Academic literature on the topic 'Path-velocity decomposition'
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Journal articles on the topic "Path-velocity decomposition"
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Kant, Kamal, and Steven W. Zucker. "Toward Efficient Trajectory Planning: The Path-Velocity Decomposition." International Journal of Robotics Research 5, no. 3 (1986): 72–89. http://dx.doi.org/10.1177/027836498600500304.
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Pham, Quang-Cuong, Stéphane Caron, Puttichai Lertkultanon, and Yoshihiko Nakamura. "Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots." International Journal of Robotics Research 36, no. 1 (2016): 44–67. http://dx.doi.org/10.1177/0278364916675419.
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Path-velocity decomposition is an intuitive yet powerful approach to addressing the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler steps: first, a path is found in the configuration space that satisfies the geometric constraints (path planning), and second, a time-parameterization of that path satisfying the kinodynamic constraints is found. A fundamental requirement is that the path found in the first step must be time-parameterizable. Most existing works fulfill this requirement by enforcing quasi-static constraints during the path planning step, resulting in an important loss in completeness. We propose a method that enables path-velocity decomposition to discover truly dynamic motions, i.e. motions that are not quasi-statically executable. At the heart of the proposed method is a new algorithm – Admissible Velocity Propagation – which, given a path and an interval of reachable velocities at the beginning of that path, computes exactly and efficiently the interval of all the velocities the system can reach after traversing the path, while respecting the system’s kinodynamic constraints. Combining this algorithm with usual sampling-based planners then gives rise to a family of new trajectory planners that can appropriately handle kinodynamic constraints while retaining the advantages associated with path-velocity decomposition. We demonstrate the efficiency of the proposed method on some difficult kinodynamic planning problems, where, in particular, quasi-static methods are guaranteed to fail.
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Jain, Vasundhara, Uli Kolbe, Gabi Breuel, and Christoph Stiller. "Collision Avoidance for Multiple Static Obstacles using Path-Velocity Decomposition." IFAC-PapersOnLine 52, no. 8 (2019): 265–70. http://dx.doi.org/10.1016/j.ifacol.2019.08.081.
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Wang, Dier, and Jun Zhang. "Two improved scanning path planning algorithms and a 3D printing control system with circular motion controller." Rapid Prototyping Journal 28, no. 4 (2021): 695–703. http://dx.doi.org/10.1108/rpj-08-2020-0190.
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Purpose This paper aims to improve the infilling efficiency and the quality of parts forming. It proposes two improved scanning path planning algorithm based on velocity orthogonal decomposition. Design/methodology/approach The algorithms this paper proposes replace empty paths and corners with circular segments, driving each axis synchronously according to the SIN or COS velocity curve to make the extruder always moves at a constant speed at maximum during the infilling process. Also, to support the improved algorithms, a three-dimensional (3D) printing control system based on circular motion controller is also designed. Findings The simulation and experiment results show that the improved algorithms are effective, and the printing time is shortened more significantly, especially in the case of small or complex models. What’s more, the optimized algorithm is not only compact in shape but also not obvious in edge warping. Research limitations/implications The algorithms in this paper are not applicable to traditional motion controllers. Practical implications The algorithms in this paper improve the infilling efficiency and the quality of parts forming. Social implications There are no social implications in this paper. Originality/value The specific optimization method of parallel-line scanning algorithm based on velocity orthogonal decomposition is replacing the empty paths with arc corners. And the specific optimization method of contour offsetting algorithm based on velocity orthogonal decomposition is to add connection paths between adjacent contours and turn all straight corners into arcs. What’s more, the 3D printing control system based on the circular motion controller can achieve multi-axis parallel motion to support these two improved path scanning algorithms.
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Thyri, Emil H., Morten Breivik, and Anastasios M. Lekkas. "A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters." IFAC-PapersOnLine 53, no. 2 (2020): 14628–35. http://dx.doi.org/10.1016/j.ifacol.2020.12.1472.
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Chen, Yixiao, Xinzhi Zhou, Jialiang Zhu, Chenlong Dong, Tao Xu, and Hailin Wang. "Measured Regional Division Optimization for Acoustic Tomography Velocity Field Reconstruction in a Circular Area." Sensors 24, no. 6 (2024): 2008. http://dx.doi.org/10.3390/s24062008.
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The acoustic tomography (AT) velocity field reconstruction technique has become a research hotspot in recent years due to its noninvasive nature, high accuracy, and real-time measurement advantages. However, most of the existing studies are limited to the reconstruction of the velocity field in a rectangular area, and there are very few studies on a circular area, mainly because the layout of acoustic transducers, selection of acoustic paths, and division of measured regions are more difficult in a circular area than in a rectangular area. Therefore, based on AT and using the reconstruction algorithm of the Markov function and singular value decomposition (MK-SVD), this paper proposes a measured regional division optimization algorithm for velocity field reconstruction in a circular area. First, an acoustic path distribution based on the multipath effect is designed to solve the problem of the limited emission angle of the acoustic transducer. On this basis, this paper proposes an adaptive optimization algorithm for measurement area division based on multiple sub-objectives. The steps are as follows: first, two optimization objectives, the condition number of coefficient matrix and the uniformity of acoustic path distribution, were designed. Then, the weights of each sub-objective are calculated using the coefficient of variation (CV). Finally, the measured regional division is optimized based on particle swarm optimization (PSO). The reconstruction effect of the algorithm and the anti-interference ability are verified through the reconstruction experiments of the model velocity field and the simulated velocity field.
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Liu, Ke, Guanzheng Wen, Yao Fu, and Honglin Wang. "A Hierarchical Lane-Changing Trajectory Planning Method Based on the Least Action Principle." Actuators 13, no. 1 (2023): 10. http://dx.doi.org/10.3390/act13010010.
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This paper presents a hierarchical lane-changing trajectory planner based on the least action principle for autonomous driving. Our approach aims to achieve reliable real-time avoidance of static and moving obstacles in multi-vehicle interaction scenarios on structured urban roads. Unlike previous studies that rely on subjective weight allocation and single weighting methods, we propose a novel trajectory planning strategy that decomposes the process into two stages: candidate trajectory generation and optimal trajectory decision-making. The candidate trajectory generation employs a path-velocity decomposition method, using B-spline curves to generate a multi-objective optimal lane-changing candidate path. Collision checking eliminates paths at risk of collision with static obstacles. Dynamic programming (DP) and quadratic programming (QP) are then used to plan the velocity of safe paths, generating candidate lane-changing trajectories based on curvature checking. The optimal trajectory decision-making process follows the decision mechanism of excellent drivers. We introduce a comprehensive evaluation function, the average action, which considers safety, comfort, and efficiency based on the least action principle. Feasible trajectories are ranked based on their average action, and the trajectory with the minimum average action and no collision risk with moving obstacles is selected as the tracking target. The effectiveness of the proposed method is validated through two common lane-changing scenarios. The results demonstrate that our approach enables smooth, efficient, and safe lane-changing while effectively tracking the planned velocity and path. This method offers a solution to local trajectory planning problems in complex environments and holds promising prospects in the field of autonomous driving.
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Wu, Jianwei, Deer Bin, Xiaobing Feng, Zhongpu Wen, and Yin Zhang. "GA Based Adaptive Singularity-Robust Path Planning of Space Robot for On-Orbit Detection." Complexity 2018 (May 28, 2018): 1–11. http://dx.doi.org/10.1155/2018/3702916.
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As a new on-orbit detection platform, the space robot could ensure stable and reliable operation of spacecraft in complex space environments. The tracking accuracy of the space manipulator end-effector is crucial to the detection precision. In this paper, the Cartesian path planning method of velocity level inverse kinematics based on generalized Jacobian matrix (GJM) is proposed. The GJM will come across singularity issue in path planning, which leads to the infinite or incalculable joint velocity. To solve this issue, firstly, the singular value decomposition (SVD) is used for exposition of the singularity avoidance principle of the damped least squares (DLS) method. After that, the DLS method is improved by introducing an adaptive damping factor which changes with the singularity. Finally, in order to improve the tracking accuracy of the singularity-robust algorithm, the objective function is established, and two adaptive parameters are optimized by genetic algorithm (GA). The simulation of a 6-DOF free-floating space robot is carried out, and the results show that, compared with DLS method, the proposed method could improve the tracking accuracy of space manipulator end-effector.
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Cercignani, Carlo, Irene M. Gamba, Joseph W. Jerome, and Chi-Wang Shu. "Applicability of the High Field Model: An Analytical Study Via Asymptotic Parameters Defining Domain Decomposition." VLSI Design 8, no. 1-4 (1998): 135–41. http://dx.doi.org/10.1155/1998/54618.
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In this paper, we present a mesoscopic-macroscopic model of self-consistent charge transport. It is based upon an asymptotic expansion of solutions of the Boltzmann Transport Equation (BTE). We identify three dimensionless parameters from the BTE. These parameters are, respectively, the quotient of reference scales for drift and thermal velocities, the scaled mean free path, and the scaled Debye length. Such parameters induce domain dependent macroscopic approximations. Particular focus is placed upon the so-called high field model, defined by the regime where drift velocity dominates thermal velocity. This model incorporates kinetic transition layers, linking mesoscopic to macroscopic states. Reference scalings are defined by the background doping levels and distinct, experimentally measured mobility expressions, as well as locally determined ranges for the electric fields. The mobilities reflect a coarse substitute for reference scales of scattering mechanisms. See [9] for elaboration.The high field approximation is a formally derived modification of the augmented drift-diffusion model originally introduced by Thornber some fifteen years ago [25]. We are able to compare our approach with the earlier kinetic approach of Baranger and Wilkins [5] and the macroscopic approach of Kan, Ravaioli and Kerkhoven [20].
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Lin, Minghui, Sabyasachi Roy, and Matthias Militzer. "In situ measurement of austenite grain growth and recrystallization using laser ultrasonics." Journal of Physics: Conference Series 2635, no. 1 (2023): 012039. http://dx.doi.org/10.1088/1742-6596/2635/1/012039.
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Abstract The development of next generation process models and advanced high-strength steel products for thin slab casting and direct rolling requires quantification of microstructure evolution during thermomechanical processing. Laser ultrasonics is a non-contact in-situ method to record grain growth, recrystallization and phase transformations in metals and alloys. Here, we will present an improved experimental design that facilitates a continuous microstructure measurement through the various stages of simulated hot rolling from reheating to runout table cooling using a Gleeble thermomechanical simulator equipped with a laser ultrasonics for metallurgy (LUMet) system. Austenite grain growth and static recrystallization after hot deformation are quantified based on attenuation of the ultrasound waves whereas austenite decomposition can be recorded with the changes in ultrasound velocity during the phase transformation. Further, the LUMet results for a microalloyed low carbon steel are validated with conventional techniques including optical and electron microscopy as well as double-hit tests. These experimental studies demonstrate the capabilities of laser ultrasonics in the identification of both normal and abnormal grain growth, non-recrystallization temperature, recrystallization, and austenite decomposition kinetics in a single test for a given processing path, as well as its potential for accelerated optimization of process control under industrial rolling conditions.
Dissertations / Theses on the topic "Path-velocity decomposition"
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Poncelet, Renaud. "Navigation autonome en milieu urbain en présence d’obstacles mobiles : une approche géométrique." Electronic Thesis or Diss., Sorbonne université, 2022. http://www.theses.fr/2022SORUS340.
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L’objectif de cette thèse est de planifier le mouvement d’un véhicule autonome pour qu’il puisse circuler sans collision dans un environnement urbain en présence d’autres obstacles mobiles. Ceci implique la prise en compte de contraintes propres au véhicule (dynamiques, énergétiques, liées aux systèmes de perception ou de prévision), relatives à la sécurité, au confort des usagers et à l’environnement proche du véhicule. Celles-ci dépendent de la topologie de la route, des règles de conduite et des autres acteurs en mouvement dans le voisinage de l’ego véhicule. Dans le cadre de cette thèse, nous nous sommes intéressés plus particulièrement : (i) à la perception limitée ou partielle de l’environnement proche du véhicule et en particulier à la présence d’obstacles fixes ou mobiles occultant une partie de son voisinage proche ; (ii) à l’incertitude sur la prédiction du mouvement des autres agents ; (iii) aux manœuvres à effectuer dans des scénarios urbains où les voies peuvent être encombrées par de nombreux véhicules arrêtés ou en mouvement ; (iv) et au respect de la signalisation. Toutes ces problématiques ont été traitées par des approches géométriques en adaptant de différentes manières le principe de décomposition chemin-vitesse introduit par Kant et Zucker (1986). Le simulateur CARLA a été adapté pour valider les approches proposées sur différents scénarios reproduisant des situations typiques d’interaction avec d’autres véhicules en milieu urbain, comme, par exemple, le franchissement d’un carrefour avec une visibilité réduite, le dépassement d’un véhicule lent ou arrêté sur sa voie, la conduite sur une portion de route réglementée par des feux de circulation, etc<br>The objective of this thesis is to plan the motion of an autonomous vehicle so that it can navigate and interact with other moving obstacles without collision in an urban environment. This involves taking into account constraints that may be specific to the vehicle (dynamic, energetic, linked to perception or forecasting systems), relating to the safety and comfort of users or to the environment close to the vehicle. These last depend on the topology of the road, driving rules and other moving actors in the neigborhood of the ego-vehicle. In the context of this thesis, we focused on: (i) the limited or partial perception of the environment close to the vehicle and in particular the presence of static or mobile obstacles hiding part of its neighborhood ; (ii) uncertainty about the prediction of the motion of other agents; (iii) maneuvers to be carried out in urban scenarios where the lanes can be congested with plenty of other static or moving obstacles; (iv) and the respect of the road signs. All these issues have been addressed through geometric approaches by adapting in different ways the principle of path-velocity decomposition introduced by Kant and Zucker (1986). The CARLA simulator has been adapted to validate the proposed approaches on different scenarios reproducing typical situations of interaction with other vehicles in an urban environment, such as, for example, crossing a crossroads with reduced visibility, overtaking a slow or stopped vehicle in its lane, driving in a section of road regulated by traffic lights, etc
Book chapters on the topic "Path-velocity decomposition"
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Hu, Ruiao, and Stuart Patching. "Variational Stochastic Parameterisations and Their Applications to Primitive Equation Models." In Mathematics of Planet Earth. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-18988-3_9.
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AbstractWe present a numerical investigation into the stochastic parameterisations of the Primitive Equations (PE) using the Stochastic Advection by Lie Transport (SALT) and Stochastic Forcing by Lie Transport (SFLT) frameworks. These frameworks were chosen due to their structure-preserving introduction of stochasticity, which decomposes the transport velocity and fluid momentum into their drift and stochastic parts, respectively. In this paper, we develop a new calibration methodology to implement the momentum decomposition of SFLT and compare with the Lagrangian path methodology implemented for SALT. The resulting stochastic Primitive Equations are then integrated numerically using a modification of the FESOM2 code. For certain choices of the stochastic parameters, we show that SALT causes an increase in the eddy kinetic energy field and an improvement in the spatial spectrum. SFLT also shows improvements in these areas, though to a lesser extent. SALT does, however, have the drawback of an excessive downwards diffusion of temperature.
Conference papers on the topic "Path-velocity decomposition"
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Pátý, Marek, and Sergio Lavagnoli. "A Novel Vortex Identification Technique Applied to the 3D Flow Field of a High-Pressure Turbine." In ASME Turbo Expo 2019: Turbomachinery Technical Conference and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/gt2019-90462.
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Abstract The efficiency of modern axial turbomachinery is strongly driven by the secondary flows within the vane or blade passages. The secondary flows are characterized by a complex pattern of vortical structures that origin, interact and dissipate along the turbine gas path. The endwall flows are responsible for the generation of a significant part of the overall turbine loss because of the dissipation of secondary kinetic energy and mixing-out of non-uniform momentum flows. The understanding and analysis of secondary flows requires a reliable vortex identification technique to predict and analyse the impact of specific turbine designs on the turbine performance. However, literature shows a remarkable lack of general methods to detect vortices and to determine the location of their cores and to quantify their strength. This paper presents a novel technique for the identification of vortical structures in a general 3D flow field. The method operates on the local flow field and it is based on a triple decomposition of motion proposed by Kolář. In contrast to a decomposition of velocity gradient into the strain and vorticity tensors, this method considers a third, pure shear component. The subtraction of the pure shear tensor from the velocity gradient remedies the inherent flaw of vorticity-based techniques which cannot distinguish between rigid rotation and shear. The triple decomposition of motion serves to obtain a 3D field of residual vorticity whose magnitude is used to define vortex regions. The present method allows to locate automatically the core of each vortex, quantify its strength and determine the vortex bounding surface. The output may be used to visualize the turbine vortical structures for the purpose of interpreting the complex three-dimensional viscous flow field, as well as to highlight any case-to-case variations by quantifying the vortex strength and location. The vortex identification method is applied to a high-pressure turbine with three optimized blade tip geometries. The 3D flow-field is obtained by CFD computations performed with Numeca FINE/Open. The computational model uses steady-state RANS equations closed by the Spalart-Allmaras turbulence model. Although developed for turbomachinery applications, the vortex identification method proposed in this work is of general applicability to any three-dimensional flow-field.
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Yu, Ziquan, Youmin Zhang, Yaohong Qu, and Zhewen Xing. "Adaptive Fractional-Order Fault-Tolerant Tracking Control for UAV Based on High-Gain Observer." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67479.
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This paper is concerned with the fractional-order fault-tolerant tracking control design for unmanned aerial vehicle (UAV) in the presence of external disturbance and actuator fault. Based on the functional decomposition, the dynamics of UAV is divided into velocity subsystem and altitude subsystem. Altitude, flight path angle, pitch angle and pitch rate are involved in the altitude subsystem. By using an adaptive mechanism, the fractional derivative of uncertainty including external disturbance and actuator fault is estimated. Moreover, in order to eliminate the problem of explosion of complexity in back-stepping approach, the high-gain observer is utilized to estimate the derivatives of virtual control signal. Furthermore, by using a fractional-order sliding surface involved with pitch dynamics, an adaptive fractional-order fault-tolerant control scheme is proposed for UAV. It is proved that all signals of the closed-loop system are bounded and the tracking error can converge to a small region containing zero via the Lyapunov analysis. Simulation results show that the proposed controller could achieve good tracking performance in the presence of actuator fault and external disturbance.
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Carreres, M., L. M. García-Cuevas, J. García-Tíscar, and M. Belmar-Gil. "Spectral Analysis of an Aeronautical Lean Direct Injection Burner Through Large Eddy Simulation." In ASME Turbo Expo 2020: Turbomachinery Technical Conference and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/gt2020-14998.
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Abstract During the last decades, many efforts have been invested by the scientific community in minimising exhaust emissions from aeronautical gas turbine engines. In this context, many advanced ultra-low NOx combustion concepts, such as the Lean Direct Injection treated in the present study, are being developed to abide by future regulations. Numerical simulations of these devices are usually computationally expensive since they imply a multi-scale problem. In this work, a non-reactive Large Eddy Simulation of a gaseous-fuelled, radial-swirled Lean-Direct Injection (LDI) combustor has been carried out through the OpenFOAM Computational Fluid Dynamics (CFD) code by solving the complete inlet flow path through the swirl vanes and the combustor. The geometry considered is the gaseous configuration of the CORIA LDI combustor, for which detailed measurements are available. Macroscopical analysis of the main turbulent features related to the swirling flow and the generated Central Recirculation Zone (CRZ) are well established in the literature. Nevertheless, a more in-depth characterization is still required in this area of active research since theory and experimental data are not yet able to predict which unstable mode dominates the flow. This work aims at using Large Eddy Simulation for a complete characterisation of the unsteady flow structures generated within the combustion chamber of a gaseous methane injection immersed in a strong non-reactive swirling flow field. To do so, a spectral analysis of the flow field is performed to identify the frequency, intensity and instabilities associated to the phenomena occurring at the swirler outlet region. A coherent structure known as Precessing Vortex Core (PVC) is identified both at the inner and the outer shear layers, resulting in a periodic disturbance of the pressure and velocity fields. The pressure and velocity fluctuations predicted by the CFD code are used to compute the spectral signatures through the Sound Pressure Level (SPL) amplitude at multiple locations. This allows investigating both the complex behaviour of the PVC and its associated acoustic phenomena. The acoustic characteristics computed by the numerical model are first validated qualitatively by comparing the spectrum with available experimental data. In this way, the use of dimensionless numbers to characterise the most energetic structures is coherent with the experimental observations and the characteristics of the PVC. Then, the numerical identification of the main acoustic modes in the chamber through Dynamic Mode Decomposition (DMD) allows overcoming the Fast Fourier Transform (FFT) shortcomings and better understanding the propagation of the hydrodynamic instability perturbations. This investigation on the main non-reacting swirling flow structures inside the combustor provides a suitable background for further studies on combustion instability mechanisms.