Latest Publications & Patents on Kinematics
This is our latest selection of worldwide publications and patents in english on Kinematics, between many scientific online journals, classified and focused on kinematic, relative velocity, relative acceleration, trajectory, trajectories, Chebychev, Kutzbach, free fall, angular velocity, angular acceleration, projectile motion, average velocity and average acceleration.
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Transition Control of a Rotary Double Inverted Pendulum Using Direct Collocation
Published on 2025-02-15 by Doyoon Ju, Taegun Lee, Young Sam Lee @MDPI
Abstract: The rotary double inverted pendulum system is characterized by one stable equilibrium point and three unstable equilibrium points due to its kinematic properties. This paper defines the transition control problem between these equilibrium points to extend the conventional swing-up control problem and proposes an implementation method using a laboratory-developed rotary double inverted pendulum. To minimize energy consumption during the transition process while satisfying the boundary conditions [...]
Our summary: Control strategy for transitioning between equilibrium points of a rotary double inverted pendulum using direct collocation method and two-point boundary value optimal control problem. Implementation includes feedforward trajectory computation and feedback control with time-varying LQ controller. Experimentally validated with successful tracking of 12 transition trajectories.
Direct Collocation, Transition Control, Double Inverted Pendulum, Optimal Control
Publication
Chiral discrimination through holonomic quantum coherent control with a trapped-ion qudit
Published on 2025-02-14 by Teng Liu, Fa Zhao, Pengfei Lu, Qifeng Lao, Xinxin Rao, Min Ding, Ji Bian, Feng Zhu and Le Luo @IOP SCIENCE
Abstract: A novel optical method for distinguishing chiral molecules is proposed and tested within a quantum simulator employing a trapped-ion qudit. This approach correlates the sign disparity of the dipole moment of chiral molecules with distinct cyclic evolution trajectories, yielding the unity population contrast induced by the different non-Abelian holonomies corresponding to the chirality. Harnessing the principles of holonomic quantum computation, our method can achieve highly efficient, non-adiaba[...]
Our summary: Chiral discrimination method using holonomic quantum control with trapped-ion qudit achieves efficient and robust detection and separation of chiral molecules, demonstrating high contrast in population of specific state.
quantum, chiral, holonomic, trapped-ion
Publication
A UAV Coverage Path Planning Method Based on a Diameter–Height Model for Mountainous Terrain
Published on 2025-02-14 by Nan Zhang, Linkai Yue, Qiang Zhang, Chaojun Gao, Bingbing Zhang, Yonghuan Wang @MDPI
Abstract: Most unmanned aerial vehicles (UAVs) nowadays engage in coverage missions using coverage paths with simple patterns that are limited in two-dimensional space, ignoring the elevation features of mountainous terrain intentionally, resulting in losing details and increasing the coverage path density and the UAV energy consumption. To address these problems, a coverage path planning method based on the DH (Diameter–Height) model for mountainous terrain is proposed. Firstly, a DH model [...]
Our summary: A UAV coverage path planning method based on a Diameter-Height model is proposed for mountainous terrain. The method simplifies 3D map construction, partitions the map into sub-regions, generates spiral ascent and circular coverage paths, and incorporates trajectory minimization and obstacle avoidance for path connection. Simulation experiments show feasibility, effectiveness, conformal coverage effects, trajectory minimization, obstacle avoidance, and UAV energy savings.
Coverage Path Planning, UAV, DH Model, Mountainous Terrain
Publication
Inverse Kinematics Optimization for Redundant Manipulators Using Motion-Level Factor
Published on 2025-02-14 by Zhuo Liang, Pengkun Quan, Shichun Di, Zhiming Huang @MDPI
Abstract: Redundant manipulators (RMs) are widely used in various fields due to their flexibility and versatility, but challenges remain in adjusting their inverse kinematics (IK) solutions. Adjustable IK solutions are crucial as they not only avoid joint limits but also enable the manipulability of the manipulator to be regulated. To address this issue, this paper proposes an IK optimization method. First, a performance metric for adjustable IK solutions is developed by introducing the motion-level facto[...]
Our summary: This paper presents a method for optimizing Inverse Kinematics for Redundant Manipulators using a motion-level factor. A performance metric is developed to adjust IK solutions based on desired joint motion level. A two-stage optimization algorithm is proposed to enhance accuracy and adaptability of IK solutions for redundant manipulators.
Inverse Kinematics Optimization, Redundant Manipulators, Motion-Level Factor, Adjustable IK Solutions
Publication
Dynamic Cascade Spiking Neural Network Supervisory Controller for a Nonplanar Twelve-Rotor UAV
Published on 2025-02-14 by Cheng Peng, Guanyu Qiao, Bing Ge @MDPI
Abstract: Unknown variables in the environment, such as wind disturbance during a flight, affect the accurate trajectory of multi-rotor UAVs. This study focuses on the intelligent supervisory neurocontrol of trajectory tracking for a nonplanar twelve-rotor UAV to address this issue. Firstly, a twelve-rotor UAV is developed with a nonplanar structure, which makes up for the defects of conventional multi-rotors with weak yaw movement. A characteristic model of the twelve-rotor UAV is devised so as to facili[...]
Our summary: Intelligent neurocontrol for trajectory tracking of a nonplanar twelve-rotor UAV using a dynamic cascade spiking neural network supervisory controller. Superior performance verified through numerical simulations and prototype experiments.
Dynamic Cascade, Spiking Neural Network, Supervisory Controller, UAV
Publication
Vessel Trajectory Prediction Using Vessel Influence Long Short-Term Memory with Uncertainty Estimation
Published on 2025-02-14 by Zhiyuan Guo, Huimin Qiang, Xiaodong Peng @MDPI
Abstract: Vessel trajectory prediction plays a crucial role in ensuring the safety and efficiency of maritime transportation. This study proposes an innovative sequence-to-sequence model, called the Vessel Influence Long Short-Term Memory (VI-LSTM), which introduces a novel Vessel Influence Map (VIM) to quantitatively model the dynamic effects of surrounding vessels. To enhance reliability, VI-LSTM incorporates Gaussian distribution predictions combined with Monte Carlo dropout techniques to estimate pred[...]
Our summary: Vessel trajectory prediction using VI-LSTM with uncertainty estimation improves safety and efficiency in maritime navigation by modeling dynamic effects of surrounding vessels, incorporating Gaussian distribution predictions, and balancing prediction accuracy and uncertainty.
Vessel Trajectory Prediction, Long Short-Term Memory, Uncertainty Estimation, Maritime Transportation
Publication
Mixed reality batting system
Patent published on the 2025-02-13 in WO under Ref WO2025035047 by BATTING CHALLENGE HOLDINGS INC [US] (Farrell Matthew J [us], Stark Timothy Kyle [us])
Abstract: A method of processing a swing in a batting simulator, including providing batting simulator system having a bat, a ball, a batter's box, two or more sensors configured to detect a trajectory and an exit velocity of the ball traveling past a predetermined position, and a controller which is arranged in signal communication with the two or more sensors. The method further including receiving, by the controller, an execution metric, a batter difficulty setting, the trajectory and the exit velocity[...]
Our summary: Method of processing swing in batting simulator using sensors to detect ball trajectory and exit velocity, controller receiving metrics and outputting swing success metric.
batting simulator, mixed reality, sensors, controller
Patent
Global coordination of energy distribution to subsystems in battery electric vehicle
Patent published on the 2025-02-13 in WO under Ref WO2025033161 by DENSO CORP [JP] (Puts Ron [de], Chao Rachel [de], Mosca Pietro [de])
Abstract: A system has means for globally coordinating distribution of energy between subsystems in a battery electric vehicle based on a computed energy consumption trajectory for a predetermined route of the battery electric vehicle. The subsystems include at least an electric powertrain, a cooling system, and a cabin air conditioning system. The means for performing the global coordination has system inputs and is associated with a coordination system layer above an optimization system layer and a comp[...]
Our summary: System for globally coordinating energy distribution in battery electric vehicle based on computed energy consumption trajectory for predetermined route. Includes electric powertrain, cooling system, and cabin air conditioning system. Coordination system layer maximizes user satisfaction while reaching driving destination with predetermined battery state of charge.
energy distribution, battery electric vehicle, global coordination, subsystems
Patent
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