in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that can take fully advantage of these rules to better solve tasks such as target tracking or trajectory forecasting, we need to have access to better data in the ...

In this paper, we propose an efficient signature-based indexing scheme for efficiently dealing with the trajectories of current moving objects on road networks. We show that our indexing scheme achieves much better trajectory retrieval performance than the existing trajectory indexing schemes, such as TB-tree, FNR-tree and MON-tree.

In recent years, many emerging database applications deal with large sets of continuously moving data objects. Since no computer system can commit continuously occurring infinitesimal changes to the database, related data management techniques view a moving object’s trajectory as a sequence of discretely reported spatiotemporal points. For each pair of consecutive committed trajectory points, a...

A trajectory of a harmonic oscillator obeying the Schrödinger wave equation is exactly derived and illustrated. The trajectory resembles well the classical orbit between the turning points, and also runs through the tunneling region. The dynamics of the ‘particle’ motion and the wave function associated with the motion are proposed. The period of a round trip on the trajectory is exactly equal ...

In this study, an optimal trajectory planning based on artificial neural networks and genetic algorithms was proposed for control of nuclear research reactors. The trajectory being followed by the reactor power is composed of three parts. In order to calculate periods of all parts of the trajectory, a period generator was designed based on a feedforward neural network. Period values of the traj...

A near-optimal midcourse trajectory shaping guidance algorithm is proposed for both air and ballistic target engagement mission attributes for generic long range interceptor missile. This guidance methodology is based on the maximum final velocity as the objective function and maximum permissible flight altitude as the in-flight state constraint as well as the head-on orientation as the termina...

An optimal explicit guidance law that maximizes terminal velocity is developed for a reentry vehicle to a fixed target. The equations of motion are reduced with differential flatness approach and acceleration commands are related to trajectory's parameters. An optimal trajectory is determined by solving a real-coded genetic algorithm. For online trajectory generation, optimal trajectory is...