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... differential odometry is used to determine heading, the solution is identical to the differential-drive configuration discussed in Section 1.3.1 One problem associated with the tricycle-drive configuration ... uneven distribution of slack, which varies as a function of loading and direction of rotation In addition, whenever chains (or timing belts) are tightened to reduce such slack, the individual wheels ... Omnidirectional Drive The odometry solution for most multi-degree-of-freedom (MDOF) configurations is done in similar fashion to that for differential drive, with position and velocity data derived

Ngày tải lên: 10/08/2014, 02:21

... [Lefevre, 1992].) A typical block diagram of the “minimum-reciprocal” IFOG configuration is presented in Figure 2.10 Polarization-maintaining single-mode fiber [Nolan and Blaszyk, 1991] is employed to ... open-loop IFOG is attractive from the standpoint of reduced manufacturing costs Additional advantages include high tolerance to shock and vibration, insensitivity to gravity effects, quick start-up, and ... (Reprinted with permission from [Komoriya and Oyama, 1994].) Figure 2.13: The OFG-3 optical fiber gyro made by Hitachi Cable Ltd (Courtesy of Hitachi Cable America, Inc [HITACHI].) 2.4 Geomagnetic

Ngày tải lên: 10/08/2014, 02:21

... sensitivity. Dynamic position plots Some accuracy information is obtained by comparing different data plots taken while driving down the same section of road. Most of this analysis is qualitative ... there is no ground-truth data for comparison. Dynamic navigation mode Taking DOP switching into account gives insight into the sensitivity of the receiver/antenna and the rate with which the receiver ... generating histograms of position error and navigation mode, and plotting dynamic position data. The mean and variance of the position errors were also obtained. Degrees of latitude and longitude

Ngày tải lên: 10/08/2014, 02:21

... scanning action generates a precise three-dimensional profile to better facilitate vehicle classification in automated toll booth applications. An abbreviated system block diagram is depicted in ... resulting in precise distance measurement to multiple targets in a scene illuminated by a single laser pulse. The design configuration is relatively simple and comparable in size and weight to ... BLANKING (INT) BINH TRANSMIT (INT) BLNK INIT 16 Pulses Chapter 4: Sensors for Map-Based Positioning 101 Figure 4.6: Timing diagram for the 6500- Series Sonar Ranging Module executing a multiple-echo-mode

Ngày tải lên: 10/08/2014, 02:21

... circuit, which is largely responsible for the amplitude-induced range error, and replaced it with four soft limiting amplifiers This design approximates the behavior of a logarithmic amplifier ... the Side Sensor subsystem in conjunction with vehicle speed and steering inputs, and activates audible and visual LED alerts if a dangerous condition is thought to exist (Selected specifications ... of the received signal amplitude and ambient light conditions [Vestli et al., 1993] Adams demonstrates this effect in the sample scan shown in Figure 4.32a This scan was obtained with the ESP

Ngày tải lên: 10/08/2014, 02:21

... INS used to control an autonomous vehicle in a mining application Inertial navigation is attractive mainly because it is self-contained and no external motion information is needed for positioning ... description of this experiment in [Komoriya and Oyama, 1994] it is not immediately evident how the “position estima-tion error” (i.e., the circles) in Figure 5.17b was found In our opinion, these ... separation distance to within 5 millimeters (0.2 in) Each truck computes its own dead-reckoned position and heading in conventional fashion, based on displacement and velocity information derived

Ngày tải lên: 10/08/2014, 02:21

... summarize the characteristics of landmark-based navigation as follows: & Natural landmarks offer flexibility and require no modifications to the environment & Artificial landmarks are inexpensive ... computer-aided design tool Schiele and Crowley propose that two representations be used in environment modeling with sonars: parametric primitives and an occupancy grid Parametric primitives describe ... realized by comparing segments in (1) similarity in orientation, (2) collinearity, and (3) overlap & Matching segment to grid & Matching grid to segment & Matching grid to grid as

Ngày tải lên: 10/08/2014, 02:21

... method. In this chapter, we review vision-based positioning methods which have not been explained in the previous chapters. In a wider sense, “positioning” means finding position and orientation ... two-dimensional. In this case, the vertical edges provide point features and two-dimensional positioning requires identification of three unique features. If the features are uniquely identifiable ... Positioning Using a Single Camera If a camera is mounted on a mobile robot with its optical axis parallel to the floor and vertical edges of an environment provide landmarks, then the positioning

Ngày tải lên: 10/08/2014, 02:21

... grid Positioning by classify- Matching: K-near- [Courtney and Jain, classification of Lateral motion vi- sensor 100×100 10 rooms and hall- maps ing the map descriptions est neighbor and 1994] Infrared ... [Parish and Grabble, Optical Fiber) time dependent drift, and rotation Gyro will not “catch” slow rotation errorsminimum detectable rate of Robotics, Inc Hitachi OFG-3 RS232 interface Originally ... 16REFERENCES 1 Abidi, M and Chandra, T., 1990, “Pose Estimation for Camera Calibration and Landmark Cincinnati, OH, May 13-18, pp 420-426 Academic Press Inc., San Diego, CA.Acuna, M.H and Pellerin, C.J.,

Ngày tải lên: 10/08/2014, 02:21

... Sandia Report SAND88-0540, Sandia National Laboratories, Albuquerque, NM, April. 172 Kleeman, L., 1992, “Optimal Estimation of Position and Heading for Mobile Robots Using Ultrasonic Beacons and ... “Decomposition of Transformation Matrices for Robot Vision.” Proceedings of the IEEE International Conference on Robotics and Automation, pp 130-139. 127 Getting, I.A., 1993, “The Global Positioning ... Guide to the Next Utility, No 16778, Trimble Navigation, Sunnyvale, CA, Nov 155 Institute of Navigation 1992 Class notes from "Introduction to GPS/INS Integration," Institute of Navigation

Ngày tải lên: 10/08/2014, 02:21

... initialization 15, 211 injecting 42 INS 76, 77, 145-147, 245 insecticides 103 insensitivity 42 instabilities 14, 38 instantaneous 21, 44, 51, 52, 62, 144 instrument-grade 99 Intel 100, 126 intelligent 105, ... 248, 252, iron 46-48, 61, 62 259, 260 irregularities 131, 138, 162 imaginary 21, 22, 31 imbalances 31 immobile 177 immunity 13, 17, 82 impact 46, 136 Imperial 165 impulse 116 inaccuracies 96, 130, ... hemispherical 103 HERMIES-III 26, 250, 251 heterodyning 112 heterogeneous 186, 230 heuristic 199 high -end 145, 161 -precision 32 -pulse-repetition-rate 103 -resolution 17, 60, 179, 250 -sensitivity

Ngày tải lên: 10/08/2014, 02:21

...  Maximizing the transmission bit rate  Minimizing probability of bit error  Minimizing the required power  Minimizing required system bandwidth  Maximizing system utilization  Minimize system ... 13 Limitations in designing a DCS  Limitations:  The Nyquist theoretical minimum bandwidth requirement  The Shannon-Hartley capacity theorem (and the Shannon limit)  Government regulations ... Technological limitations  Other system requirements (e.g satellite orbits) Lecture 13 Nyquist minimum bandwidth requirement  The theoretical minimum bandwidth needed for baseband transmission of

Ngày tải lên: 30/03/2014, 10:20

... hybridize MDCK Eco RI 7.1 kb Fragment Probe HindIII XbaI BamHI BamHI BamHI AvrII SpeI EcoRI BamHI SacI BamHI BamHI XbaI XbaI BamHI SphI SpeI EcoRI HindIII XbaI BamHI SacI BamHI BamHI AvrII A B C M 1 ... Determination of the MDCK RNA pol I promoter transcrip-tion initiatranscrip-tion site by primer extension analysis Figure 3 Determination of the MDCK RNA pol I promoter transcription initiation site ... type B influ-enza strains and is less efficient than the eight plasmid bidirectional system which utilizes cellular RNA polymer-ase I (pol I) and RNA pol II (pol II) to synthesize vRNA and viral

Ngày tải lên: 18/06/2014, 18:20

... kinetic is well synchronised with potential evapotranspiration (PET) daily time course Despite differences in density, stand structure and LAI spatial organisation, oak transpiration (T, mm d–1) is ... of caterpillars attacks, low PET and of the beginning of soil water depletion Daily oak transpiration diverged strongly with linearity with increasing PET (Fig 5), with an inflexion point around ... (No.; cf Tab II) in the daily total sap flux den-sity (% SFD) and variation coefficient (cv% = standard deviation/ arithmetic mean) per period (in julian days) Periods are uniform in terms of

Ngày tải lên: 08/08/2014, 00:22

... lines ( ) linking the Ri to H and B The volume outline in the horizontal plane passing through M is delimited by solid lines ( ); it is composed of ellipse-sectors between suc-cessive radii Figure ... clear bias: the relation is significant (p-value < 0.0001) and good (R2= 0.99) The regression line is very close to the identity line, even if these two lines remain statistically significantly ... crown radius Relationships between total height and diameter were very signif-icant for all species R2 (coefficient of determination) was good for beech, maples, wild service tree and white beam,

Ngày tải lên: 08/08/2014, 00:22

... variance in model [7] is proportional to the family variance in environment i, and the interaction and family variances in model [8] are proportional to the residual variance in environment i ... authors wish to thank I Olivieri and D H6bert (INRA-Montpellier) for providing the data set and raising the issue of estimation and testing genetic parameters in experiments of this kind REFERENCES ... observations in environment i; )3 is a (p x 1) i vector of fixed effects with incidence matrix X ui ; i fs*land U2 Ihs!.1are independent random normal components of the model (in this case, family and

Ngày tải lên: 09/08/2014, 18:21

... Original article Genetic study of Dandarawy chickens: I. Heritabilities and genetic correlations of body weight and weight gain M.A. Abdellatif Faculty of Agriculture, Animal ... programme. First, we will discuss heritability estimates of body weight and weight gain. The heritability estimates of body weight and weight gain as summarized by Kinney (1969) ... Maximum Likelihood... estimates and types of gene action of some economic traits in &dquo;Dokki 4&dquo; II Heritability and types of action on 8 and 12 weeks body weight Agric

Ngày tải lên: 09/08/2014, 22:22

... ix Trang 11AAN Atti dell’Accademia di Scienze morali e politiche della Società nazionale di Scienze, Lettere ed Arti di Napoli AE Année Epigraphique AIIN Annali dell’Istituto Italiano di Numismatica ... classica RIDA Revue internationale des Droits de l’Antiquité RSI Rivista storica Italiana SDHI Studia et Documenta Historiae et Iuris TAPhA Transactions and Proceedings of the American Philological ... third discipline, the com-parative study of literate, post-primitive (if I may), historical societies (I include the attribute ‘historical’ because the larger and more complex societies, non-literate

Ngày tải lên: 10/08/2014, 07:21