Trajectory planning consists in finding a time series of successive joint angles that allows moving a robot from a starting configuration towards a goal configuration, in order to achieve a task, such as grabbing an object from a conveyor belt and placing it on a shelf. This trajectory must respect given constraints: for instance, the robot should not collide with the environment, the joint ang...

Automatic identification systems (AIS) provides massive ship trajectory data for maritime traffic management, route planning, and other research. In order to explore the valuable characteristics contained implicitly in AIS data, a clustering method based on resampling enhanced BIRCH (Balanced Iterative Reducing Clustering using Hierarchies) algorithm is proposed. The has been tested 764,393 poi...

ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end traject...

In this paper, a study of topology of Hidden Markov Model (HMM) used in speech recognition is addressed. Our main contribution is the introduction of the notion of trajectory folding phenomenon of HMM. In complex phonetic contexts and in speaker-variability, this phenomenon degrades the discriminability of HMM. The goal of this paper is to give some explanation and experimental evidence suggest...

This paper deals with kinematics and dynamics of the human shoulder in order to obtain the workspace related to the reachability of the wrist and applications to determine load for the wheelchair. The model contains six revolute degrees of freedom (D.O.F), two in costoclavicular and three in the shoulder joint and one in the elbow joint, while a six D.O.F model was developed according to given ...

We present a method to automatically morph trajectories from one mechanical system into trajectories of another system with potentially very different dynamics. Our method relies on a mapping from the source system’s configuration space to that of the target system to create a desired trajectory for the target system. A projection operatorbased trajectory optimization finds a dynamically-admiss...

The traditional taxi prediction methods model the taxi trajectory as a sequence of spatial points. It cannot represent two-dimensional spatial relationships between trajectory points. Therefore, many methods transform the taxi GPS trajectory into a two-dimensional image, and express the spatial correlations by trajectory image. However, the trajectory image may have noise and sparsity according...