Terms Of Kinematic Model Research Articles

Adaptive fuzzy IMM algorithm for uncertain target tracking

In real system application, the interacting multiple model (IMM)-based uncertain target tracking system operates with the following problems: it requires less computing resources as well as a robust performance with respect to the maneuvering such as a sub-model mismatched case, and further, it requires an easy design procedure related to its structures and parameters. To solve these problems, an adaptive fuzzy IMM (AFIMM) algorithm, which is based on well-defined basis sub-models and well-adjusted mode transition probabilities (MTPs), is proposed. The basis sub-models are defined by the detailed analysis in terms of kinematic models as well as the maneuvering property and the MTPs are adjusted by the fuzzy adaptor as well as the fuzzy decision maker. To verify the performance of the proposed algorithm, an airborne target tracking is performed. Simulation results show that the AFIMM effectively solves the problems experienced in the uncertain target tracking system online. Keywords: Adaptive fuzzy IMM, basis sub-models, mode transition probabilities, uncertain target.

Wall-following control of a two-wheeled mobile robot

Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance to the wall.This paper proposes wall-following controllers based on Lyapunov function candidate for a two-wheeled mobile robot (MR) to follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based on Busawon’s observer as only the distance error is measured. Additionally, the simulation and experimental results are included to illustrate the effectiveness of the proposed controllers.

Laser studies of the dynamics of photodissociation

Abstract One of the simplest dynamic processes that occurs in chemistry is the photodissociation of a molecule. Molecules are prepared on an excited potential energy surface by a Franck—Condon transition where they then evolve to products. In the process of evolving to products, predissociation can occur so that a new excited state is formed before the dissociation products appear. Other molecules will undergo direct dissociation so that the nascent energy distributions of the products reflect tha characteristics of the original potential energy surface. By measuring the nascent energy distributions of the products and the branching ratios for the production of molecules in different excited states, we can unravel the processes that are occuring within a given system. From these measurements detailed mechanisms can be postulated that explain the photodissociation results. These mechanisms are discussed in terms of kinematic models which illustrate the various types of interactions that occur as excited states evolve toward complete dissociation on a potential energy surface.

Laser studies of the dynamics of photodissociation

One of the simplest dynamic processes that occurs in chemistry is the photodissociation of a molecule. Molecules are prepared on an excited potential energy surface by a Franck—Condon transition where they then evolve to products. In the process of evolving to products, predissociation can occur so that a new excited state is formed before the dissociation products appear. Other molecules will undergo direct dissociation so that the nascent energy distributions of the products reflect tha characteristics of the original potential energy surface. By measuring the nascent energy distributions of the products and the branching ratios for the production of molecules in different excited states, we can unravel the processes that are occuring within a given system. From these measurements detailed mechanisms can be postulated that explain the photodissociation results. These mechanisms are discussed in terms of kinematic models which illustrate the various types of interactions that occur as excited states evolve toward complete dissociation on a potential energy surface.