Download or read book Generation de trajectoires sans collision en robotique principes et algorithmes pour la modelisation et la navigation written by Gérard Magro and published by . This book was released on 1989 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book G n ration de trajectoires sans collision en robotique written by Gérard Magro and published by . This book was released on 1989 with total page 377 pages. Available in PDF, EPUB and Kindle. Book excerpt: Les travaux présentés dans cette thèse concernent la génération de trajectoires sans collision, pour les grands déplacements d'un robot manipulateur. L'objectif est de dégager les principes d'une méthode qui permette de répondre aux exigences d'une application dans le cadre de la robotique d'assemblage : fréquence importante des requêtes de déplacement, évolution de l'encombrement au cours de l'application. Un algorithme de modélisation de l'espace libre cartésien est proposé. Basé sur un mecanisme d'insertion et d'extraction d'objets dans la scène d'assembalge, il permet de construire un modèle représenté sous la forme d'un graphe d'adjacente entre cellules libres prismatiques de r#3. Ce modèle sert de support à une méthode de navigation, dont le rôle est de construire une trajectoire pour l'objet déplacé par le manipulateur. La problématique consiste à rechercher un chemin cellulaire dans le graphe dit d'espace libre cartésien. Ce chemin représente ainsi une enveloppe volumique non limitée, dans laquelle on construit alors une trajectoire sans collision. Dans l'optique d'accélérer la méthode de navigation, l'auteur propose les principes suivants : utilisation d'un modèle hiérarchique de l'objet deplacé, raffiné au fur et à mesure de la rencontre d'échecs ; exploration du graphe par un algorithme de type a#*, dont l'objectif est d'obtenir un chemin cellulaire qui contienne vraisemblablement une trajectoire sans conception ; adaptation d'une méthode générale, pour cette construction, ou les caractéristiques du chemin cellulaire sont exploitées dans le but de diminuer la complexité de la méthode initiale.
Download or read book GENERATION AUTOMATIQUE DE TRAJECTOIRES SANS COLLISION ET PLANIFICATION DE TACHES DE MANIPULATION EN ROBOTIQUE written by Thierry Siméon and published by . This book was released on 1989 with total page 137 pages. Available in PDF, EPUB and Kindle. Book excerpt: ON ABORDE 2 ASPECTS QUI SONT LA GENERATION AUTOMATIQUE DE TRAJECTOIRES SANS COLLISION ET LA PLANIFICATION DE TACHES DE MANIPULATION
Download or read book GENERATION DE TRAJECTOIRES AVEC EVITEMENT D OBSTACLES EN ROBOTIQUE AVANCEE written by DONG MEI.. XING and published by . This book was released on 1987 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: CONCEPTION ET MISE EN OEUVRE D'UN MODULE DE GENERATION DE TRAJECTOIRES AVEC EVITEMENT D'OBSTACLE POUR UN MANIPULATEUR D'ASSEMBLAGE CONSTITUE D'UNE SEULE CHAINE MECANIQUE EN BOUCLE OUVERTE. LE GENERATEUR DE TRAJECTOIRES PEUT ETRE INTEGRE DANS UN LANGAGE DE PROGRAMMATION DE ROBOTS
Download or read book Local Approximation Techniques in Signal and Image Processing written by Vladimir I︠A︡kovlevich Katkovnik and published by SPIE-International Society for Optical Engineering. This book was released on 2006 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with a wide class of novel and efficient adaptive signal processing techniques developed to restore signals from noisy and degraded observations. These signals include those acquired from still or video cameras, electron microscopes, radar, X-rays, or ultrasound devices, and are used for various purposes, including entertainment, medical, business, industrial, military, civil, security, and scientific. In many cases useful information and high quality must be extracted from the imaging. However, often raw signals are not directly suitable for this purpose and must be processed in some way. Such processing is called signal reconstruction. This book is devoted to a recent and original approach to signal reconstruction based on combining two independent ideas: local polynomial approximation and the intersection of confidence interval rule.
Download or read book Analysis and Optimization of Systems written by Alain Bensoussan and published by . This book was released on 1986 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nondifferentiable Optimization written by Michel Louis Balinski and published by . This book was released on 1975 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Optimal Shape Design for Elliptic Systems written by O. Pironneau and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of optimal shape design can be arrived at by asking the following question: "What is the best shape for a physical system?" This book is an applications-oriented study of such physical systems; in particular, those which can be described by an elliptic partial differential equation and where the shape is found by the minimum of a single criterion function. There are many problems of this type in high-technology industries. In fact, most numerical simulations of physical systems are solved not to gain better understanding of the phenomena but to obtain better control and design. Problems of this type are described in Chapter 2. Traditionally, optimal shape design has been treated as a branch of the calculus of variations and more specifically of optimal control. This subject interfaces with no less than four fields: optimization, optimal control, partial differential equations (PDEs), and their numerical solutions-this is the most difficult aspect of the subject. Each of these fields is reviewed briefly: PDEs (Chapter 1), optimization (Chapter 4), optimal control (Chapter 5), and numerical methods (Chapters 1 and 4).
Download or read book Optimization of Distributed Parameter Structures written by Edward J. Haug and published by Kluwer Academic Publishers. This book was released on 1981 with total page 796 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Optimal Shape Design written by B. Kawohl and published by Springer Science & Business Media. This book was released on 2000-11-16 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: Optimal Shape Design is concerned with the optimization of some performance criterion dependent (besides the constraints of the problem) on the "shape" of some region. The main topics covered are: the optimal design of a geometrical object, for instance a wing, moving in a fluid; the optimal shape of a region (a harbor), given suitable constraints on the size of the entrance to the harbor, subject to incoming waves; the optimal design of some electrical device subject to constraints on the performance. The aim is to show that Optimal Shape Design, besides its interesting industrial applications, possesses nontrivial mathematical aspects. The main theoretical tools developed here are the homogenization method and domain variations in PDE. The style is mathematically rigorous, but specifically oriented towards applications, and it is intended for both pure and applied mathematicians. The reader is required to know classical PDE theory and basic functional analysis.
Download or read book Handbook of Functional Equations written by Themistocles M. Rassias and published by Springer. This book was released on 2014-11-18 with total page 555 pages. Available in PDF, EPUB and Kindle. Book excerpt: As Richard Bellman has so elegantly stated at the Second International Conference on General Inequalities (Oberwolfach, 1978), “There are three reasons for the study of inequalities: practical, theoretical, and aesthetic.” On the aesthetic aspects, he said, “As has been pointed out, beauty is in the eye of the beholder. However, it is generally agreed that certain pieces of music, art, or mathematics are beautiful. There is an elegance to inequalities that makes them very attractive.” The content of the Handbook focuses mainly on both old and recent developments on approximate homomorphisms, on a relation between the Hardy–Hilbert and the Gabriel inequality, generalized Hardy–Hilbert type inequalities on multiple weighted Orlicz spaces, half-discrete Hilbert-type inequalities, on affine mappings, on contractive operators, on multiplicative Ostrowski and trapezoid inequalities, Ostrowski type inequalities for the Riemann–Stieltjes integral, means and related functional inequalities, Weighted Gini means, controlled additive relations, Szasz–Mirakyan operators, extremal problems in polynomials and entire functions, applications of functional equations to Dirichlet problem for doubly connected domains, nonlinear elliptic problems depending on parameters, on strongly convex functions, as well as applications to some new algorithms for solving general equilibrium problems, inequalities for the Fisher’s information measures, financial networks, mathematical models of mechanical fields in media with inclusions and holes.
