Dynamic Coordinate Method Research Articles

Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators

Continuum manipulators have important applications in the human–machine interaction fields. The kinematics, dynamics, and control issues of the continuum manipulators are rather different from a conventional rigid-link manipulator. By the aid of Lie groups theory and exponential coordinate representations, the kinematics of the continuum manipulators with piecewise constant curvatures and actuated by tendons is investigated in this paper. On the basis of differential kinematics analysis, the complete Jacobian of the continuum manipulators is derived analytically, and then a new motion planning approach, named as “dynamic coordination method” is presented for the multisegments continuum manipulators, which is a class of superredundant manipulators. The novel motion planning approach is featured by some appealing properties, and the feasibility of the modeling and the motion planning method is demonstrated by some numerical simulations.

ПРОБЛЕМА ОРГАНИЗАЦИИ ЕДИНОЙ ТРАНСПОРТНОЙ СИСТЕМЫ

The paper discusses the problem of common transport system creation from system-wide positions. Much attention is focused on two aspects – active self-maintenance in the environment with disorganization and dual nature of an organized object – as a system and as an element of a super-system. These roles for transport are expressed in the presence of two main tasks, for the system it is «transportation», for the element of the national economy – «ensuring economic cooperation by reliable and efficient transport links». In the first case, losses in the interaction of transport and production are attributed to production, in the second – to transport. Therefore, in the latter case, transport has to adapt to the rhythms of production. Self-maintenance on transport is provided by adaptive, flexible, controlled operation. Controlling creates so-called dynamic reserves that replace the actual, static reserves. To organize the common transport system in a market economy conditions it is necessary to use «system integrators». Functions of the «system integrators» should be performed by forwarding companies. Methods of calculation and optimization should represent system properties of transport objects. For optimal control of traffic volume the paper proposes to use a dynamic transportation problem and a dynamic coordination method instead of a transport linear programming problem. The latter allows calculating not only the optimal modes of transportation, but also the adaptive coordination of production and consumption rhythms. These methods have been successfully applied in the empty car traffic volume control and in the calculation of the coordinated supply of goods to seaports. Simulation modeling is considered as the main method of calculation. Authors present two simulation systems: ISTRA for modeling railway stations and IMETRA for modeling transport junctions and large ranges. They have built-in mechanisms for representing the adaptive control. The optimization methods and modeling systems have passed state registration.

A Study of Route Assignment Strategy Based on Anticipatory Stigmergy

SUMMARYIn this paper, we evaluate how to provide or control traffic information based on anticipatory stigmergy. Managing traffic congestion is one of the main issues for smart cities, and many efforts have been made to address it from the perspective of IT and transportation research. Recently, dynamic coordination methods have been made possible by using shorter term traffic information that can be gathered by probe vehicles or smartphones. Some attempts have been made to handle short‐term traffic information in which a stigmergy‐based approach is employed as an indirect communication method for cooperation among distributed agents and for managing traffic congestion. One drawback of these approaches is that handling near‐future congestion remains difficult because stigmergies basically represent past information. Therefore, we propose anticipatory stigmergy for sharing information about the near future and adequate driver allocation. All vehicles submit their near‐future intentions as anticipatory stigmergy in order to search for routes. Preliminary results demonstrate that anticipatory stigmergy with an assignment strategy functions well.

Study on Route Assignment Strategy based on Anticipatory Stigmergy

In this paper, we evaluate how to provide or control traffic information based on an anticipatory stigmergy. Managing traffic congestion is one of the main issues for smart cities, and many works have been trying to address it from the IT and transportation research perspectives. Recently, dynamic coordination methods are becoming possible using the more short-term traffic information that can be gathered by probe-vehicles or smart phones. Some approaches have been trying to handle short-term traffic information in which a stigmergy-based approach is employed as an indirect communication method for cooperation among distributed agents and for managing traffic congestion. One drawback of these approaches is that handling near-future congestion remains problematic because stigmergies are basically past information. Therefore we propose anticipatory stigmergy for sharing information on near-future location and allocating drivers adequately. All vehicles submit their near-future intention as anticipatory stigmergy to search their routes. Our preliminary results demonstrate that anticipatory stigmergy with assignment strategy works well.