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802811.

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Xi, Zhimin. "An Enhanced Timed Elastic Band Method for Autonomous Navigation and its Collision Avoidance Reliability Analysis." In ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/detc2023-116695.

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Abstract The timed elastic band (TEB) method is an optimization-based navigation algorithm which uses the idea of an elastic band to connect an agent’s current pose to its goal position. The method is composed of three main levels: i) a feasible global path, ii) deforming collision-free path in real time, and iii) a control method to move the robot along the path. Static and moving obstacles deform the elastic band but the agent will always be pulled toward the goal position while avoiding obstacles. The key issue is the required computation efficiency to calculate the collision-free path in real time under dynamically changing environment. In literature, various case studies have been implemented to demonstrate the performance considering various constraints. However, its collision avoidance reliability under safety critical navigation scenarios has not yet been studied. The major contributions of this paper are summarized as follows. Firstly, an enhanced version of the TEB (i.e., eTEB) is proposed to improve the computational efficiency by explicitly considering non-holonomic constraints of the TEB method. Secondly, collision avoidance reliability analysis of the eTEB method is systematically conducted considering non-reactive moving obstacles. Results indicate that the eTEB method is much more reliable than the DWA for head-on collision avoidance with a single non-reactive moving obstacle at a time.
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Chung, Yiu Ming, Hazem Youssef, and Moritz Roidl. "Distributed Timed Elastic Band (DTEB) Planner: Trajectory Sharing and Collision Prediction for Multi-Robot Systems." In 2022 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2022. http://dx.doi.org/10.1109/icra46639.2022.9811762.

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Shen, Chen, and Gim Song Soh. "Targeted Sampling DWA: A Path-Aware DWA Sampling Strategy for Omni-Directional Robots." In ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/detc2023-116450.

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Abstract This paper describes a modified sampling strategy for the Dynamic Window Approach (DWA), a local path planner, for omni-directional robot motion planning. An efficient local path planner allows the robot to quickly respond to dynamic obstacles and ensures that the resultant velocity commands meet the dynamic constraints of the robot. While typical DWA implementations sample the velocity space evenly, we propose that a targeted sampling approach will result in a more fine-grained search of the relevant velocity space, leading to finer control and better performance in space-constrained environments. Our targeted sampling strategy (TS-DWA) is informed by the global planned path of the robot, allowing us to sample more velocities in the general path direction. We employ a polar velocity generator to selectively sample velocities and couple angular velocity samples to the path curvature. A bias for angular velocity is added for robots with a preferred heading, such as robots with forward-mounted sensors, to quickly turn towards the desired direction for better sensing. The strategy is implemented as a ROS Navigation Stack local_planner plugin and tested in simulation with Gazebo using an omni-directional robot platform. Experiments show that as the space around the simulated robot gets smaller, our proposed sampling strategy results in more successful navigation trials in space-constrained environments to the desired goal compared to other commonly-used methods like DWA and Timed-Elastic-Band, where planning fails or oscillates.
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Ulbrich, Fritz, Daniel Goehring, Tobias Langner, Zahra Boroujeni, and Raul Rojas. "Stable timed elastic bands with loose ends." In 2017 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2017. http://dx.doi.org/10.1109/ivs.2017.7995718.

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Rosmann, Christoph, Frank Hoffmann, and Torsten Bertram. "Timed-Elastic-Bands for time-optimal point-to-point nonlinear model predictive control." In 2015 European Control Conference (ECC). IEEE, 2015. http://dx.doi.org/10.1109/ecc.2015.7331052.

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Dai, Wanyu, and Xianghua Ma. "Improvement of collision detection using Time Elastic Band algorithm." In ICIT 2021: IoT and Smart City. ACM, 2021. http://dx.doi.org/10.1145/3512576.3512592.

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Smith, Justin S., Ruoyang Xu, and Patricio Vela. "egoTEB: Egocentric, Perception Space Navigation Using Timed-Elastic-Bands." In 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. http://dx.doi.org/10.1109/icra40945.2020.9196721.

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Hsu, Pei-En, Cheng-Hung Lin, Jyun-Hong He, and Hsin-Han Chiang. "Collision Avoidance for AGV Navigation Using the Time Elastic Band Algorithm." In 2023 International Conference on Consumer Electronics - Taiwan (ICCE-Taiwan). IEEE, 2023. http://dx.doi.org/10.1109/icce-taiwan58799.2023.10227064.

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Xia, Yiwei, Giuseppe Trainiti, Alper Erturk, and Massimo Ruzzene. "Selective Wave Filtering in Time-Modulated Elastic Metamaterials." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85991.

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We implement periodic stiffness time-modulation in a beam with piezoelectric patches and switchable shunted negative capacitance. The shunted negative capacitance circuits, connected in series with each piezoelectric patch through a switch, soften the structure. By alternatively opening and closing the switch, the beam’s stiffness effectively oscillates periodically between two values. We present a simplified theoretical model of time-periodic beams and describe the occurrence of flat bands in the dispersion diagrams. We show that a narrowband reflection from a time-modulated domain can be obtained for a broadband incident wave, hence qualifying the modulated domain as a single-port system with tunable response. We validate our theoretical findings by comparing time-domain simulations with experimental measurements of transient wavefields through scanning Doppler laser vibrometry.
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Berichte der Organisationen zum Thema "Timed elastic band"

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Oliynyk, Kateryna, and Matteo Ciantia. Application of a finite deformation multiplicative plasticity model with non-local hardening to the simulation of CPTu tests in a structured soil. University of Dundee, 2021. http://dx.doi.org/10.20933/100001230.

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In this paper an isotropic hardening elastoplastic constitutive model for structured soils is applied to the simulation of a standard CPTu test in a saturated soft structured clay. To allow for the extreme deformations experienced by the soil during the penetration process, the model is formulated in a fully geometric non-linear setting, based on: i) the multiplicative decomposition of the deformation gradient into an elastic and a plastic part; and, ii) on the existence of a free energy function to define the elastic behaviour of the soil. The model is equipped with two bonding-related internal variables which provide a macroscopic description of the effects of clay structure. Suitable hardening laws are employed to describe the structure degradation associated to plastic deformations. The strain-softening associated to bond degradation usually leads to strain localization and consequent formation of shear bands, whose thickness is dependent on the characteristics of the microstructure (e.g, the average grain size). Standard local constitutive models are incapable of correctly capturing this phenomenon due to the lack of an internal length scale. To overcome this limitation, the model is framed using a non-local approach by adopting volume averaged values for the internal state variables. The size of the neighbourhood over which the averaging is performed (characteristic length) is a material constant related to the microstructure which controls the shear band thickness. This extension of the model has proven effective in regularizing the pathological mesh dependence of classical finite element solutions in the post-localization regime. The results of numerical simulations, conducted for different soil permeabilities and bond strengths, show that the model captures the development of plastic deformations induced by the advancement of the cone tip; the destructuration of the clay associated with such plastic deformations; the space and time evolution of pore water pressure as the cone tip advances. The possibility of modelling the CPTu tests in a rational and computationally efficient way opens a promising new perspective for their interpretation in geotechnical site investigations.
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