density or gravity currents have been always one of the main causes for sedimentation along many of the dam reservoirs. so controlling this phenomenon is very important for increasing useful life of such reservoirs. in this research study the effect of a combination of rough bed and obstacle on the control of sedimentary density current has been investigated. experiments were conducted in a til...

We present a randomised potential-field based motion planning approach for rough-terrain mobile robot navigation. The motion planning component is closely integrated with a real-time capable rigid-body kinematics and dynamics simulation module. The terrain is approximated as a polygonal surface generated from height data. The robot interacts with the terrain, modelled as a series of physically ...

One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable obstacle detection. Highways present an unknown and dynamic environment with real-time constraints. In addition, the high speeds of travel force a system to detect objects at long ranges. Because of its necessity for mobile robot platforms and intelligent vehicles, there has been a...

In common applications, a robot will have no prior knowledge of its environment and must use sensory information to build a cognitive model for path and route finding. The process of building a good cognitive model from sensory information alone is complex and time consuming. Uncertainty of the input data can also cause the resulting paths and routes to be suboptimal or erroneous. In many of th...

This paper presents a study on bioinspired closed-loop Central Pattern Generator (CPG) based control of robot fish for obstacle avoidance and direction tracking. The biomimetic is made rigid head with pair pectoral fins, wire-driven active body covered soft skin, compliant tail. CPG model consists four input parameters: the flapping amplitude, angular velocity, offset, time ratio between beat p...

Finite element schemes loose accuracy when approximating a class of vari-ational inequalities, elliptic obstacle problems, due to the existence of free boundaries. In this paper, moving mesh nite element method is applied to solve the elliptic obstacle problems. Computational meshes are constructed by combining harmonic mapping and sharper a posteriori error estimators which are normally used i...

Although legged mobile robots are inferior to wheeled or crawler types in mobility efficiency on the flat ground, they demonstrate high motion performance and adaptation capability to the ground by utilizing their high degrees of freedom (DOF). Since such robots choose stable leg-placement, stable movements can be performed on irregular terrains ( afak & Adams, 2002). Moreover, they demonstrate...

Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for critical applications. Body-obstacle interaction is often inevitable and induces perturbation uncertainty in motion that challenges closed-form dynamic modeling. Here, inspired by recent discovery of a terradynamic streamlined shape, we studied how two body shapes interacting obs...