Articles de revues : « Dynamic Modeling, Collision Avoidance, Hybrid Systems »

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Fan, Tingxiang, Pinxin Long, Wenxi Liu et Jia Pan. « Distributed multi-robot collision avoidance via deep reinforcement learning for navigation in complex scenarios ». International Journal of Robotics Research 39, n^o 7 (31 mai 2020) : 856–92. http://dx.doi.org/10.1177/0278364920916531.

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Developing a safe and efficient collision-avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generates its paths with limited observation of other robots’ states and intentions. Prior distributed multi-robot collision-avoidance systems often require frequent inter-robot communication or agent-level features to plan a local collision-free action, which is not robust and computationally prohibitive. In addition, the performance of these methods is not comparable with their centralized counterparts in practice. In this article, we present a decentralized sensor-level collision-avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an agent’s steering commands in terms of the movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to learn an optimal policy. The policy is trained over a large number of robots in rich, complex environments simultaneously using a policy-gradient-based reinforcement-learning algorithm. The learning algorithm is also integrated into a hybrid control framework to further improve the policy’s robustness and effectiveness. We validate the learned sensor-level collision-3avoidance policy in a variety of simulated and real-world scenarios with thorough performance evaluations for large-scale multi-robot systems. The generalization of the learned policy is verified in a set of unseen scenarios including the navigation of a group of heterogeneous robots and a large-scale scenario with 100 robots. Although the policy is trained using simulation data only, we have successfully deployed it on physical robots with shapes and dynamics characteristics that are different from the simulated agents, in order to demonstrate the controller’s robustness against the simulation-to-real modeling error. Finally, we show that the collision-avoidance policy learned from multi-robot navigation tasks provides an excellent solution for safe and effective autonomous navigation for a single robot working in a dense real human crowd. Our learned policy enables a robot to make effective progress in a crowd without getting stuck. More importantly, the policy has been successfully deployed on different types of physical robot platforms without tedious parameter tuning. Videos are available at https://sites.google.com/view/hybridmrca .

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Moon, Jungho, Byung-Yoon Lee et Min-Jea Tahk. « A Hybrid Dynamic Window Approach for Collision Avoidance of VTOL UAVs ». International Journal of Aeronautical and Space Sciences 19, n^o 4 (1 août 2018) : 889–903. http://dx.doi.org/10.1007/s42405-018-0061-z.

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Yang, Zhen, Junli Li, Liwei Yang, Qian Wang, Ping Li et Guofeng Xia. « Path planning and collision avoidance methods for distributed multi-robot systems in complex dynamic environments ». Mathematical Biosciences and Engineering 20, n^o 1 (2022) : 145–78. http://dx.doi.org/10.3934/mbe.2023008.

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<abstract> <p>Multi-robot systems are experiencing increasing popularity in joint rescue, intelligent transportation, and other fields. However, path planning and navigation obstacle avoidance among multiple robots, as well as dynamic environments, raise significant challenges. We propose a distributed multi-mobile robot navigation and obstacle avoidance method in unknown environments. First, we propose a bidirectional alternating jump point search A* algorithm (BAJPSA*) to obtain the robot's global path in the prior environment and further improve the heuristic function to enhance efficiency. We construct a robot kinematic model based on the dynamic window approach (DWA), present an adaptive navigation strategy, and introduce a new path tracking evaluation function that improves path tracking accuracy and optimality. To strengthen the security of obstacle avoidance, we modify the decision rules and obstacle avoidance rules of the single robot and further improve the decision avoidance capability of multi-robot systems. Moreover, the mainstream prioritization method is used to coordinate the local dynamic path planning of our multi-robot systems to resolve collision conflicts, reducing the difficulty of obstacle avoidance and simplifying the algorithm. Experimental results show that this distributed multi-mobile robot motion planning method can provide better navigation and obstacle avoidance strategies in complex dynamic environments, which provides a technical reference in practical situations.</p> </abstract>

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Park, Jaeyong, Arda Kurt et Ümit Özgüner. « Hybrid Systems Modeling and Reachability-Based Controller Design Methods for Vehicular Automation ». Unmanned Systems 02, n^o 02 (avril 2014) : 101–19. http://dx.doi.org/10.1142/s2301385014500071.

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In this study, applicability of verification and correct-by-design hybrid systems modeling and reachability-based controllers for vehicular automation are investigated. Two perspectives in hybrid systems modeling will be introduced, and then reachability analysis techniques will be developed to compute exact reachable sets from a specified unsafe set. Using level set methods, a Hamilton–Jacobi–Isaacs equation is derived whose solutions describe the boundaries of the finite time backward reachable set, which will be manipulated to design a safe controller that guarantees the safety of a given system. An automated longitudinal controller with a fully integrated collision avoidance functionality will be designed as a hybrid system and validated through simulations with a number of different scenarios in order to illustrate the potential of verification methods in automated vehicles.

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Omisore, Olatunji Mumini, Shipeng Han, Yousef Al-Handarish, Wenjing Du, Wenke Duan, Toluwanimi Oluwadara Akinyemi et Lei Wang. « Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems ». Micromachines 11, n^o 4 (7 avril 2020) : 386. http://dx.doi.org/10.3390/mi11040386.

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Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on different circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot’s movement was geometrically and parametrically continuous for three different trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot’s links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.

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Ajeil, Fatin Hassan, Ibraheem Kasim Ibraheem, Ahmad Taher Azar et Amjad J. Humaidi. « Autonomous navigation and obstacle avoidance of an omnidirectional mobile robot using swarm optimization and sensors deployment ». International Journal of Advanced Robotic Systems 17, n^o 3 (1 mai 2020) : 172988142092949. http://dx.doi.org/10.1177/1729881420929498.

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The present work deals with the design of intelligent path planning algorithms for a mobile robot in static and dynamic environments based on swarm intelligence optimization. Two modifications are suggested to improve the searching process of the standard bat algorithm with the result of two novel algorithms. The first algorithm is a Modified Frequency Bat algorithm, and the second is a hybridization between the Particle Swarm Optimization with the Modified Frequency Bat algorithm, namely, the Hybrid Particle Swarm Optimization-Modified Frequency Bat algorithm. Both Modified Frequency Bat and Hybrid Particle Swarm Optimization-Modified Frequency Bat algorithms have been integrated with a proposed technique for obstacle detection and avoidance and are applied to different static and dynamic environments using free-space modeling. Moreover, a new procedure is proposed to convert the infeasible solutions suggested via path the proposed swarm-inspired optimization-based path planning algorithm into feasible ones. The simulations are run in MATLAB environment to test the validation of the suggested algorithms. They have shown that the proposed path planning algorithms result in superior performance by finding the shortest and smoothest collision-free path under various static and dynamic scenarios.

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Maw, Aye Aye, Maxim Tyan, Tuan Anh Nguyen et Jae-Woo Lee. « iADA*-RL : Anytime Graph-Based Path Planning with Deep Reinforcement Learning for an Autonomous UAV ». Applied Sciences 11, n^o 9 (27 avril 2021) : 3948. http://dx.doi.org/10.3390/app11093948.

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Path planning algorithms are of paramount importance in guidance and collision systems to provide trustworthiness and safety for operations of autonomous unmanned aerial vehicles (UAV). Previous works showed different approaches mostly focusing on shortest path discovery without a sufficient consideration on local planning and collision avoidance. In this paper, we propose a hybrid path planning algorithm that uses an anytime graph-based path planning algorithm for global planning and deep reinforcement learning for local planning which applied for a real-time mission planning system of an autonomous UAV. In particular, we aim to achieve a highly autonomous UAV mission planning system that is adaptive to real-world environments consisting of both static and moving obstacles for collision avoidance capabilities. To achieve adaptive behavior for real-world problems, a simulator is required that can imitate real environments for learning. For this reason, the simulator must be sufficiently flexible to allow the UAV to learn about the environment and to adapt to real-world conditions. In our scheme, the UAV first learns about the environment via a simulator, and only then is it applied to the real-world. The proposed system is divided into two main parts: optimal flight path generation and collision avoidance. A hybrid path planning approach is developed by combining a graph-based path planning algorithm with a learning-based algorithm for local planning to allow the UAV to avoid a collision in real time. The global path planning problem is solved in the first stage using a novel anytime incremental search algorithm called improved Anytime Dynamic A* (iADA*). A reinforcement learning method is used to carry out local planning between waypoints, to avoid any obstacles within the environment. The developed hybrid path planning system was investigated and validated in an AirSim environment. A number of different simulations and experiments were performed using AirSim platform in order to demonstrate the effectiveness of the proposed system for an autonomous UAV. This study helps expand the existing research area in designing efficient and safe path planning algorithms for UAVs.

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Finaev, V. I., M. Yu Medvedev, V. Kh Pshikhopov, V. A. Pereverzev et V. V. Soloviev. « Unmanned Powerboat Motion Terminal Control in an Environment with Moving Obstacles ». Mekhatronika, Avtomatizatsiya, Upravlenie 22, n^o 3 (2 mars 2021) : 145–54. http://dx.doi.org/10.17587/mau.22.145-154.

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The major point for consideration throughout this paper is controlling the motion of an unmanned powerboat in an obstructed environment with stationary and moving objects. It offers a procedure for the terminal control law development based on the powerboat programmed motion trajectory in a polynomial form and proposes position-trajectory-based control algorithms. A hybrid method based on virtual fields and unstable driving modes, taking into account powerboat speeds and obstacles, is used to plan motion trajectories for obstacle avoidance. There were experiments carried out to test the developed methods and algorithms meanwhile estimating the energy consumption for control, the length of the trajectory and the safety indicator for obstacle avoidance. The novelty of the proposed approach lies in the method used to develop a local movement trajectory in the field with obstacles and in the hybridization of trajectory scheduling methods. This approach allows us to achieve a given safe distance when avoiding obstacles and virtually eliminate the chances of an emergency collision. The presented results can be used in systems of boats autonomous motion control and allow safe stationary and dynamic obstacles avoidance.

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Dai, Wei, Yongjun Pan, Chuan Min, Sheng-Peng Zhang et Jian Zhao. « Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications ». Actuators 11, n^o 12 (16 décembre 2022) : 378. http://dx.doi.org/10.3390/act11120378.

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The selection of an appropriate method for modeling vehicle dynamics heavily depends on the application. Due to the absence of human intervention, the demand for an accurate and real-time model of vehicle dynamics for intelligent control increases for autonomous vehicles. This paper develops a multibody vehicle model for longitudinal-vertical dynamics applicable to advanced driver assistance (ADAS) applications. The dynamic properties of the chassis, suspension, and tires are considered and modeled, which results in accurate vehicle dynamics and states. Unlike the vehicle dynamics models built into commercial software packages, such as ADAMS and CarSim, the proposed nonlinear dynamics model poses the equations of motion using a subset of relative coordinates. Therefore, the real-time simulation is conducted to improve riding performance and transportation safety. First, a vehicle system is modeled using a semi-recursive multibody dynamics formulation, and the vehicle kinematics and dynamics are accurately calculated using the system tree-topology. Second, a fork-arm removal technique based on the rod-removal technique is proposed to reduce the number of bodies, relative coordinates, and equations constrained by loop-closure. This increase the computational efficiency even further. Third, the dynamic simulations of the vehicle are performed on bumpy and sloping roads. The accuracy and efficiency of the numerical results are compared to the reference data. The comparative results demonstrate that the proposed vehicle model is effective. This efficient model can be utilized for the intelligent control of vehicle ADAS applications, such as forward collision avoidance, adaptive cruise control, and platooning.

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Hafez, Ahmed T., et Mohamed A. Kamel. « Cooperative Task Assignment and Trajectory Planning of Unmanned Systems Via HFLC and PSO ». Unmanned Systems 07, n^o 02 (avril 2019) : 65–81. http://dx.doi.org/10.1142/s2301385019500018.

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This paper investigates the problems of cooperative task assignment and trajectory planning for teams of cooperative unmanned aerial vehicles (UAVs). A novel approach of hierarchical fuzzy logic controller (HFLC) and particle swarm optimization (PSO) is proposed. Initially, teams of UAVs are moving in a pre-defined formation covering a specified area. When one or more targets are detected, the teams send a package of information to the ground station (GS) including the target’s degree of threat, degree of importance, and the separating distance between each team and each detected target. Based on the gathered information, the ground station assigns the teams to the targets. HFLC is implemented in the GS to solve the assignment problem ensuring that each team is assigned to a unique target. Next, each team plans its own path by formulating the path planning problem as an optimization problem. The objective in this case is to minimize the time to reach their destination considering the UAVs dynamic constraints and collision avoidance between teams. A hybrid approach of control parametrization and time discretization (CPTD) and PSO is proposed to solve this optimization problem. Finally, numerical simulations demonstrate the effectiveness of the proposed algorithm.

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Jafaripournimchahi, Ammar, Yingfeng Cai, Hai Wang, Lu Sun et Jiancheng Weng. « Integrated-Hybrid Framework for Connected and Autonomous Vehicles Microscopic Traffic Flow Modelling ». Journal of Advanced Transportation 2022 (26 avril 2022) : 1–16. http://dx.doi.org/10.1155/2022/2253697.

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In this study, a novel traffic flow modeling framework is proposed considering the impact of driving system and vehicle mechanical behavior as two different units on the traffic flow. To precisely model the behavior of Connected and Autonomous (CA) vehicles, three submodels are proposed as a novel microscopic traffic flow framework, named Integrated-Hybrid (IH) model. Focusing on the realization of the car following behavior of CA vehicles, the driving system (vehicle control system) and the vehicle mechanical system are modeled separately and linked by throttle and brake actuators model. The IH model constitutes the key part of the Full Velocity Difference (FVD) model considering the mechanical capability of vehicles and dynamic collision avoidance strategies to ensure the safety of following distance between two consecutive vehicles. Linear stability conditions are derived for each model and developing methodology for each submodel is discussed. Our simulations revealed that the IH model successfully generates velocity and acceleration profiles during car following maneuvers and throttle angle/brake information in connected vehicles environment can effectively improve traffic flow stability. The vehicles’ departure and arrival process while passing through a signal-lane with a traffic light considering the anticipation driving behavior and throttle angle/brake information of direct leading vehicle was explored. Our numerical results demonstrated that the IH model can capture the velocity fluctuations, delay times, and kinematic waves efficiently in traffic flow.

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Jafaripournimchahi, Ammar, Yingfeng Cai, Hai Wang, Lu Sun et Jiancheng Weng. « Integrated-Hybrid Framework for Connected and Autonomous Vehicles Microscopic Traffic Flow Modelling ». Journal of Advanced Transportation 2022 (26 avril 2022) : 1–16. http://dx.doi.org/10.1155/2022/2253697.

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In this study, a novel traffic flow modeling framework is proposed considering the impact of driving system and vehicle mechanical behavior as two different units on the traffic flow. To precisely model the behavior of Connected and Autonomous (CA) vehicles, three submodels are proposed as a novel microscopic traffic flow framework, named Integrated-Hybrid (IH) model. Focusing on the realization of the car following behavior of CA vehicles, the driving system (vehicle control system) and the vehicle mechanical system are modeled separately and linked by throttle and brake actuators model. The IH model constitutes the key part of the Full Velocity Difference (FVD) model considering the mechanical capability of vehicles and dynamic collision avoidance strategies to ensure the safety of following distance between two consecutive vehicles. Linear stability conditions are derived for each model and developing methodology for each submodel is discussed. Our simulations revealed that the IH model successfully generates velocity and acceleration profiles during car following maneuvers and throttle angle/brake information in connected vehicles environment can effectively improve traffic flow stability. The vehicles’ departure and arrival process while passing through a signal-lane with a traffic light considering the anticipation driving behavior and throttle angle/brake information of direct leading vehicle was explored. Our numerical results demonstrated that the IH model can capture the velocity fluctuations, delay times, and kinematic waves efficiently in traffic flow.

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Nousch, Laura, Mathias Hartmann et Alexander Michaelis. « Improvements of Micro-CHP SOFC System Operation by Efficient Dynamic Simulation Methods ». Processes 9, n^o 7 (26 juin 2021) : 1113. http://dx.doi.org/10.3390/pr9071113.

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Solid Oxide Fuel Cell (SOFC) technology is of high interest for stationary decentralized generation of electricity and heat in combined heat and power systems (CHP) for the residential sector. Application scenarios for SOFC systems in an electricity-regulated mode play an important role, especially in places where an electrical grid connection is not available or rather unstable. The advantages of SOFC systems are the high fuel flexibility and the high efficiencies also under partial load operation compared to other decentralized power generation technologies. Due to the long, energy-consuming system heat-up and the limited partial load capability, SOFC systems do not reach the performance of conventional power generation technologies. Furthermore, stack thermal cycling is associated with power degradation and should be minimized. In this paper, the improvement of these drawbacks are investigated for hotbox-based SOFC systems in the 1 kWel-class for residential applications. Since experimental investigations of the high-temperature systems are limited, modeling tools are established, enabling the visualization of internal system characteristics and providing the opportunity to simulate system operation in critical regions. To achieve this, a methodology for dynamic SOFC system modeling in a process engineering manner is developed based on the modeling language Modelica. A suitable approach is particularly important for modeling and simulation of the strong thermal interaction between the hot system components within the hotbox. The parametrized and validated models are used for the investigation of different dynamic effects, such as the system heat-up and the operation in low partial load points. A second reduced thermal system model aims for annual simulations of the SOFC system together with a battery to investigate the number of thermal cycles and the advantage of a hot standby operation. As a result, it is found that an adequate control of the power input at the start-up device and the cathode air flow has a high improvement potential to increase the stack heating rate and accelerate the heat-up in an energy-saving way. The hotbox-internal thermal management is identified as a crucial issue to reach low partial load points. To avoid the risk of stack cooling, lower heat losses and/or additional heat sources are of importance. Furthermore, the robustness of the tail gas oxidizer is found to be crucial for a higher load flexibility during partial load and the end of life stack operation. The annual simulation results indicate that operating the battery hybrid system with a hot standby mode requires much lower battery capacity for a high grid independence and a complete avoidance of system shutdown and associated power degradation.

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Li, Bin. « Optimization of Multi-Intelligent Robot Control System Based on Wireless Communication Network ». Wireless Communications and Mobile Computing 2021 (24 juillet 2021) : 1–10. http://dx.doi.org/10.1155/2021/6457317.

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The robot is a very complex multi-input multioutput nonlinear system. It has time-varying, strong coupling, and nonlinear dynamic characteristics, and its control is very complicated. Due to the inaccuracy of measurement and modeling, coupled with changes in the load and the influence of external disturbances, it is actually impossible to obtain an accurate and complete dynamic model of the robot. We must face the existence of various uncertain factors of the robot. This paper analyzes the real-time communication protocol in the wireless network control system and confirms that the main way to improve the real-time performance of the wireless network control system is to implement the real-time media access control (MAC) protocol. This paper studies robots from the perspective of control and mainly discusses how to use artificial immune algorithms to design robust nonlinear proportion integral derivative (PID) controllers. A nonlinear PID controller is used to replace the classic PID controller. The nonlinear link can be adjusted with the change of the error, so as to achieve the purpose of improving the adaptability and robustness to obtain satisfactory tracking performance. We carried out selective compliance assembly robot arm (SCARA) robot remote control experiment, dual robot following experiment, SCARA and ABB robot collisionless motion planning experiment, and multirobot intelligent collaborative assembly experiment. The experimental results show that the C/S mode remote control system has good practicability and can complete remote tasks; the P2P communication system has good information transmission effects and can realize real-time information sharing between robots; the collision-free motion planning algorithm enables the dual robots to complete obstacle avoidance tasks well in complex operating environments; the functional modules of the system can closely cooperate to complete the tasks in coordination, and the multirobot system has a certain degree of intelligence.

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Chen, Cheng-Wu, Ken Yeh, Kevin FR Liu et Meng-Lung Lin. « RETRACTED : Applications of fuzzy control to nonlinear time-delay systems using the linear matrix inequality fuzzy Lyapunov method ». Journal of Vibration and Control 18, n^o 10 (18 octobre 2011) : 1561–74. http://dx.doi.org/10.1177/1077546311410765.

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In 2013 the Editor of Journal of Vibration and Control and SAGE became aware of a peer review ring involving assumed and fabricated identities that appeared to centre around Peter Chen at National Pingtung University of Education, Taiwan (NPUE). SAGE and the Editor then began a complex investigation into the case during the rest of 2013 and 2014. Following an unsatisfactory response from Peter Chen, NPUE was notified. NPUE were serious in addressing the Journal and SAGE’s concerns. NPUE confirmed that the institution was investigating Peter Chen. SAGE subsequently uncovered a citation ring involving the above mentioned author and others. We regret that individual authors have compromised the academic record by perverting the peer review process and apologise to readers. On uncovering problems with peer review and citation SAGE immediately put steps in place to avoid similar vulnerability of the Journal to exploitation in the future. More information may be found at www.sagepub.co.uk/JVC_Statement_2014 . The Journal and SAGE understand from NPUE that Peter Chen has resigned his post at NPUE. The following articles are retracted because after thorough investigation evidence points towards them having at least one author or being reviewed by at least one reviewer who has been implicated in the peer review ring and/or citation ring. All authors have had an opportunity to respond to the allegations and proposed actions. OnlineFirst articles (these articles will not be published in an issue) Chen CY, Chen T-H, Chen Y-H, Yu S-E and Chung P-Y (2013) Information technology system modeling an integrated C-TAM-TPB model to the validation of ocean tidal analyses Journal of Vibration and Control Epub ahead of print 7 May 2013. doi: 10.1177/1077546312472924 Chang R-F, Chen CY, Su F-P and Lin H-C (2013) A two-step approach for broadband digital signal processing technique Journal of Vibration and Control Epub ahead of print 26 April 2013. doi: 10.1177/1077546312472925 Chen TH, Chang CJ, Yu SE, Chung PY and Liu C-K (2013) Nonlinear information analysis and system management technique: the influence of design experience and control complexity Journal of Vibration and Control Epub ahead of print 12 April 2013. doi: 10.1177/1077546312473321 Chen CY, Shih BY, Chen YH, Yu SE and Liu YC (2013) The exploration of a 3T flow model using vibrating NXT: II. Model validation Journal of Vibration and Control Epub ahead of print 10 April 2013. doi: 10.1177/1077546312470481 Chen CY, Shih BY, Chen YH, Yu SE and Liu YC (2013) The exploration of 3T flow model using vibrating NXT: I. model formulation Journal of Vibration and Control Epub ahead of print 6 February 2013. doi: 10.1177/1077546312467360 Lin M-L and Chen C-W (2013) Stability analysis of fuzzy-based NN modeling for ecosystems using fuzzy Lyapunov methods Journal of Vibration and Control Epub ahead of print 6 February 2013. doi: 10.1177/1077546312466687 Chen CY, Chen TH, Chen YH and Chiu J (2012) A multi-stage method for deterministic-statistical analysis: a mathematical case and measurement studies Journal of Vibration and Control Epub ahead of print 20 December 2012. doi: 10.1177/1077546312466579 Shih BY, Lin MC and Chen CY (2012) Autonomous navigation system for radiofrequency identification mobile robot e-book reader Journal of Vibration and Control Epub ahead of print 13 December 2012. doi: 10.1177/1077546312466578 Chang RF, Chen CY, Su FP, Lin HC and Lu C-K (2012) Multiphase SUMO robot based on an agile modeling-driven process for a small mobile robot Journal of Vibration and Control Epub ahead of print 13 December 2012. doi: 10.1177/1077546312464993 Shih B-Y, Lin Y-K, Cheng M-H, Chen C-Y and Chiu C-P (2012) The development of an application program interactive game-based information system Journal of Vibration and Control Epub ahead of print 12 December 2012. doi: 10.1177/1077546312464682 Chen C-Y, Chang C-J and Lin C-H (2012) On dynamic access control in web 2.0 and cloud interactive information hub: technologies Journal of Vibration and Control Epub ahead of print 12 December 2012. doi: 10.1177/1077546312464992 Shin BY, Chen CY and Hsu KH (2012) Robot cross platform system using innovative interactive theory and selection algorithms for Android application Journal of Vibration and Control Epub ahead of print 13 November 2012. doi: 10.1177/1077546312463757 Articles published in an issue Chen C-W (2014) Applications of neural-network-based fuzzy logic control to a nonlinear time-delay chaotic system Journal of Vibration and Control 20 (4): 589-605. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312461370 Chen C-W (2014) A review of intelligent algorithm approaches and neural-fuzzy stability criteria for time-delay tension leg platform systems Journal of Vibration and Control 20 (4): 561-575. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312463759 Chen C-Y, Chang C-J and Lin C-H (2014) On dynamic access control in web 2.0 and cloud interactive information hub: trends and theories Journal of Vibration and Control 20 (4): 548-560. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312463762 Lin M-L and Chen C-W (2014) Stability conditions for ecosystem modeling using the fuzzy Lyapunov method Journal of Vibration and Control 20 (2): 290-302. Epub ahead of print 23 October 2012. doi: 10.1177/1077546312451301 Chen C-H, Kuo C-M, Hsieh S-H and Chen C-Y (2014) Highly efficient very-large-scale integration (VLSI) implementation of probabilistic neural network image interpolator Journal of Vibration and Control 20 (2): 218-224. Epub ahead of print 22 October 2012. doi: 10.1177/1077546312458822 Chen C-Y (2014) Wave vibration and simulation in dissipative media described by irregular boundary surfaces: a mathematical formulation Journal of Vibration and Control 20 (2): 191-203. Epub ahead of print 22 October 2012. doi: 10.1177/1077546312464258 Chen C-H, Yao T-K, Dai J-H and Chen C-Y (2014) A pipelined multiprocessor system- on-a-chip (SoC) design methodology for streaming signal processing Journal of Vibration and Control 20 (2): 163-178. Epub ahead of print 16 October 2012. doi: 10.1177/1077546312458821 Lin M-L and Chen C-W (2014) Fuzzy neural modeling for n-degree ecosystems using the linear matrix inequality approach Journal of Vibration and Control 20 (1): 82-93. Epub ahead of print 8 October 2012. doi: 10.1177/1077546312458533 Chen C-H, Wu W-X and Chen C-Y (2013) Ant-inspired collective problem-solving systems Journal of Vibration and Control 19 (16): 2481-2490. Epub ahead of print 18 September 2012. doi: 10.1177/1077546312456231 Chen C-H, Yao T-K, Kuo C-M and Chen C-Y (2013) Evolutionary design of constructive multilayer feedforward neural network Journal of Vibration and Control 19 (16): 2413-2420. Epub ahead of print 12 September 2012. doi: 10.1177/1077546312456726 Chen C-W (2013) Applications of the fuzzy-neural Lyapunov criterion to multiple time-delay systems Journal of Vibration and Control 19 (13): 2054-2067. Epub ahead of print 16 August 2012. doi: 10.1177/1077546312451034 Chung P-Y, Chen Y-H, Walter L and Chen C-Y (2013) Influence and dynamics of a mobile robot control on mechanical components Journal of Vibration and Control 19 (13): 1923-1935. Epub ahead of print 20 July 2012. doi: 10.1177/1077546312452184 Chen C-W (2013) Neural network-based fuzzy logic parallel distributed compensation controller for structural system Journal of Vibration and Control 19 (11): 1709-1727. Epub ahead of print 22 June 2012. doi: 10.1177/1077546312442233 Chen C-W, Yeh K, Yang H-C, Liu KFR and Liu C-C (2013) A critical review of structural system control by the large-scaled neural network linear-deferential-inclusion-based criterion Journal of Vibration and Control 19 (11): 1658-1673. Epub ahead of print 18 June 2012. doi: 10.1177/1077546312443377 Chen C-H, Kuo C-M, Chen C-Y and Dai J-H (2013) The design and synthesis using hierarchical robotic discrete-event modeling Journal of Vibration and Control 19 (11): 1603-1613. Epub ahead of print 27 June 2012. doi: 10.1177/1077546312449645 Chang CJ, Chen CY and Chou I-T (2013) The design of information and communication technologies: telecom MOD strength machines Journal of Vibration and Control 19 (10): 1499-1513. Epub ahead of print 27 June 2012. doi: 10.1177/1077546312449644 Shih B-Y, Chen C-Y, Li K-H, Wu T-Y, Chen G-Y (2013) A novel NXT control method for implementing force sensing and recycling in a training robot Journal of Vibration and Control 19 (10): 1443-1459. Epub ahead of print 1 June 2012. doi: 10.1177/1077546312446361 Chen C-W, Chen P-C and Chiang W-L (2013) Modified intelligent genetic algorithm-based adaptive neural network control for uncertain structural systems Journal of Vibration and Control 19 (9): 1333-1347. Epub ahead of print 31 May 2012. doi: 10.1177/1077546312442232 Chen C-Y, Shih B-Y, Shih C-H and Wang L-H (2013) Enhancing robust and stability control of a humanoid biped robot: system identification approach. Journal of Vibration and Control 19 (8): 1199-1207. Epub ahead of print 26 April 2012. doi: 10.1177/1077546312442947 Chang C-J, Chen C-Y and Huang C-W (2013) Applications for medical recovery using wireless control of a bluetooth ball with a hybrid G-sensor and human-computer interface technology Journal of Vibration and Control 19 (8): 1139-1151. Epub ahead of print 24 April 2012. doi: 10.1177/1077546312442948 Hsu W-K, Chiou D-J, Chen C-W, Liu M-Y, Chiang W-L and Huang P-C (2013) Sensitivity of initial damage detection for steel structures using the Hilbert-Huang transform method Journal of Vibration and Control 19 (6): 857-878. Epub ahead of print 29 February 2012. doi: 10.1177/1077546311434794 Chen C-Y, Shih B-Y, Shih C-H and Wang L-H (2013) Human–machine interface for the motion control of humanoid biped robots using a graphical user interface Motion Editor Journal of Vibration and Control 19 (6): 814-820. Epub ahead of print 23 February 2012. doi: 10.1177/1077546312437804 Chen C-Y (2013) Internal wave transport, nonlinear manifestation, and mixing in a stratified shear layer - technical briefs Journal of Vibration and Control 19 (3): 429-438. Epub ahead of print 18 January 2012. doi: 10.1177/1077546311429337 Chen C-W (2013) Delay independent criterion for multiple time-delay systems and its application in building structure control systems Journal of Vibration and Control 19 (3): 395-414. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429341 Chen C-Y, Shih B-Y, Shih C-H and Wang L-H (2013) Design, modeling and stability control for an actuated dynamic walking planar bipedal robot Journal of Vibration and Control 19 (3): 376-384. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429476 Liu K-C, Liu Y-W, Chen C-Y and Huang W-C (2013) Nonlinear vibration of structural deterioration in reinforced concrete columns: experimental and theoretical investigation Journal of Vibration and Control 19 (3): 323-335. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429477 Chen C-Y, Shih B-Y and Ma J-m (2013) Development for low-cost and cross-platform robot control environment Journal of Vibration and Control 19 (2): 228-233. Epub ahead of print 11 January 2012. doi: 10.1177/1077546311430107 Shih B-Y, Chang H and Chen C-Y (2013) Path planning for autonomous robots – a comprehensive analysis by a greedy algorithm Journal of Vibration and Control 19 (1): 130-142. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429841 Liu T-Y, Chiang W-L, Chen C-W, Hsu W-K, Lin C-W, Chiou D-J and Huang P-C (2012) Structural system identification for vibration bridges using the Hilbert–Huang transform Journal of Vibration and Control 18 (13): 1939-1956. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311428347 Chen C-W (2012) Applications of the fuzzy Lyapunov linear matrix inequality criterion to a chaotic structural system Journal of Vibration and Control 18 (13): 1925-1938. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311428346 Chen C-W (2012) Applications of linear differential inclusion-based criterion to a nonlinear chaotic system: a critical review Journal of Vibration and Control 18 (12): 1886-1899. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311428345 Shih B-Y, Chen C-Y and Chou W (2012) An enhanced obstacle avoidance and path correction mechanism for an autonomous intelligent robot with multiple sensors Journal of Vibration and Control 18 (12): 1855-1864. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311426734 Chen C-W, Yeh K, Liu KFR and Lin M-L (2012) Applications of fuzzy control to nonlinear time-delay systems using the linear matrix inequality fuzzy Lyapunov method Journal of Vibration and Control 18 (10): 1561-1574. Epub ahead of print 18 October 2011. doi: 10.1177/1077546311410765 Chen C-Y (2012) A critical review of internal wave dynamics. Part 2 – Laboratory experiments and theoretical physics Journal of Vibration and Control 18 (7): 983-1008. Epub ahead of print 21 September 2011. doi: 10.1177/1077546310397561 Chen C-Y and Huang P-H (2012) Review of an autonomous humanoid robot and its mechanical control Journal of Vibration and Control 18 (7): 973-982. Epub ahead of print 21 September 2011. doi: 10.1177/1077546310395974 Shih B-Y, Chen C-Y, Chang H and Ma J-m (2012) Dynamics and control for robotic manipulators using a greedy algorithm approach Journal of Vibration and Control 18 (6): 859-866. Epub ahead of print 25 August 2011. doi: 10.1177/1077546311407649 Yeh K, Chen C-W, Lo DC and Liu KFR (2012) Neural-network fuzzy control for chaotic tuned mass damper systems with time delays Journal of Vibration and Control 18 (6): 785-795. Epub ahead of print 15 August 2011. doi: 10.1177/1077546311407538 Chen C-Y, Shih B-Y, Shih C-H and Chou W-C (2012) The development of autonomous low-cost biped mobile surveillance robot by intelligent bricks Journal of Vibration and Control 18 (5): 577-586. Epub ahead of print 21 April 2011. doi: 10.1177/1077546310371349 Chen C-Y (2012) A critical review of internal wave dynamics. Part 1 – Remote sensing and in-situ observations Journal of Vibration and Control 18 (3): 417-436. Epub ahead of print 13 July 2011. doi: 10.1177/1077546310395971 Tseng C-P, Chen C-W and Liu KFR (2012) Risk control allocation model for pressure vessels and piping project Journal of Vibration and Control 18 (3): 385-394. Epub ahead of print 13 July 2011. doi: 10.1177/1077546311403182 Lin M-L and Chen C-W (2011) Stability analysis of community and ecosystem hierarchies using the Lyapunov method Journal of Vibration and Control 17 (13): 1930-1937. Epub ahead of print 9 December 2010. doi: 10.1177/1077546310385737 Chen C-Y, Shih B-Y, Chou W-C, Li Y-J and Chen Y-H (2011) Obstacle avoidance design for a humanoid intelligent robot with ultrasonic sensors Journal of Vibration and Control 17 (12): 1798-1804. Epub ahead of print 26 November 2010. doi: 10.1177/1077546310381101 Chen C-W (2011) Fuzzy control of interconnected structural systems using the fuzzy Lyapunov method Journal of Vibration and Control 17 (11): 1693-1702. Epub ahead of print 23 November 2010. doi: 10.1177/1077546310379625 Shih B-Y, Chen C-Y and Chou W-C (2011) Obstacle avoidance using a path correction method for autonomous control of a biped intelligent robot Journal of Vibration and Control 17 (10): 1567-1573. Epub ahead of print 22 November 2010. doi: 10.1177/1077546310372004 Tang J-P, Chiou D-J, Chen C-W, Chiang W-L, Hsu W-K, Chen C-Y and Liu T-Y (2011) A case study of damage detection in benchmark buildings using a Hilbert-Huang Transform-based method Journal of Vibration and Control 17 (4): 623-636. Epub ahead of print 8 November 2010. doi: 10.1177/1077546309360053 Liu TY, Chiang WL, Chen CW, Hsu WK, Lu LC and Chu TJ (2011) Identification and monitoring of bridge health from ambient vibration data Journal of Vibration and Control 17 (4): 589-603. Epub ahead of print 12 November 2010. doi: 10.1177/1077546309360049 Lin JW, Huang CW, Shih CH and Chen CY (2011) Fuzzy Lyapunov Stability Analysis and NN Modeling for Tension Leg Platform Systems Journal of Vibration and Control 17 (1): 151-158. Epub ahead of print 25 August 2010. doi: 10.1177/1077546309350477 Lee WI, Chen CY, Kuo HM and Sui YC (2010) The Development of Half-circle Fuzzy Numbers and Application in Fuzzy Control Journal of Vibration and Control 16 (13): 1977-1987. Epub ahead of print 22 April 2010. doi: 10.1177/1077546309349849

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16

Lin, Meng-Lung, et Cheng-Wu Chen. « RETRACTED : Stability analysis of community and ecosystem hierarchies using the Lyapunov method ». Journal of Vibration and Control 17, n^o 13 (9 décembre 2010) : 1930–37. http://dx.doi.org/10.1177/1077546310385737.

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In 2013 the Editor of Journal of Vibration and Control and SAGE became aware of a peer review ring involving assumed and fabricated identities that appeared to centre around Peter Chen at National Pingtung University of Education, Taiwan (NPUE). SAGE and the Editor then began a complex investigation into the case during the rest of 2013 and 2014. Following an unsatisfactory response from Peter Chen, NPUE was notified. NPUE were serious in addressing the Journal and SAGE’s concerns. NPUE confirmed that the institution was investigating Peter Chen. SAGE subsequently uncovered a citation ring involving the above mentioned author and others. We regret that individual authors have compromised the academic record by perverting the peer review process and apologise to readers. On uncovering problems with peer review and citation SAGE immediately put steps in place to avoid similar vulnerability of the Journal to exploitation in the future. More information may be found at www.sagepub.co.uk/JVC_Statement_2014 . The Journal and SAGE understand from NPUE that Peter Chen has resigned his post at NPUE. The following articles are retracted because after thorough investigation evidence points towards them having at least one author or being reviewed by at least one reviewer who has been implicated in the peer review ring and/or citation ring. All authors have had an opportunity to respond to the allegations and proposed actions. OnlineFirst articles (these articles will not be published in an issue) Chen CY, Chen T-H, Chen Y-H, Yu S-E and Chung P-Y (2013) Information technology system modeling an integrated C-TAM-TPB model to the validation of ocean tidal analyses Journal of Vibration and Control Epub ahead of print 7 May 2013. doi: 10.1177/1077546312472924 Chang R-F, Chen CY, Su F-P and Lin H-C (2013) A two-step approach for broadband digital signal processing technique Journal of Vibration and Control Epub ahead of print 26 April 2013. doi: 10.1177/1077546312472925 Chen TH, Chang CJ, Yu SE, Chung PY and Liu C-K (2013) Nonlinear information analysis and system management technique: the influence of design experience and control complexity Journal of Vibration and Control Epub ahead of print 12 April 2013. doi: 10.1177/1077546312473321 Chen CY, Shih BY, Chen YH, Yu SE and Liu YC (2013) The exploration of a 3T flow model using vibrating NXT: II. Model validation Journal of Vibration and Control Epub ahead of print 10 April 2013. doi: 10.1177/1077546312470481 Chen CY, Shih BY, Chen YH, Yu SE and Liu YC (2013) The exploration of 3T flow model using vibrating NXT: I. model formulation Journal of Vibration and Control Epub ahead of print 6 February 2013. doi: 10.1177/1077546312467360 Lin M-L and Chen C-W (2013) Stability analysis of fuzzy-based NN modeling for ecosystems using fuzzy Lyapunov methods Journal of Vibration and Control Epub ahead of print 6 February 2013. doi: 10.1177/1077546312466687 Chen CY, Chen TH, Chen YH and Chiu J (2012) A multi-stage method for deterministic-statistical analysis: a mathematical case and measurement studies Journal of Vibration and Control Epub ahead of print 20 December 2012. doi: 10.1177/1077546312466579 Shih BY, Lin MC and Chen CY (2012) Autonomous navigation system for radiofrequency identification mobile robot e-book reader Journal of Vibration and Control Epub ahead of print 13 December 2012. doi: 10.1177/1077546312466578 Chang RF, Chen CY, Su FP, Lin HC and Lu C-K (2012) Multiphase SUMO robot based on an agile modeling-driven process for a small mobile robot Journal of Vibration and Control Epub ahead of print 13 December 2012. doi: 10.1177/1077546312464993 Shih B-Y, Lin Y-K, Cheng M-H, Chen C-Y and Chiu C-P (2012) The development of an application program interactive game-based information system Journal of Vibration and Control Epub ahead of print 12 December 2012. doi: 10.1177/1077546312464682 Chen C-Y, Chang C-J and Lin C-H (2012) On dynamic access control in web 2.0 and cloud interactive information hub: technologies Journal of Vibration and Control Epub ahead of print 12 December 2012. doi: 10.1177/1077546312464992 Shin BY, Chen CY and Hsu KH (2012) Robot cross platform system using innovative interactive theory and selection algorithms for Android application Journal of Vibration and Control Epub ahead of print 13 November 2012. doi: 10.1177/1077546312463757 Articles published in an issue Chen C-W (2014) Applications of neural-network-based fuzzy logic control to a nonlinear time-delay chaotic system Journal of Vibration and Control 20 (4): 589-605. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312461370 Chen C-W (2014) A review of intelligent algorithm approaches and neural-fuzzy stability criteria for time-delay tension leg platform systems Journal of Vibration and Control 20 (4): 561-575. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312463759 Chen C-Y, Chang C-J and Lin C-H (2014) On dynamic access control in web 2.0 and cloud interactive information hub: trends and theories Journal of Vibration and Control 20 (4): 548-560. Epub ahead of print 5 November 2012. doi: 10.1177/1077546312463762 Lin M-L and Chen C-W (2014) Stability conditions for ecosystem modeling using the fuzzy Lyapunov method Journal of Vibration and Control 20 (2): 290-302. Epub ahead of print 23 October 2012. doi: 10.1177/1077546312451301 Chen C-H, Kuo C-M, Hsieh S-H and Chen C-Y (2014) Highly efficient very-large-scale integration (VLSI) implementation of probabilistic neural network image interpolator Journal of Vibration and Control 20 (2): 218-224. Epub ahead of print 22 October 2012. doi: 10.1177/1077546312458822 Chen C-Y (2014) Wave vibration and simulation in dissipative media described by irregular boundary surfaces: a mathematical formulation Journal of Vibration and Control 20 (2): 191-203. Epub ahead of print 22 October 2012. doi: 10.1177/1077546312464258 Chen C-H, Yao T-K, Dai J-H and Chen C-Y (2014) A pipelined multiprocessor system- on-a-chip (SoC) design methodology for streaming signal processing Journal of Vibration and Control 20 (2): 163-178. Epub ahead of print 16 October 2012. doi: 10.1177/1077546312458821 Lin M-L and Chen C-W (2014) Fuzzy neural modeling for n-degree ecosystems using the linear matrix inequality approach Journal of Vibration and Control 20 (1): 82-93. Epub ahead of print 8 October 2012. doi: 10.1177/1077546312458533 Chen C-H, Wu W-X and Chen C-Y (2013) Ant-inspired collective problem-solving systems Journal of Vibration and Control 19 (16): 2481-2490. Epub ahead of print 18 September 2012. doi: 10.1177/1077546312456231 Chen C-H, Yao T-K, Kuo C-M and Chen C-Y (2013) Evolutionary design of constructive multilayer feedforward neural network Journal of Vibration and Control 19 (16): 2413-2420. Epub ahead of print 12 September 2012. doi: 10.1177/1077546312456726 Chen C-W (2013) Applications of the fuzzy-neural Lyapunov criterion to multiple time-delay systems Journal of Vibration and Control 19 (13): 2054-2067. Epub ahead of print 16 August 2012. doi: 10.1177/1077546312451034 Chung P-Y, Chen Y-H, Walter L and Chen C-Y (2013) Influence and dynamics of a mobile robot control on mechanical components Journal of Vibration and Control 19 (13): 1923-1935. Epub ahead of print 20 July 2012. doi: 10.1177/1077546312452184 Chen C-W (2013) Neural network-based fuzzy logic parallel distributed compensation controller for structural system Journal of Vibration and Control 19 (11): 1709-1727. Epub ahead of print 22 June 2012. doi: 10.1177/1077546312442233 Chen C-W, Yeh K, Yang H-C, Liu KFR and Liu C-C (2013) A critical review of structural system control by the large-scaled neural network linear-deferential-inclusion-based criterion Journal of Vibration and Control 19 (11): 1658-1673. Epub ahead of print 18 June 2012. doi: 10.1177/1077546312443377 Chen C-H, Kuo C-M, Chen C-Y and Dai J-H (2013) The design and synthesis using hierarchical robotic discrete-event modeling Journal of Vibration and Control 19 (11): 1603-1613. Epub ahead of print 27 June 2012. doi: 10.1177/1077546312449645 Chang CJ, Chen CY and Chou I-T (2013) The design of information and communication technologies: telecom MOD strength machines Journal of Vibration and Control 19 (10): 1499-1513. Epub ahead of print 27 June 2012. doi: 10.1177/1077546312449644 Shih B-Y, Chen C-Y, Li K-H, Wu T-Y, Chen G-Y (2013) A novel NXT control method for implementing force sensing and recycling in a training robot Journal of Vibration and Control 19 (10): 1443-1459. Epub ahead of print 1 June 2012. doi: 10.1177/1077546312446361 Chen C-W, Chen P-C and Chiang W-L (2013) Modified intelligent genetic algorithm-based adaptive neural network control for uncertain structural systems Journal of Vibration and Control 19 (9): 1333-1347. Epub ahead of print 31 May 2012. doi: 10.1177/1077546312442232 Chen C-Y, Shih B-Y, Shih C-H and Wang L-H (2013) Enhancing robust and stability control of a humanoid biped robot: system identification approach. Journal of Vibration and Control 19 (8): 1199-1207. Epub ahead of print 26 April 2012. doi: 10.1177/1077546312442947 Chang C-J, Chen C-Y and Huang C-W (2013) Applications for medical recovery using wireless control of a bluetooth ball with a hybrid G-sensor and human-computer interface technology Journal of Vibration and Control 19 (8): 1139-1151. Epub ahead of print 24 April 2012. doi: 10.1177/1077546312442948 Hsu W-K, Chiou D-J, Chen C-W, Liu M-Y, Chiang W-L and Huang P-C (2013) Sensitivity of initial damage detection for steel structures using the Hilbert-Huang transform method Journal of Vibration and Control 19 (6): 857-878. Epub ahead of print 29 February 2012. doi: 10.1177/1077546311434794 Chen C-Y, Shih B-Y, Shih C-H and Wang L-H (2013) Human–machine interface for the motion control of humanoid biped robots using a graphical user interface Motion Editor Journal of Vibration and Control 19 (6): 814-820. Epub ahead of print 23 February 2012. doi: 10.1177/1077546312437804 Chen C-Y (2013) Internal wave transport, nonlinear manifestation, and mixing in a stratified shear layer - technical briefs Journal of Vibration and Control 19 (3): 429-438. Epub ahead of print 18 January 2012. doi: 10.1177/1077546311429337 Chen C-W (2013) Delay independent criterion for multiple time-delay systems and its application in building structure control systems Journal of Vibration and Control 19 (3): 395-414. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429341 Chen C-Y, Shih B-Y, Shih C-H and Wang L-H (2013) Design, modeling and stability control for an actuated dynamic walking planar bipedal robot Journal of Vibration and Control 19 (3): 376-384. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429476 Liu K-C, Liu Y-W, Chen C-Y and Huang W-C (2013) Nonlinear vibration of structural deterioration in reinforced concrete columns: experimental and theoretical investigation Journal of Vibration and Control 19 (3): 323-335. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429477 Chen C-Y, Shih B-Y and Ma J-m (2013) Development for low-cost and cross-platform robot control environment Journal of Vibration and Control 19 (2): 228-233. Epub ahead of print 11 January 2012. doi: 10.1177/1077546311430107 Shih B-Y, Chang H and Chen C-Y (2013) Path planning for autonomous robots – a comprehensive analysis by a greedy algorithm Journal of Vibration and Control 19 (1): 130-142. Epub ahead of print 17 January 2012. doi: 10.1177/1077546311429841 Liu T-Y, Chiang W-L, Chen C-W, Hsu W-K, Lin C-W, Chiou D-J and Huang P-C (2012) Structural system identification for vibration bridges using the Hilbert–Huang transform Journal of Vibration and Control 18 (13): 1939-1956. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311428347 Chen C-W (2012) Applications of the fuzzy Lyapunov linear matrix inequality criterion to a chaotic structural system Journal of Vibration and Control 18 (13): 1925-1938. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311428346 Chen C-W (2012) Applications of linear differential inclusion-based criterion to a nonlinear chaotic system: a critical review Journal of Vibration and Control 18 (12): 1886-1899. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311428345 Shih B-Y, Chen C-Y and Chou W (2012) An enhanced obstacle avoidance and path correction mechanism for an autonomous intelligent robot with multiple sensors Journal of Vibration and Control 18 (12): 1855-1864. Epub ahead of print 14 December 2011. doi: 10.1177/1077546311426734 Chen C-W, Yeh K, Liu KFR and Lin M-L (2012) Applications of fuzzy control to nonlinear time-delay systems using the linear matrix inequality fuzzy Lyapunov method Journal of Vibration and Control 18 (10): 1561-1574. Epub ahead of print 18 October 2011. doi: 10.1177/1077546311410765 Chen C-Y (2012) A critical review of internal wave dynamics. Part 2 – Laboratory experiments and theoretical physics Journal of Vibration and Control 18 (7): 983-1008. Epub ahead of print 21 September 2011. doi: 10.1177/1077546310397561 Chen C-Y and Huang P-H (2012) Review of an autonomous humanoid robot and its mechanical control Journal of Vibration and Control 18 (7): 973-982. Epub ahead of print 21 September 2011. doi: 10.1177/1077546310395974 Shih B-Y, Chen C-Y, Chang H and Ma J-m (2012) Dynamics and control for robotic manipulators using a greedy algorithm approach Journal of Vibration and Control 18 (6): 859-866. Epub ahead of print 25 August 2011. doi: 10.1177/1077546311407649 Yeh K, Chen C-W, Lo DC and Liu KFR (2012) Neural-network fuzzy control for chaotic tuned mass damper systems with time delays Journal of Vibration and Control 18 (6): 785-795. Epub ahead of print 15 August 2011. doi: 10.1177/1077546311407538 Chen C-Y, Shih B-Y, Shih C-H and Chou W-C (2012) The development of autonomous low-cost biped mobile surveillance robot by intelligent bricks Journal of Vibration and Control 18 (5): 577-586. Epub ahead of print 21 April 2011. doi: 10.1177/1077546310371349 Chen C-Y (2012) A critical review of internal wave dynamics. Part 1 – Remote sensing and in-situ observations Journal of Vibration and Control 18 (3): 417-436. Epub ahead of print 13 July 2011. doi: 10.1177/1077546310395971 Tseng C-P, Chen C-W and Liu KFR (2012) Risk control allocation model for pressure vessels and piping project Journal of Vibration and Control 18 (3): 385-394. Epub ahead of print 13 July 2011. doi: 10.1177/1077546311403182 Lin M-L and Chen C-W (2011) Stability analysis of community and ecosystem hierarchies using the Lyapunov method Journal of Vibration and Control 17 (13): 1930-1937. Epub ahead of print 9 December 2010. doi: 10.1177/1077546310385737 Chen C-Y, Shih B-Y, Chou W-C, Li Y-J and Chen Y-H (2011) Obstacle avoidance design for a humanoid intelligent robot with ultrasonic sensors Journal of Vibration and Control 17 (12): 1798-1804. Epub ahead of print 26 November 2010. doi: 10.1177/1077546310381101 Chen C-W (2011) Fuzzy control of interconnected structural systems using the fuzzy Lyapunov method Journal of Vibration and Control 17 (11): 1693-1702. Epub ahead of print 23 November 2010. doi: 10.1177/1077546310379625 Shih B-Y, Chen C-Y and Chou W-C (2011) Obstacle avoidance using a path correction method for autonomous control of a biped intelligent robot Journal of Vibration and Control 17 (10): 1567-1573. Epub ahead of print 22 November 2010. doi: 10.1177/1077546310372004 Tang J-P, Chiou D-J, Chen C-W, Chiang W-L, Hsu W-K, Chen C-Y and Liu T-Y (2011) A case study of damage detection in benchmark buildings using a Hilbert-Huang Transform-based method Journal of Vibration and Control 17 (4): 623-636. Epub ahead of print 8 November 2010. doi: 10.1177/1077546309360053 Liu TY, Chiang WL, Chen CW, Hsu WK, Lu LC and Chu TJ (2011) Identification and monitoring of bridge health from ambient vibration data Journal of Vibration and Control 17 (4): 589-603. Epub ahead of print 12 November 2010. doi: 10.1177/1077546309360049 Lin JW, Huang CW, Shih CH and Chen CY (2011) Fuzzy Lyapunov Stability Analysis and NN Modeling for Tension Leg Platform Systems Journal of Vibration and Control 17 (1): 151-158. Epub ahead of print 25 August 2010. doi: 10.1177/1077546309350477 Lee WI, Chen CY, Kuo HM and Sui YC (2010) The Development of Half-circle Fuzzy Numbers and Application in Fuzzy Control Journal of Vibration and Control 16 (13): 1977-1987. Epub ahead of print 22 April 2010. doi: 10.1177/1077546309349849

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17

Biran, Yahav, George Collins, Borky John M et Joel Dubow. « Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017) ; View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017) ; View Description Applications of Case Based Organizational Memory Supported by the PAbMM Architecture Martín, María de los Ángeles, Diván, Mario José Adv. Sci. Technol. Eng. Syst. J. 2(3), 12-23 (2017) ; View Description Low Probability of Interception Beampattern Using Frequency Diverse Array Antenna Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. 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J. 2(3), 327-337 (2017) ; View Description Validity of Mind Monitoring System as a Mental Health Indicator using Voice Naoki Hagiwara, Yasuhiro Omiya, Shuji Shinohara, Mitsuteru Nakamura, Masakazu Higuchi, Shunji Mitsuyoshi, Hideo Yasunaga, Shinichi Tokuno Adv. Sci. Technol. Eng. Syst. J. 2(3), 338-344 (2017) ; View Description The Model of Adaptive Learning Objects for virtual environments instanced by the competencies Carlos Guevara, Jose Aguilar, Alexandra González-Eras Adv. Sci. Technol. Eng. Syst. J. 2(3), 345-355 (2017) ; View Description An Overview of Traceability : Towards a general multi-domain model Kamal Souali, Othmane Rahmaoui, Mohammed Ouzzif Adv. Sci. Technol. Eng. Syst. J. 2(3), 356-361 (2017) ; View Description L-Band SiGe HBT Active Differential Equalizers with Variable, Positive or Negative Gain Slopes Using Dual-Resonant RLC Circuits Yasushi Itoh, Hiroaki Takagi Adv. Sci. Technol. Eng. Syst. 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J. 2(3), 395-400 (2017) ; View Description Fault Tolerant Inverter Topology for the Sustainable Drive of an Electrical Helicopter Igor Bolvashenkov, Jörg Kammermann, Taha Lahlou, Hans-Georg Herzog Adv. Sci. Technol. Eng. Syst. J. 2(3), 401-411 (2017) ; View Description Computational Intelligence Methods for Identifying Voltage Sag in Smart Grid Turgay Yalcin, Muammer Ozdemir Adv. Sci. Technol. Eng. Syst. J. 2(3), 412-419 (2017) ; View Description A Highly-Secured Arithmetic Hiding cum Look-Up Table (AHLUT) based S-Box for AES-128 Implementation Ali Akbar Pammu, Kwen-Siong Chong, Bah-Hwee Gwee Adv. Sci. Technol. Eng. Syst. J. 2(3), 420-426 (2017) ; View Description Service Productivity and Complexity in Medical Rescue Services Markus Harlacher, Andreas Petz, Philipp Przybysz, Olivia Chaillié, Susanne Mütze-Niewöhner Adv. Sci. Technol. Eng. Syst. 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J. 2(3), 460-468 (2017) ; View Description Segmented and Detailed Visualization of Anatomical Structures based on Augmented Reality for Health Education and Knowledge Discovery Isabel Cristina Siqueira da Silva, Gerson Klein, Denise Munchen Brandão Adv. Sci. Technol. Eng. Syst. J. 2(3), 469-478 (2017) ; View Description Intrusion detection in cloud computing based attack patterns and risk assessment Ben Charhi Youssef, Mannane Nada, Bendriss Elmehdi, Regragui Boubker Adv. Sci. Technol. Eng. Syst. J. 2(3), 479-484 (2017) ; View Description Optimal Sizing and Control Strategy of renewable hybrid systems PV-Diesel Generator-Battery : application to the case of Djanet city of Algeria Adel Yahiaoui, Khelifa Benmansour, Mohamed Tadjine Adv. Sci. Technol. Eng. Syst. J. 2(3), 485-491 (2017) ; View Description RFID Antenna Near-field Characterization Using a New 3D Magnetic Field Probe Kassem Jomaa, Fabien Ndagijimana, Hussam Ayad, Majida Fadlallah, Jalal Jomaah Adv. Sci. Technol. Eng. Syst. J. 2(3), 492-497 (2017) ; View Description Design, Fabrication and Testing of a Dual-Range XY Micro-Motion Stage Driven by Voice Coil Actuators Xavier Herpe, Matthew Dunnigan, Xianwen Kong Adv. Sci. Technol. Eng. Syst. J. 2(3), 498-504 (2017) ; View Description Self-Organizing Map based Feature Learning in Bio-Signal Processing Marwa Farouk Ibrahim Ibrahim, Adel Ali Al-Jumaily Adv. Sci. Technol. Eng. Syst. J. 2(3), 505-512 (2017) ; View Description A delay-dependent distributed SMC for stabilization of a networked robotic system exposed to external disturbances Fatma Abdelhedi, Nabil Derbel Adv. Sci. Technol. Eng. Syst. J. 2(3), 513-519 (2017) ; View Description Modelization of cognition, activity and motivation as indicators for Interactive Learning Environment Asmaa Darouich, Faddoul Khoukhi, Khadija Douzi Adv. Sci. Technol. Eng. Syst. J. 2(3), 520-531 (2017) ; View Description Homemade array of surface coils implementation for small animal magnetic resonance imaging Fernando Yepes-Calderon, Olivier Beuf Adv. Sci. Technol. Eng. Syst. J. 2(3), 532-539 (2017) ; View Description An Encryption Key for Secure Authentication : The Dynamic Solution Zubayr Khalid, Pritam Paul, Khabbab Zakaria, Himadri Nath Saha Adv. Sci. Technol. Eng. Syst. J. 2(3), 540-544 (2017) ; View Description Multi-Domain Virtual Network Embedding with Coordinated Link Mapping Shuopeng Li, Mohand Yazid Saidi, Ken Chen Adv. Sci. Technol. Eng. Syst. J. 2(3), 545-552 (2017) ; View Description Semantic-less Breach Detection of Polymorphic Malware in Federated Cloud ». Advances in Science, Technology and Engineering Systems Journal 2, n^o 3 (juin 2017) : 553–61. http://dx.doi.org/10.25046/aj020371.

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Sulaiman, Shifa, et A. P. Sudheer. « Modeling of a wheeled humanoid robot and hybrid algorithm-based path planning of wheel base for the dynamic obstacles avoidance ». Industrial Robot : the international journal of robotics research and application, 11 mars 2022. http://dx.doi.org/10.1108/ir-12-2021-0298.

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Purpose Most of the conventional humanoid modeling approaches are not successful in coupling different branches of the tree-type humanoid robot. In this paper, a tree-type upper body humanoid robot with mobile base is modeled. The main purpose of this work is to model a non holonomic mobile platform and to develop a hybrid algorithm for avoiding dynamic obstacles. Decoupled Natural Orthogonal Complement methodology effectively combines different branches of the humanoid body during dynamic analysis. Collision avoidance also plays an important role along with modeling methods for successful operation of the upper body wheeled humanoid robot during real-time operations. The majority of path planning algorithms is facing problems in avoiding dynamic obstacles during real-time operations. Hence, a multi-fusion approach using a hybrid algorithm for avoiding dynamic obstacles in real time is introduced. Design/methodology/approach The kinematic and dynamic modeling of a humanoid robot with mobile platform is done using screw theory approach and Newton–Euler formulations, respectively. Dynamic obstacle avoidance using a novel hybrid algorithm is carried out and implemented in real time. D star lite and a geometric-based hybrid algorithms are combined to generate the optimized path for avoiding the dynamic obstacles. A weighting factor is added to the D star lite variant to optimize the basic version of D star lite algorithm. Lazy probabilistic road map (PRM) technique is used for creating nodes in configuration space. The dynamic obstacle avoidance is experimentally validated to achieve the optimum path. Findings The path obtained using the hybrid algorithm for avoiding dynamic obstacles is optimum. Path length, computational time, number of expanded nodes are analysed for determining the optimality of the path. The weighting function introduced along with the D star lite algorithm decreases computational time by decreasing the number of expanding nodes during path generation. Lazy evaluation technique followed in Lazy PRM algorithm reduces computational time for generating nodes and local paths. Originality/value Modeling of a tree-type humanoid robot along with the mobile platform is combinedly developed for the determination of the kinematic and dynamic equations. This paper also aims to develop a novel hybrid algorithm for avoiding collision with dynamic obstacles with minimal computational effort in real-time operations.

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Petit, Jeffery, Camilo Charron et Franck Mars. « Risk Assessment by a Passenger of an Autonomous Vehicle Among Pedestrians : Relationship Between Subjective and Physiological Measures ». Frontiers in Neuroergonomics 2 (22 novembre 2021). http://dx.doi.org/10.3389/fnrgo.2021.682119.

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Autonomous navigation becomes complex when it is performed in an environment that lacks road signs and includes a variety of users, including vulnerable pedestrians. This article deals with the perception of collision risk from the viewpoint of a passenger sitting in the driver's seat who has delegated the total control of their vehicle to an autonomous system. The proposed study is based on an experiment that used a fixed-base driving simulator. The study was conducted using a group of 20 volunteer participants. Scenarios were developed to simulate avoidance manoeuvres that involved pedestrians walking at 4.5 kph and an autonomous vehicle that was otherwise driving in a straight line at 30 kph. The main objective was to compare two systems of risk perception: These included subjective risk assessments obtained with an analogue handset provided to the participants and electrodermal activity (EDA) that was measured using skin conductance sensors. The relationship between these two types of measures, which possibly relates to the two systems of risk perception, is not unequivocally described in the literature. This experiment addresses this relationship by manipulating two factors: The time-to-collision (TTC) at the initiation of a pedestrian avoidance manoeuvre and the lateral offset left between a vehicle and a pedestrian. These manipulations of vehicle dynamics made it possible to simulate different safety margins regarding pedestrians during avoidance manoeuvres. The conditional dependencies between the two systems and the manipulated factors were studied using hybrid Bayesian networks. This relationship was inferred by selecting the best Bayesian network structure based on the Bayesian information criterion. The results demonstrate that the reduction of safety margins increases risk perception according to both types of indicators. However, the increase in subjective risk is more pronounced than the physiological response. While the indicators cannot be considered redundant, data modeling suggests that the two risk perception systems are not independent.

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Zhou, Huaidong, Pengbo Feng et Wusheng Chou. « A hybrid obstacle avoidance method for mobile robot navigation in unstructured environment ». Industrial Robot : the international journal of robotics research and application, 12 juillet 2022. http://dx.doi.org/10.1108/ir-04-2022-0102.

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Purpose Wheeled mobile robots (WMR) are the most widely used robots. Avoiding obstacles in unstructured environments, especially dynamic obstacles such as pedestrians, is a serious challenge for WMR. This paper aims to present a hybrid obstacle avoidance method that combines an informed-rapidly exploring random tree* algorithm with a three-dimensional (3D)-object detection approach and model prediction controller (MPC) to conduct obstacle perception, collision-free path planning and obstacle avoidance for WMR in unstructured environments. Design/methodology/approach Given a reference orientation and speed, the hybrid method uses parametric ellipses to represent obstacle expansion boundaries based on the 3D target detection results, and a collision-free reference path is planned. Then, the authors build on a model predictive control for tracking the collision-free reference path by incorporating the distance between the robot and obstacles. The proposed framework is a mapless method for WMR. Findings The authors present experimental results with a mobile robot for obstacle avoidance in indoor environments crowded with obstacles, such as chairs and pedestrians. The results show that the proposed hybrid obstacle avoidance method can satisfy the application requirements of mobile robots in unstructured environments. Originality/value In this study, the parameter ellipse is used to represent the area occupied by the obstacle, which takes the velocity as the parameter. Therefore, the motion direction and position of dynamic obstacles can be considered in the planning stage, which enhances the success rate of obstacle avoidance. In addition, the distance between the obstacle and robot is increased in the MPC optimization function to ensure a safe distance between the robot and the obstacle.

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Xiong, Zhigang, Zhong Liu et Yasong Luo. « Collision and obstacle avoidance strategy for multi-agent systems with velocity dynamic programing ». Measurement and Control, 13 septembre 2022, 002029402211221. http://dx.doi.org/10.1177/00202940221122195.

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This paper conducts research on collision and obstacle avoidance of multi-agent systems without mapping ability, while the constrained agent can only detect obstacles within a limited distance, then a velocity programing strategy is proposed considering the lack of a high-resolution map and the challenge of the modeling of complex obstacles. Based on the detecting information of nearby members and obstacles, a discontinuous velocity programing space is constructed by imposing the constraints on the velocity. To obtain expansive programing space, two different ways are utilized to establish the velocity constraints of avoiding various obstacles. For obstacles that can be viewed as virtual circular obstacles, a barrier function is introduced to restrict the radial component of the velocity. As for the obstacle that can only be detected partially, we use the border lines to construct a velocity feasible domain, and the domain is approximated by the polygonal region using the convex theory. Then, the nominal velocity is utilized as the objective and a nonlinear dynamic programing regulator is proposed. Furtherly, velocity limits generated from the system kinematic constraints are incorporated into the regulator. Finally, three tests are carried out and the feasibility of the proposed regulator is verified.

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Tang, Wenbing, Yuan Zhou, Tianwei Zhang, Yang Liu, Jing Liu et Zuohua Ding. « Cooperative collision avoidance in multirobot systems using fuzzy rules and velocity obstacles ». Robotica, 28 octobre 2022, 1–22. http://dx.doi.org/10.1017/s0263574722001515.

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Abstract Collision avoidance is critical in multirobot systems. Most of the current methods for collision avoidance either require high computation costs (e.g., velocity obstacles and mathematical optimization) or cannot always provide safety guarantees (e.g., learning-based methods). Moreover, they cannot deal with uncertain sensing data and linguistic requirements (e.g., the speed of a robot should not be large when it is near to other robots). Hence, to guarantee real-time collision avoidance and deal with linguistic requirements, a distributed and hybrid motion planning method, named Fuzzy-VO, is proposed for multirobot systems. It contains two basic components: fuzzy rules, which can deal with linguistic requirements and compute motion efficiently, and velocity obstacles (VOs), which can generate collision-free motion effectively. The Fuzzy-VO applies an intruder selection method to mitigate the exponential increase of the number of fuzzy rules. In detail, at any time instant, a robot checks the robots that it may collide with and retrieves the most dangerous robot in each sector based on the predicted collision time; then, the robot generates its velocity in real-time via fuzzy inference and VO-based fine-tuning. At each time instant, a robot only needs to retrieve its neighbors’ current positions and velocities, so the method is fully distributed. Extensive simulations with a different number of robots are carried out to compare the performance of Fuzzy-VO with the conventional fuzzy rule method and the VO-based method from different aspects. The results show that: Compared with the conventional fuzzy rule method, the average success rate of the proposed method can be increased by 306.5%; compared with the VO-based method, the average one-step decision time is reduced by 740.9%.

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Venkatamune, Nalina, et Jayarekha PrabhaShankar. « A VANET Collision Warning System with Cloud Aided Pliable Q-Learning and Safety Message Dissemination ». International Arab Journal of Information Technology 20, n^o 1 (2022). http://dx.doi.org/10.34028/iajit/20/1/12.

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Ease of self-driving technological developments revives Vehicular Adhoc Networks (VANETs) and motivates the Intelligent Transportation System (ITS) to develop novel intelligent solutions to amplify the VANET safety and efficiency. Collision warning system plays a significant role in VANET due to the avoidance of fatalities in vehicle crashes. Different kinds of collision warning systems have been designed for diverse VANET scenarios. Among them, reinforcement-based machine learning algorithms receive much attention due to the dispensable of explicit modeling about the environment. However, it is a censorious task to retrieve the Q-learning parameters from the dynamic VANET environment effectively. To handle such issue and safer the VANET driving environment, this paper proposes a cloud aided pliable Q-Learning based Collision Warning Prediction and Safety message Dissemination (QCP-SD). The proposed QCP-SD integrates two mechanisms that are pliable Q-learning based collision prediction and Safety alert Message Dissemination. Firstly, the designing of pliable Q-learning parameters based on dynamic VANET factors with Q-learning enhances collision prediction accuracy. Further, it estimates the novel metric named as Collision Risk Factor (CRF) and minimizes the driving risks due to vehicle crashes. The execution of pliable Q-learning only at RSUs minimizes the vehicle burden and reduces the design complexity. Secondly, the QCP-SD sends alerts to the vehicles in the risky region through highly efficient next-hop disseminators selected based on a multi-attribute cost value. Moreover, the performance of QCP-SD is evaluated through Network Simulator (NS-2). The efficiency is analyzed using the performance metrics that are duplicate packet, latency, packet loss, packet delivery ratio, secondary collision, throughput, and overhead.

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Shafei, A. M., et H. R. Shafei. « Planar Multibranch Open-Loop Robotic Manipulators Subjected to Ground Collision ». Journal of Computational and Nonlinear Dynamics 12, n^o 6 (7 septembre 2017). http://dx.doi.org/10.1115/1.4036197.

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In this article, a recursive approach is used to dynamically model a tree-type robotic system with floating base. Two solution procedures are developed to obtain the time responses of the mentioned system. A set of highly nonlinear differential equations is employed to obtain the dynamic behavior of the system when it has no contact with the ground or any object in its environment (flying phase); and a set of algebraic equations is exploited when this tree-type robotic system collides with the ground (impact phase). The Gibbs–Appell (G–A) formulation in recursive form and the Newton’s impact law are applied to derive the governing equations of the aforementioned robotic system for the flying and impact phases, respectively. The main goal of this article is a systematic algorithm that is used to divide any tree-type robotic system into a specific number of open kinematic chains and derive the forward dynamic equations of each chain, including its inertia matrix and right-hand side vector. Then, the inertia matrices and the right-hand side vectors of all these chains are automatically integrated to construct the global inertia matrix and the global right-hand side vector of the whole system. In fact, this work is an extension of Shafei and Shafei (2016, “A Systematic Method for the Hybrid Dynamic Modeling of Open Kinematic Chains Confined in a Closed Environment,” Multibody Syst. Dyn., 38(1), pp. 21–42.), which was restricted to a single open kinematic chain. So, to show the effectiveness of the suggested algorithm in deriving the motion equations of multichain robotic systems, a ten-link tree-type robotic system with floating base is simulated.

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Luan, Hao, Qinbing Fu, Yicheng Zhang, Mu Hua, Shengyong Chen et Shigang Yue. « A Looming Spatial Localization Neural Network Inspired by MLG1 Neurons in the Crab Neohelice ». Frontiers in Neuroscience 15 (21 janvier 2022). http://dx.doi.org/10.3389/fnins.2021.787256.

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Similar to most visual animals, the crab Neohelice granulata relies predominantly on visual information to escape from predators, to track prey and for selecting mates. It, therefore, needs specialized neurons to process visual information and determine the spatial location of looming objects. In the crab Neohelice granulata, the Monostratified Lobula Giant type1 (MLG1) neurons have been found to manifest looming sensitivity with finely tuned capabilities of encoding spatial location information. MLG1s neuronal ensemble can not only perceive the location of a looming stimulus, but are also thought to be able to influence the direction of movement continuously, for example, escaping from a threatening, looming target in relation to its position. Such specific characteristics make the MLG1s unique compared to normal looming detection neurons in invertebrates which can not localize spatial looming. Modeling the MLG1s ensemble is not only critical for elucidating the mechanisms underlying the functionality of such neural circuits, but also important for developing new autonomous, efficient, directionally reactive collision avoidance systems for robots and vehicles. However, little computational modeling has been done for implementing looming spatial localization analogous to the specific functionality of MLG1s ensemble. To bridge this gap, we propose a model of MLG1s and their pre-synaptic visual neural network to detect the spatial location of looming objects. The model consists of 16 homogeneous sectors arranged in a circular field inspired by the natural arrangement of 16 MLG1s' receptive fields to encode and convey spatial information concerning looming objects with dynamic expanding edges in different locations of the visual field. Responses of the proposed model to systematic real-world visual stimuli match many of the biological characteristics of MLG1 neurons. The systematic experiments demonstrate that our proposed MLG1s model works effectively and robustly to perceive and localize looming information, which could be a promising candidate for intelligent machines interacting within dynamic environments free of collision. This study also sheds light upon a new type of neuromorphic visual sensor strategy that can extract looming objects with locational information in a quick and reliable manner.

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Tan, Xiao, Guoping Chen et Hanbo Shao. « Modeling and Analysis of Spatial Flexible Mechanical Systems With a Spherical Clearance Joint Based on the LuGre Friction Model ». Journal of Computational and Nonlinear Dynamics 15, n^o 1 (11 novembre 2019). http://dx.doi.org/10.1115/1.4045240.

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Abstract A computational methodology for modeling spatial flexible mechanical systems with stick-slip friction in a spherical clearance joint is presented. A modified three-dimensional (3D) absolute nodal coordinate formulation based shear deformable beam element with two nodes is proposed and employed to discretize the flexible components. To avoid locking problems, we employed an enhanced continuum mechanics approach to evaluate the beam element elastic forces. The strain components εyz, εyy, and εzz are approximated using linear interpolation to improve the computational efficiency while the loss of accuracy is acceptable. The contact and friction forces in a spherical clearance joint were evaluated by the hybrid contact and LuGre friction models, respectively. Three numerical examples are presented and discussed. A simple pendulum was utilized to prove the correctness of the modified beam element. A classical slider–crank mechanism was employed to validate the computational methodology. A spatial rigid–flexible slider–crank mechanism with a spherical clearance joint was used to investigate the effect of link flexibility and joint clearance on the dynamic behavior of mechanical systems. Using the LuGre friction model, we reproduced the Stribeck effect as it is expected in real world settings. The components with appropriate stiffness play the role of suspension for spatial mechanical systems with imperfect joints. The vibrations of the flexible components play an active role of intensifying the collision in kinematic joint with clearance.

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Kashyap, Abhishek Kumar, Dayal R. Parhi et Vikas Kumar. « Navigation for multi-humanoid using MFO-aided reinforcement learning approach ». Robotica, 30 septembre 2022, 1–24. http://dx.doi.org/10.1017/s0263574722001357.

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Abstract The given article emphasizes the development and modeling of a hybrid navigational controller to optimize the path length and time taken. The proposed navigational controller is developed by hybridizing the metaheuristic moth–flame optimization (MFO) approach and the reinforcement learning (RL) approach. Input parameters like obstacle and target locations are fed to the MFO controller that implements a proper navigational direction selection. It forwards to the RL controller, which exercises further refinement of the output turning angle around obstacles. The collaboration of the global MFO approach with the local-based RL approach helps to optimize the path traversed by the humanoid robot in an unknown environment. The major breakthrough in this article is the utilization of humanoid robots for navigation purposes between various checkpoints. The humanoid robots are placed in a cluttered environment and assigned specific target positions to complete the assigned tasks. In the case of a multi-humanoid robot system, to avoid self-collision, it requires a Petri-Net controller to be configured in the navigation system to prevent deadlock situations and enhance the smooth completion of tasks without inter-collision among the humanoid robots. Simulations and real-time experiments are undertaken using different controllers involving single- and multi-humanoid robot systems. The robustness of the proposed controller is also validated in dynamic environment. Comparisons are carried with an established navigational controller in a similar environmental setup, which proves the proposed hybrid controller to be robust and efficient.

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Articles de revues sur le sujet « Dynamic Modeling, Collision Avoidance, Hybrid Systems »

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