Overtaking a slow lead vehicle is a complex maneuver because of the variety of overtaking conditions and driver behavior. In this study, two novel prediction models for overtaking behavior are proposed. These models are derived based on multi-input multi-output adaptive neuro-fuzzy inference system (MANFIS). They are validated at microscopic level and are able to simulate and predict the fut...

Please cite this article in press as: Z. Hu et Vis. Comput. (2008), doi:10.1016/j.imavis Motion trajectory is one of the most important cues for tracking and behavior recognition and can be widely applied to numerous fields. However, it is a difficult problem to directly model the spatio-temporal variations of trajectories due to their high dimensionality and nonlinearity. In this paper, we pro...

We present an extensible-link kinematic model for characterizing the motion trajectory of an arbitrary planar compliant mechanism. This is accomplished by creating an analogous kinematic model consisting of links that change length over the course of actuation to represent elastic deformation of the compliant mechanism. Within the model, the motion trajectory is represented as an analytical fun...

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...

Particle filtering is being investigated extensively due to its important feature of target tracking based on nonlinear and non-Gaussian model. It tracks a trajectory with a known model at a given time. It means that particle filter tracks an arbitrary trajectory only if the time instant when a trajectory switches from one model to another model is known apriori. Because of this reason particle...

Needle insertion for percutaneous therapies is formulated as a trajectory planning and control problem. A new concept of needle steering is developed and a Needle Manipulation Jacobian is defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potentialfield-based path planning technique to demonstrat...

Matthew Greaves is a Senior Lecturer in the Safety and Accident Investigation Centre at Cranfield University. Prior to joining Cranfield, he worked for the science and technology organization QinetiQ. He holds an engineering degree and a Ph.D. in aircraft engine noise and vibration. His research deals with the application of technology to the accident investigation process and he is an ESASI co...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

This paper proposes model-space Maximum Likelihood Linear Regression (mMLLR) based speaker adaptation technique for trajectory HMMs, which have been derived from HMMs by imposing explicit relationships between static and dynamic features. This model can alleviate two limitations of the HMM: constant statistics within a state and conditional independence assumption of state output probabilities ...

This paper presents a model based on an hybrid system to numerically simulate the climbing phase of an aircraft. This model is then used within a trajectory prediction tool. Finally, the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) optimization algorithm is used to tune five selected parameters, and thus improve the accuracy of the model. Incorporated within a trajectory prediction ...