The implementation of the Trajectory Based Operations (TBO) concept in the future ATM system will require the capability of performing accurate and robust trajectory predictions. TBO aims at enabling the efficient management of the expected increasing air traffic volumes strategically, only resorting to tactical interventions as a last resort. To achieve this aim, TBO will rely on Trajectory Ma...

Recently, a trajectory model, derived from the hidden Markov model (HMM) by imposing explicit relationships between static and dynamic features, has been proposed. The derived model, named trajectory HMM, can alleviate two limitations of the HMM: constant statistics within a state and conditional independence assumption of state output probabilities. In the present paper, a speaker adaptation a...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

In this work, a nonlinear model predictive controller is developed for a batch polymerization process. The physical model of the process is parameterized along a desired trajectory resulting in a trajectory linearized piecewise model (a multiple linear model bank) and the parameters are identified for an experimental polymerization reactor. Then, a multiple model adaptive predictive controller ...

In this paper, optimization and control of a tubular reactor for thermal bulk post-polymerization of styrene have been investigated. By using the reactor mathematical model, static and dynamic simulations are carried out. Based on an objective function including polymer conversion and polydispersity, reactor optimal temperature profile has been obtained. In the absence of model mismatch, de...

In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

This article provides an introduction to some recent results in billiard dynamics. We present results that follow from a study of compact Riemann surfaces (equipped with a holomorphic 1-form) and an SL2R action on the moduli spaces of these surfaces. We concentrate on the progress toward classification of “optimal” billiard tables, those with the simplest trajectory structure.

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...