Nowadays, the indoor pedestrian navigation has become a research hotspot. How to improve position tracking accuracy is one of most important key issues this topic. In work, we present an improving tightly-coupled model for navigation. proposed model, channel filter used estimation distance between reference node (RN) and blind (BN) measured by UWB, then, 15-element error state vector in fusing foot-mounted IMU UWB measurements. The real test results show that effective reduce compared with...

The stabilization problem of an underactuated surface vessel is addressed in this paper. A discontinuous control approach with two stage laws switched on at given time proposed based the stability analysis global transformed system. With aid terminal sliding mode (TSM) method, asymptotically stabilizing for subsystems are designed independently. It shown that stabilizes vessel. Numerical simulation results to illustrate effectiveness approach.

In the research on path tracking control of wheeled mobile robot, accuracy Pure Pursuit algorithm is poor. The effect affected by preview distance L <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">d</inf> . To solve this problem, an improved proposed, and a rule adaptive adjustment designed. Select temporary point $P_{g}'$;. can be adjusted adaptively according to steering angle $\alpha$ deflection $\theta$. constructing two tangential circles...

A new fuzzy control design for way-point tracking problem of ship autopilot is proposed. To effectively ships in a designed trajectory always an important task manipulators. The paper gives the method kind system. rules are constructed based on human operator's manipulating experience. This approach greatly simplifies process and algorithm, easily applied to practical Simulation results show that proposed has desired performance with high accuracy course keeping, short time rudder actions...

The utilization rate of ink liquid in the chamber is critical for thermal bubble inkjet head. difficult problem faced by printing how to maximize use and increase frequency. In this paper, adding a flow restrictor two narrow channels into chamber, H-shape flow-limiting structure formed. At 1.8 μs, speed expansion reaches maximum, after passing through channel, maximum reverse decreased 25%. When vapor disappeared, fills nozzle slowly. 20 increases 39%. frequency 40 kHz, volume droplet about...

Abstract Tin-based perovskite has been considered as one of the most potential candidates for lead-based perovskite. The solution proceed method was widely utilized in fabricating tin solar cells. So far, all fabrication processes cells involved toxic organic solvents, which is contrary to development environmentally friendly In this study, we report first time, by using a mixed green solvent N-diethyl formamide and 1,3-dimethyl-3,4,5,6-Tetrahydro-2 (1H)-pyrimidinone precursor solvent,...

Trajectory tracking problem of a tractor-trailer mobile robot with backward speed is addressed in this paper. Due to the nonholonomic constraints, control more challenging task. Fuzzy combined hierarchical method often shown be effective for complex system. With line-of-sight method, fuzzy approach then proposed. Its effectiveness verified by numeric simulation results. Numerical experimental result showed that trajectory can successfully carried out proposed method.

A path planning method for the tractor-trailer mobile robot in unknown environment based on rapid-exploring random trees is proposed. The space model of firstly constructed with sonar sensors. Mechanism evaporation and enhancement are designed to reduce dimension search space. feasible generated Dual-RRT algorithm, which satisfied nonholonomic mechanical constraints. Disbranch operation RRT executed avoid repeated searches increase speed. Results simulation pro-type experiment show that...

Curve path tracking control problem for tractor-trailer mobile robot in backward motion is addressed this paper. Because the dynamics of trailer not stable when tractor moves backward, curve a challenging task. A fuzzy controller via line-of-sight method constructed. The effectiveness proposed verified by numeric simulation results, which show that can be successfully carried out method.

Calculation of 6R serial manipulator's inverse kinematics is a highly complex nonlinear mapping problem. As the process calculating concerned, these traditional algorithms, like transformation, geometry, pieper solution, etc., are very complex, and they often involve in problem multiple solutions singularity. So, calculation efficiency low. Artificial Neural Network (ANN) has great advantage solving problems mapping, parallel processing, self-adaptive, fast, efficient handling multivariable...

Object shape reconstruction from images has been an active topic in computer vision. Shape-from-shading (SFS) is important approach for inferring 3D surface a single shading image. In this paper, we present unified SFS surfaces of various reflectance properties using fast eikonal solvers. The whole consists three main components: model, eikonal-type partial differential image irradiance (PDII) equation, and solvers the PDII equation. first component designed to address different including...

Extraction of Coupling Modes (COM) parameters is important in the design modern high-performance surface acoustic wave (SAW) devices. In this study, we established an effective connection between COM and results stationary eigenfrequency studies based on finite element method. Based connection, proposed approach for fast full extraction including phases coupling reflection transduction coefficient. The commonly used electrode width controlled single-phase unidirectional transducer...

A backward motion control method for the stabilization problem of a tractor-trailer mobile robot is proposed in this paper. The idea relies basically on fact that trailer stable when tractor goes forward. Others, backward, virtual constructed drags with forward speed and equivalent kinematics respect to real tractor. Due system does not satisfy involutive condition, dynamic extension implemented get an exact linearization form. feedback law thus deduced based transformed linear system....

Flocking control problem of mobile robots under environment with unknown obstacles is addressed in this paper. Based on the simulated annealing algorithm, a flocking behaviour for achieved which converges to alignment while avoiding obstacles. Potential functions are designed evaluate positional relationship between and Unlike existing analytical method, algorithm utilized search quasi-optimal position order reduce potential functions. Motion law drive robot move desired at each sampling...

Golay codes are the most practical code in coded ultrasound imaging systems. But trade-off for perfect range sidelobe cancellation is requirement two firings, thus resulting motion-dependent decoding errors. In view of this, we propose a new scheme using simultaneous emission pairs. The pair allocated to different elements an aperture and transmitted simultaneously. process separating from echo received based on orthogonality pair. At last autocorrelation functions individual added together....