International Robotics & Automation Journal最新文献_第3页

Shortest paths of trefoil knot designs using Rubik’s Snakes 最短路径的三叶草结设计使用魔方蛇

International Robotics & Automation Journal Pub Date : 2022-01-28 DOI: 10.15406/iratj.2022.08.00238

Songming Hou, Jianning Su

引用次数: 3

Applications of mechatronics opportunities in textiles 机电一体化在纺织品中的应用机会

International Robotics & Automation Journal Pub Date : 2022-01-20 DOI: 10.15406/iratj.2022.08.00237

Elsayed Ahmed Elnashar

引用次数: 2

World’s first self-driving amphibious bus 世界上第一辆自动驾驶水陆两栖巴士

International Robotics & Automation Journal Pub Date : 2022-01-09 DOI: 10.15406/iratj.2023.09.00254

D. Watabe, M. Wada, Nobumitu Shimizu, Tastuma Ohkubo

{"title":"World’s first self-driving amphibious bus","authors":"D. Watabe, M. Wada, Nobumitu Shimizu, Tastuma Ohkubo","doi":"10.15406/iratj.2023.09.00254","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00254","url":null,"abstract":"Amphibious buses are extensively used worldwide for transporting people to and from tourist attractions across water and land. Although numerous studies on self-driving technologies have been reported, research on the automatic operation and navigation of an amphibious vehicle has been sparse; moreover, owing to the size of the amphibious vehicles, automatic transport of multiple people is not possible. Therefore, in this study, we attempted to realize unmanned operation of a sightseeing amphibious bus for 45 passengers. The bus was outfitted with a by-wire system. On the vessel side, an actuator, similar to that used in JOY cars, was installed to turn the captain’s steering wheel. We also developed a software for the automatic operation and navigation of the bus. The relationship between the car’s steering-wheel angle and the front-tire angles is linear, whereas that between the captain’s steering-wheel angle and the vessel’s rudder-plate angle is not (and was approximated with a sixth-order polynomial). Furthermore, Autoware—a leading autonomous-driving software utilizing model-based predictive control algorithms to control the steering wheel of automobiles—was employed in this work. These algorithms were altered using Nomoto’s KT vessel model equation to improve the accuracy of vessel-path tracking. To the best of our knowledge, till date, no studies have documented the functioning of self-driving vessels using predictive controls based on Nomoto’s KT vessel model equation. In accordance with the vessel navigation rules based on the Autoware obstacle avoidance logic, LiDAR, cameras, and sonars were employed to detect obstructions and give-way paths. Thus, we successfully demonstrated the working of world's first self-driving amphibious bus, with automated controls for entering/exiting water and during give-way operations.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125740105","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimization of distance between fire stations: effects of fire ignition probabilities, fire engine speed and road limitations, property values and weather conditions 消防站之间距离的优化:着火概率、消防车速度和道路限制、财产价值和天气条件的影响

International Robotics & Automation Journal Pub Date : 2021-12-02 DOI: 10.15406/iratj.2021.07.00235

P. Lohmander

{"title":"Optimization of distance between fire stations: effects of fire ignition probabilities, fire engine speed and road limitations, property values and weather conditions","authors":"P. Lohmander","doi":"10.15406/iratj.2021.07.00235","DOIUrl":"https://doi.org/10.15406/iratj.2021.07.00235","url":null,"abstract":"A general spatial fire brigade unit network density optimization problem has been solved. The distance to a particular road, from a fire station, is approximated as a continuous variable. It is proved, via integral convolution, that the probability density function of the total travel time, PDFT, is triangular. The size of the fire, when it stopped, is a function of the time it takes until the fire brigade reaches the fire location. An explicit continuous function for the expected total cost per square kilometer, based on the cost per fire station, the PDFT, the exponential fire cost function parameters, the distance between fire stations, and the speed of fire engines, is derived. It is proved that the optimal distance between fire brigade unit positions, OFD, which minimizes the total expected cost, is unique. Then, the OFDs are replaced by integers, OFDIs, for different parameter assumptions. In this process, also the optimal expected total costs are determined. It is proved that the OFD is a strictly decreasing function of the expected number of fires per area unit, a strictly increasing function of the speed of the fire engines, a strictly decreasing function of the parameters of the exponential fire cost function, and a strictly increasing function of the cost per fire station. These effects of parameter changes are also illustrated via graphs in the numerical section.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126152523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Inertial torques acting on a spinning sphere 作用在旋转球体上的惯性力矩

International Robotics & Automation Journal Pub Date : 2021-11-16 DOI: 10.15406/iratj.2021.07.00233

R. Usubamatov, A. Arzybaev

引用次数: 1

Analysis of various strategies for effective household energy conservation 家庭有效节能的各种策略分析

International Robotics & Automation Journal Pub Date : 2021-01-13 DOI: 10.15406/iratj.2021.07.00218

R. Arulmurugan

引用次数: 0

Runtime accuracy alterable approximate floatingpoint multipliers 运行时精度可变近似浮点乘法器

International Robotics & Automation Journal Pub Date : 1900-01-01 DOI: 10.15406/iratj.2022.08.00244

Mi Lu

{"title":"Runtime accuracy alterable approximate floatingpoint multipliers","authors":"Mi Lu","doi":"10.15406/iratj.2022.08.00244","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00244","url":null,"abstract":"Modern systems demand high computational power within limited resources. Approximate computing is a promising approach to design arithmetic units with tight resources for error-tolerant applications such as image and signal processing and computer vision. A floating-point multiplier is one of the arithmetic units with the highest complexity in such applications. Designing a floating-point multiplier based on the approximate computing technique can reduce its complexity as well as increase performance and energy efficiency. However, an unknown error rate for upcoming input data is problematic to design appropriate approximate multipliers. The existing solution is to utilize an error estimator relying on statistical analysis. In this paper, we propose new approximate floating-point multipliers based on an accumulator and reconfigurable adders with an error estimator. Unlike previous designs, our proposed designs are able to change the levels of accuracy at runtime. Thus, we can make errors distributed more evenly. In contrast to other designs, our proposed design can maximize the performance gain since reconfigurable multipliers are able to operate two multiplications in parallel once the low accuracy mode is selected. Furthermore, we apply a simple rounding technique to approximate floating-point multipliers for additional improvement. Our simulation results reveal that our new method can reduce area by 70.98% when error tolerance margin of our target application is 5%, and when its error tolerance margin is 3%, our rounding enhanced simple adders-based approximate multiplier can save area by 65.9%, and our reconfigurable adder-based approximate multiplier with rounding can save the average delay and energy by 54.95% and 46.67% respectively compared to an exact multiplier.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132658415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

International Robotics &amp; Automation Journal最新文献

International Robotics & Automation Journal最新文献