this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

This paper presents an adaptation of an existing dynamic trajectory method for unconstrained minimization to handle constrained optimization problems. This is done by the application of a dynamic penalty parameter procedure to allow for the constraints. The method is applied to structural optimization problems that involve the determination of minimum weight structures of trusses and frames, su...

Metabolic depression is a highly conserved feature of insect diapause, and an increase in metabolism is a reliable indicator of diapause termination and the initiation of post-diapause development. The trajectory of metabolic rate following diapause termination can guide the identification of important physiological and developmental landmarks during this developmental transition, yet quantitat...

the main attempt of this article is extension the method so that it generallywould be able to consider the classical solution of the systems and moreover,produces the optimal trajectory and control directly at the same time. there-fore we consider a control system governed by a bone marrow cancer equation.next, by extending the underlying space, the existence of the solution is con-sidered and ...

Sequential Quadratic Programming (SQP) for trajectory optimization of entry vehicle was presented. Firstly, equations of motion were normalized and an independent variable is introduced to reduce the difficulty of iterative computation. And then, optimal control problem was transformed into a nonlinear programming problem using direct collocation method. Finally, sequential quadratic programmin...

In this contribution we introduce a novel method for 3D trajectory based recognition and discrimination between different working actions and long-term motion prediction. The 3D pose of the human hand-forearm limb is tracked over time with a multi-hypothesis Kalman Filter framework using the Multiocular Contracting Curve Density algorithm (MOCCD) as a 3D pose estimation method. A novel trajecto...

Autonomous underwater vehicles (AUVs) have found a permanent application doing mine countermeasures (MCM). Autonomous crawlers can be used to perform mine search patterns, but in doing so can encounter many problems, one of which is obstacles. For a crawler, knowing how to avoid obstacles and what to do after avoiding obstacles is important to performing searches quickly and effectively. A fuzz...

A novel system that efficiently integrates two types of neural networks for reliably performing isolated word recognition is described. The recognition system comprises of a feature extractor that includes a Self Organizing Map for an optimal tailoring of trajectory representations of words in reduced dimension feature spaces. Experimental results indicate that such lower dimensional trajectori...

Nonlinear inverse dynamic models can be utilized in various parts of advanced model-based control system design: reference trajectory optimization, feedforward control and feedback linearization [35]. In this paper, a new synthesis approach for nonlinear inverse dynamic models of satellites with flexible structures is presented. For satellite configurations with unstable zero dynamics, a stable...