3—planning and performing nondestructive testing investigations p 45

... on dynamic programming techniques, or with specific systems Combining discrete configuration space and piece-urise constant inputs: Barraquand and Latombe propose in [6,7] a direct approach to ... decentralized approach: each robot builds and executes its own plan by lr Notice that Barraquand and Latombe's algorithm [6] may be applied to provide an approximated solution of the problem is We ... should be performed in the physical world The gap between the world modeling and the real world is critical Usually, path planning assumes a two-steps approach consisting in planning a path and then...

Ngày tải lên: 10/08/2014, 02:21

... represent a forwardmoving operation and, by thickening up the actual line in approximately the same proportion as the reported progress, a ‘feel’ for the state of the job is immediately apparent ... 16.8 shows such a slip chart which was produced at reporting period of a project The top scale represents the project calendar and the vertical scale is the main reporting periods in terms of ... except ‘deliver pump’, which has an additional 24 – 20 = days float 10 24 Harden Set pump 14 26 Connect pipe 33 30 Deliver pump 20 10 20 Lay pipe 30 10 Figure 14.4 If, for example, the electrical...

Ngày tải lên: 26/01/2014, 11:20

... coupled to the SQUID is minimum only when Li = Lp, where Li and Lp are the inductances of the input coil and the pickup loop respectively For a typical low-Tc dc SQUID and radius of the pickup ... Nondestructive Testing Methods and New Applications, Edited by Mohammed Omar p cm ISBN 978-953-51-0108-6 Contents Preface IX Part Chapter Part General Nondestructive Testing Methods and Considerations Nondestructive ... copy and build upon published articles even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications...

Ngày tải lên: 28/06/2014, 17:20

... iron, eating, told, see, go Ss work in groups of 4, write the complete letter on poster III Post reading Exhibition : Ss put their posters on the board, comparing their work - Correction - Reading ... statements are T and the rest are F Now, predict which statements are T, and which ones are F S work individually first, then compare with their partments III While Reading : B1 - P. 103 Ss read and correct ... will be able to retell what happened at dentist 's (what they saw + did there)  Teaching aids : Tape and posters I Revision : Hangman : matter, worry, tooth, feel II Presentation : Set the scene...

Ngày tải lên: 03/07/2014, 21:20

... include: — — — — — the precautionary principle; the polluter pays principle; use of proper resource accounting; the principle of trans-boundary responsibility; and the principle of intergenerational ... have shaped coastal planning, and provide a ‘menu’ of theoretical approaches to choose from These approaches can then be fashioned by coastal managers into coastal planning approaches appropriate ... to all plans and planning exercises However, different types of plans and planning initiatives may interpret these two components in contrasting ways There are perhaps as many types of plans as...

Ngày tải lên: 08/08/2014, 10:22

... loan product and four or fewer branches, an effective alternative is to choose the consolidated option and define loan products as “branch product,” “branch product,” and so on This approach provides ... consolidated approach to a branch or regional approach is possible at any time, though it will require revising the product activity, staffing, and expense projections entered on the Program page Thus ... top left corner of the page Ctrl-PgUp Moves to the previous page in the workbook Ctrl-PgDn Moves to the next page in the workbook The choice among branch-level, regional, and consolidated projections...

Ngày tải lên: 09/08/2014, 19:21

... voice and equal political power 1.8 Support for social support systems & social cohesion (eroded by HIV/AIDS) Support for political voice and equal political power, particularly for PLWHAs and ... private good for which the user should pay, even though poor people in Africa generally emphasise it as important – and inaccessible (UNCTAD, 2002b) PRSPs typically not explicitly aim to support ... whether the PRSP is committed to support for political voice (point 1.8), one could point to the participatory process underpinning the PRSP Yet, as noted earlier, concerns have been expressed about...

Ngày tải lên: 09/08/2014, 19:21

... dividing the problem in two parts: - find a path in the free space linking the configurations a and b (this path is called also the collision-free holonomic path); - approximate this path by a trajectory ... of the output trajectory We have then to define this complexity for a trajectory approximating a given path Let be a collision-free path (provided by solving the first part of the problem) For ... computed (§2.3) the values of this degree for n = and 2: (q) = 3, 2(q) = or It appears, for n = 2, that the configurations where the car and the first trailer are perpendicular have particular properties...

Ngày tải lên: 10/08/2014, 02:21

... can be applied a posteriori to provide a simple new proof of this result 138 4.4 P Sou~res and J.-D Boissonnat An example of regular synthesis In this section, we prove that the previous partition ... writing w in the opposite direction, then by permutating on the one hand the r and the l, and on the other hand the + and - R e m a r k The points (M(x,y),Tr) and (M(x,y),-Tr) represent the same ... between the project Prisme of INRIA Sophia Antipolis and the group Robotics and Artificial Intelligence of LAAS-CNRS see [10] for more details At first sight, this problem might appear as a subproblem...

Ngày tải lên: 10/08/2014, 02:21

... is included in the Reeds and Shepp one (except for CCC paths, which are shortened by CICIC paths) Clearly, a path type with no cusp which is optimal for RS is afortiori optimal for DU So, let us ... Po LSR S] " ns\ RSR /t I2 Fig 21 Partition of P~ RSL 149 150 P Sou~res and J.-D Boissonnat - LSR Z~'-~ LSL ~ RSL Zo/ l Fig 22 Partition of P~ of/)2 (resp ~)3), 274 (resp Zs), Zo (resp Z1) and ... (31) 156 6.2 P Sou~res and J.-D Boissonnat Necessary conditions for a solution to be optimal Pontryagin's M a x i m u m Principle We are going to apply Pontryagin's Maximum Principle in order...

Ngày tải lên: 10/08/2014, 02:21

... The path following task is an input-output problem with m = input and p = controlled output, implying the indirect control of n - states The trajectory tracking task is again an input-output problem ... by appropriate motion timing For example, paths with discontinuous curvature (like the Reeds and Shepp optimal paths under maximum curvature constraint) can be executed by the real axle midpoint ... view of controlled states (in the proper coordinates), path following appears as part of a point stabilization task The latter philosophy will be adopted in this chapter Feedback Control of a Nonholonomic...

Ngày tải lên: 10/08/2014, 02:21

... response of the closed-loop system (i.e., between the new inputs r and the outputs z) is linear In the multi-input multi-output case, the solution to this problem automatically yields inputoutput ... this input scaling procedure, the second control input simply goes to zero when the desired trajectory Xdl stops We point out that a rigorous Lyapunov-based proof can be derived for the asymptotic ... algorithm proceeds by differentiating all system outputs until some of the inputs appear explicitly At this point, one tries to invert the differential map in order to solve for the inputs If the...

Ngày tải lên: 10/08/2014, 02:21

... regularity properties of z/(Z2,t), it is found that Ul is bounded along the solutions of the closed-loop system, together with its first derivative Therefore, Prop 4.1 applies; in particular, ... • We point out that controls ul and u2 resulting from Prop 4.2 are smooth with respect to the state provided that the functions T/(Z2, t) and kw2(ul) are themselves smooth On the other hand, ... of x, y, and ¢, and the actual commands vl and v2 applied to the car-like robot, obtained from ul and u2 via the chained-form input transformation (9) After performing several other numerical...

Ngày tải lên: 10/08/2014, 02:21

... extensions of PPP addressing multi-robot path planning problems have been presented in [46,48] In this chapter an overview is given of the algorithmic aspects of PPP and applications of the planning ... problem with respect to the running time, one has an even stronger result Two of the most successful such planners are the probabilistic path planner (PPP) and the randomized path planner (RPP) ... the planner for free-flying planar robots was described in [31] and subsequently expanded into a general learning approach, for various robot types, in [32] Independently, "PPP-like" preprocessing...

Ngày tải lên: 10/08/2014, 02:21

... presentation we introduce some shorthand notations We denote the version of PPP using undirected underlying graphs (respectively directed graphs) by PPP~, (respectively PPPd) The notation PPPu(L) ... verifying the GLT-propcrty, then PPP(L) is probabilistically complete Proof The theorem can be proven quite straightforwardly (for both PPPu(L) and PPPd(L)) Assume L verifies the GLT-property Given ... success probabilities and running times of PPP to the complexity of the problems that are to be solved a Kavraki et al refer to PPP by the name PRM (Probabilistic RoadMap planner) 286 P Svestka and...

Ngày tải lên: 10/08/2014, 02:21

... PPP to a wide variety of path planning problems show that the method is very powerful and fast Another strong point of PPP is its flexibility In order to apply it to some particular robot type, ... been captured, and at this point the super-graph construction is stopped 7.3 Retrieving the coordinated paths Paths from multi-level super-graphs not directly describe coordinated paths (as opposed ... subgraphs is required 7.5 Discussion of the super-graph approach The presented multi-robot path planning approach seems to be quite flexible, as well as time and memory efficient The power of the presented...

Ngày tải lên: 10/08/2014, 02:21

... distance between a sphere and a spherical plane is found by projecting the sphere perpendicularly on the plane, and calculating the sphere on the plane that corresponds to this projection In any ... convex approximations of the swept volume and, only when the global swept volumes intersect, they proceed to split the trajectory into pieces and to compute a convex approximation of the swept volume ... applicable vertex (Vj) - face (Fi) pairing (b) Edges Ei and Ej are also applicable The applicability constraints may be used as a preprocessing step in a collision detection scheme based on performing...

Ngày tải lên: 10/08/2014, 02:21

... Synthesis Problems 168 pp 1995 [3-540-19966-7] Vol 206: Aganovic, Z.;.Gajic, Z Unear Optimal Control of Bilinear Systems with Applications to Singular Perturbations and Weak Coupling 133 pp 1995 ... FM.; Prischepova, S.V Optimal Feedback Control 224 pp 1995 [3-540-19991-8] Vol 200: Khalil, H.K.; Chow, J.H.; Ioannou, P. A (Eds) Proceedings of Workshop on Advances inControl and its Applications ... Controllers for Process Systems 248 pp 1996 [3-540-76021-0] Vol 213: Patra, A.; Rao, G .P General Hybrid Orthogonal Functions and their Applications in Systems and Control 144 pp 1996 [3-540-76039-3]...

Ngày tải lên: 10/08/2014, 02:21