Algorithm for Robot Navigation Without Collisions

Algorithm for Robot Navigation Without Collisions ALGORITHM FOR ROBOT NAVIGATION AT ENVIRONMENT WITHOUT COLLISION Â   ALGORITHM REPRESENTATION FOR NAVIGATION OF MOBILE ROBOT WITHOUT OBSTACLE COLLISON Mobile robot It is a kind of robot that has the ability to travel Relative to the environment (i.e. locomotion), and one of the actuators of the robot is the locomotive system This chapter of my bachelor thesis is to develop algorithms that will help the autonomous mobile robot in visual navigation. g the robot. Then, the robot tries to understand their environment to extract data from a sequence of image data, in this case, optical, and then uses this information as a guide for the movement. The strategy adopted to avoid collisions with obstacles during movement – a balance between the right and left optical flow vectors. An integral part of any navigation scheme is the desire to reach a destination and do not get lost or bump into any of the objects. There may be other restrictions on a given route, such as speed limits or zo nes of uncertainty, where in theory, of course, can pave the path, but not desirable. Often, the way is to move the robot autonomously planned, ie on the basis of previous input and without interference in real time. It can work effectively, but only on condition that the environment is perfectly known and does not change and the robot can travel on the route perfectly. However, in the real world everything is much more complicated. Note that navigation will include: Location of robot Environment perception and his model Methods of traffic planning Robot motion control algorithms The problem of mobile robot navigation is a very complex issue characteristic at both ends. The implementation of tasks by moving a mobile robot requires obtaining information about the surrounding-limiting environment – hence the importance of having AD sensory system that allows the observation of the environment and its perception, For this purpose, both simple rangefinder systems and co ntact sensors, which correspond with collision detection. Using a constant speed of 4m/s for the algorithm and a step size of 0.125m which was obtained by the multiplication of the speed by interval in which information is received. = 0.125m. The algorithm is given below. Set iteration values K equals K =1. Tolerance factor ÃŽ ´ Using the following sequence inside the loop for K Evaluating Hessian and the gradient and also checking for positive definite of hessian matric Determine Newton Direction Normalize Newton Direction Determine step size Determine new point If || ΔT||< ÃŽ ´, if not set K=1 And repeat step 2.otherwise terminate But considering the above algorithm it’s still going to encounter some problems. For example saw tooth pattern that occurs at the along the path, shown below: Saw-tooth pattern Saw-tooth happens due to fixed step size at some point in the navigation of the mobile robot reduction in step size is necessary which also means reduction in the speed of the robot . The reason for this effect is because the present point of the robot is not always the best point possible. Meaning that point after that will guide the path back, resulting in a saw=tooth pattern zig -zagging along the path. The reason this problem occurs is because the robot has a constant speed.

The concepts of supply chains and distribution channels Essay

The concepts of supply chains and distribution channels - Essay Example However, initially, the concepts and practices were not clearly spelt out as it is now. Most of the activities were carried out in an ad hoc manner (Lavassani, Movahedi, & Kumar, 2009, pp. 85–98). Integration of distribution and warehousing (logistics) The concept of supply chain in the company has evolved over time. Most of the segments of supply chain were loosely interconnected. However, as the company developed it had to integrate the logistics, distribution and warehousing together to take advantage of efficiency that supply chains provided. When the company realized that, it had to upgrade its operations due to efficiency brought about by the integration. The company decided to merge the two concepts to form logistics. This made the border between warehousing and distribution became transparent. However, the two ends were still loose, and the management tries to consider making the links stronger and increased the level of resource sharing. This was also coupled with red uced costs and time to market. This was the beginning of evolution in the company (Mentzer, et al, 2001, pp. 1–25) Integration if logistics with production and purchasing The company later decided to optimize the advantages of integration. The company integrated purchasing, distribution, warehousing, and production. The concept worked out right, and the saving was exceedingly. The four functions were integrated, and the core activities under each concept were conducted under the same roof. This was the birth of supply chain in this company. The company managed to align the separate function in the sequence bellow:    Leveraging lean and agile The concept made the company too agile. This is one thing the company has been searching for, the supply chain concept provided the agility required by the company and the company optimized its supply chain concept and leveraged its production to achieve the required competitive age. However, this conceit is long overdue in the company . This has also contributed to the company profitability as the company became more agile. The demanding market and growing competition made the company more profitable due to its agility. The comment managed to increase its product lines and categories (Larson, &, Halldorsson, 2004, pp. 17-31). According the to Kouvelis, Chambers, &, Wang, (2006, pp. 449–469), the volatile and less predictable market just made competition better, and visibility of the company amidst the masses was achieved through agility and leanness Lean concept The modern SCM in companies must be lean; the concepts of leanness help the company to hold the required stock only and assets that can slow down the response time and increase cost are shed. These concepts offer sufficient service levels that can meet growing demand in companies. As a product portfolio, companies must know how to valance between lean and agile. By fine tuning, this company achieves an optimal product portfolio. The different produ ction, which is in the company portfolio, must be treated accordingly (Movahedi, Lavassani, &, Kumar, 2009, pp. 75–88). characteristics of a contemporary Supply Chain concept Lean: The company aims at forecasting at the generic level Economic order Quantities Maximized efficiencies Agile: Demand driven operations effectively Localized Configuration Maximized effectiveness   Then backbone of stable agile and lean supply chain is operations efficiency that brings about6 sustainable competitive advantage. This is based on the supply chain concept that offers a sufficient service level in the face of growing demand   (2) Identify and describe the supply chain and distribution channels

Asthma Research Paper Example | Topics and Well Written Essays - 3750 words

Asthma - Research Paper Example In the US childhood incidence had increases fro 3% to 9% since 1980. Among different ethnic groups in the US, Puerto Ricans have the highest incidence of asthma. African Americans also have a high incidence of this disease. Irish Americans and Hawaiians also have a high incidence of asthma. The lowest incidence is found in the Mexican population. Although the incidence of pediatric asthma is higher in males than in females, the occurrence of this disease is much higher in adult females, who are twice as likely to die of this disease as males. Moreover, the incidence of asthma is higher in lower socioeconomic groups who reside in urban centers. There are two primary forms of this disease: acute and chronic. The acute form of the disease is characterized by the occurrence of in worsening symptoms and unstable bronchial function. The chronic form of the disease is a stable, non-progressing condition (Adam 10). Many patients with asthma vary over time between the two disease states. Asthma can be distinguished from several other major forms of lung disease by means of differential diagnosis. Unlike emphysema which affects the structure and function of the alveoli, the primary site of gaseous exchange in the lung, asthma affects the airways or conductance passage that transport air between the lung tissue and the external opening of the body. Likewise, COPD is an irreversible deterioration of the primary lung tissue; in contrast at the inflammatory manifestations of asthma are reversible (Adam 20-23). Asthma is a chronic pulmonary disorder characterized by inflammation of the major airways of the lungs and has a complex etiology. The recurring inflammatory episodes result in hyper-responsiveness of airway vessels that causes tissue swelling with many physiological consequences (Adam 44). These episodes cause symptoms of wheezing, tightness of the chest, coughing and restricted airflow that result in