Autonomous system (mathematics)

About: Autonomous system (mathematics) is a research topic. Over the lifetime, 1648 publications have been published within this topic receiving 38373 citations.

Passive dynamic autonomous control of bipedal walking

Abstract: This paper proposes the novel control method named Passive Dynamic Autonomous Control. PDAC is based on the following concept which Grizzle et al10 used previously: 1) point-contact 2) interlocking. Point-contact means that the contact state between a robot and the ground is made point. This make it possible to control based on the robot inherent dynamics although the control becomes difficult. Interlocking means that all robot joints are connected and interlocked. We present the new approach using this concept to describe the robot dynamics as a 1-DOF autonomous system. Due to autonomy, this approach has two folIowing notabIe point: 1) period from foot-contact to next foot-contact can be obtained 2) there is a conservative quantity. In this paper, the coupling method of the sagittal and lateral motion that takes advantage of point 1 is proposed. In addition, the stabilizing method based on the conservative quantity is de signed. By means of PDAC and these methods, stable 3-dimensional walking based on the robot inherent dynamics is realized.

Development of error-compensating UI for autonomous production cells

Abstract: This contribution deals with the impact of human error on the overall system reliability in flexible manufacturing systems (FMS). Autonomous production cells are used to illustrate an error-compensating system design on the basis of Sheridan's (1997) paradigm of supervisory control. In order to specify human errors and their effects in terms of system disturbances, a taxonomy of system disturbances is recommended. This taxonomic approach was derived by a value benefit analysis and is based on HEDOMS (Human Error and Disturbance Occurrence in Manufacturing Systems) with slight modifications and Reason's GEMS (Generic Error Modelling System). The taxonomy is used for data acquisition. Next, a risk priority equivalent to FMEA (Failure Mode and Effect Analysis) is introduced to structure the data according to their relevance. Then, Vicente's and Rasmussen's guidelines (1987) for an ecological interface design are related to the paradigm of supervisory control. On the basis of these guidelines four case studies are presented to show their successful applicability for interface design in FMS.

Active Safety Vehicles Evolving Toward Automated Driving [Connected Vehicles]

Abstract: Towards autonomous vehicles Autonomous dump trucks Suncor Energy will try Komatsu's Autonomous Haulage System (AHS) in the mining industry in northern Canada. Each autonomous dump truck is equipped with vehicle controllers, a high-precision global positioning system (GPS), an obstacle detection system, and a wireless network system. These features allow the dump truck to safely operate though a complex load, haul, and dump cycle and to integrate with the dozers, loaders, and shovels that are also part of the autonomous system. Komatsu claims that AHS reduces the number of drivers working in hostile and remote conditions, increases safety on mine sites, reduces operating costs, increases productivity and efficiency, and reduces fuel consumption and emissions.