Abstract: Vehicle drive assist systems, methods, and programs display an alert image superimposed on a real view on a display. The systems, methods and programs determine a blind spot area, the blind spot area being an area that becomes a blind spot of a driver of a vehicle due to a front obstacle present on a front side in a traveling direction of the vehicle. The alert image is displayed such that the alert image is superimposed on a target point, the target point being a point where traveling of the vehicle is likely to be influenced when there is a moving obstacle jumping out of the blind spot area.

Abstract: A new controller for use in robots with kinematic loops as well as in most other types of robots (such as those with fully actuated kinematic trees). The controller includes an inverse kinematics (IK) module that implements a versatile IK formulation for retargeting of motions, including expressive motions, onto mechanical systems (i.e., robots with loops and/or without loops). Further, the controller is configured to support the precise control of the position and orientation of end effectors and the center of mass (CoM) (such as of walking robots). The formulation of the algorithms carried out by the IK module safeguards against a disassembly when IK targets are moved outside the workspace of the robot. A regularizer is included in the controller that smoothly circumvents kinematic singularities where velocities go to infinity.

Abstract: A computer-implemented method of determining a location of a mobile device is provided. The method can include receiving inertial data generated at the mobile device, the inertial data including a plurality of samples taken at different times, segmenting the inertial data into pseudo-independent windows, wherein each pseudo-independent window can include a plurality of the samples and wherein one or more initial states for each pseudo-independent window are treated as unknown, estimating a change in navigation state over each pseudo-independent window using the samples of inertial data, and summing the changes in the navigation states over the pseudo-independent windows so as to determine the location of the mobile device.

Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.

Abstract: A robot collision detection device and a method thereof are provided. The robot collision detection device includes a buffer that periodically stores a driving command for allowing a robot to move to a destination and a sensor that detects a behavior of the robot. A controller monitors the driving command and a behavior of the robot corresponding to the driving command, and determines whether there is a robot collision based on the driving command and the behavior of the robot.

Abstract: The present disclosure discloses a neural network adaptive tracking control method for joint robots, which proposes two schemes: robust adaptive control and neural adaptive control, comprising the following steps: 1) establishing a joint robot system model; 2) establishing a state space expression and an error definition when taking into consideration both the drive failure and actuator saturation of the joint robot system; 3) designing a PID controller and updating algorithms of the joint robot system; and 4) using the designed PID controller and updating algorithms to realize the control of the trajectory motion of the joint robot. The present disclosure may solve the following technical problems at the same time: the drive saturation and coupling effect in the joint system, processing parameter uncertainty and non-parametric uncertainty, execution failure handling during the system operation, compensation for non-vanishing interference, and the like.

Abstract: A system for guiding a driver to an ideal driving pattern in order to eliminate dependency on the driver's driving pattern in a fault diagnosis of an automobile part based on automobile running data, even if the driver's driving pattern is far from the ideal driving pattern. The system comprises a fault diagnosis support device equipped with: a diagnosis model selector for outputting a diagnosis model in which, for a feature value used for an examination of an automobile part, an available range available for making a diagnosis and a reference point are stipulated; a driver model generator generating, as a representative point of the feature value that corresponds to a driver's driving pattern; and a recommendation model generator generating, if the representative point is outside the available range, a recommendation model in which a boundary of the available range is set as a recommendation point.

Abstract: The vehicle control system includes a first controller configured to generate a target trajectory for the automated driving, and a second controller configured to execute vehicle travel control such that the vehicle follows the target trajectory. During the automated driving, the second controller controls a travel control amount which is a control amount of the vehicle travel control, acquire driving environment information, and execute preventive safety control for intervening in the travel control amount based on the driving environment information. The first controller includes a memory device in which information of an intervention suppression area is stored. When the vehicle travels in the intervention suppression area during the automated driving, the first controller outputs a suppression instruction for the preventive safety control to the second controller.

Abstract: A method and simulation system for controlling at least one effector trajectory for solving a predefined task by at least one virtual effector. The method includes acquiring a sequence of postures to modify at least one of a contact constraint topology and an object constraint topology, generating a set of constraint equations based on at least one of the modified contact constraint topology and the modified object constraint topology, performing constraint relaxation on the generated set of constraint equations to generate a task description including the relaxed set of constraint equations, generating the effector trajectory by applying a trajectory generation algorithm on the generated task description, performing an inverse kinematics algorithm on the generated effector trajectory for generating a control signal, outputting the control signal to an output device, and generating, by the output device, image information displaying the effector trajectory of the virtual effector based on the control signal.

Abstract: Candidate grasping models of a deformable object are applied to generate a simulation of a response of the deformable object to the grasping model. From the simulation, grasp performance metrics for stress, deformation controllability, and instability of the response to the grasping model are obtained, and the grasp performance metrics are correlated with robotic grasp features.

Abstract: A system and method for autonomous navigation. The system includes a computing device having a processor and a storage device storing computer executable code. The computer executable code, when executed at the processor, is configured to: provide a planned path having intersections in an environment, where the intersections and roads therebetween are represented by sequential place identifications (IDs); receive images of the environment; perform convolutional neural network on the images to obtain predicted place IDs; when a predicted place ID of a current image is next to a place ID of a previous image, and is the same as predicted place IDs of a predetermined number of following images, define the predicted place ID as place IDs of the current and the following images; and perform autonomous navigation based on the planned path and the image place IDs.

Abstract: The disclosure provides a method for operating an automatically driving vehicle, wherein application instances are executed over several computational nodes, wherein recognized faults are reacted to by switching to redundant application instances and then reconfiguring the configuration to restore specified redundancy conditions and/or segregation conditions, wherein the vehicle is transitioned to a safe state using at least one failover apparatus when at least one specified redundancy condition and/or at least one segregation condition cannot be met by the reconfiguration, and/or a specified time for reconfiguration is exceeded, and/or an unrecoverable malfunction has been recognized, wherein the at least one failover apparatus plans an emergency trajectory using a trajectory planner, wherein sensor data are detected via separate signal lines and supplied to the at least one failover apparatus, and wherein control signals are generated and transmitted via separate control lines to an actuator system of the v

Abstract: A path planning of the ADV is performed. A set of obstacle boundaries are generated for one or more obstacles, where each of the set of obstacle boundaries has a corresponding buffer distance ranging from a predetermined minimum buffer distance to a predetermined maximum buffer distance. A set of paths of the ADV is generated using quadratic programming based on the set of obstacle boundaries in parallel, where each path of the set of paths corresponds to one of the set of obstacle boundaries. A path is selected from successful paths of the set of paths based on a corresponding obstacle boundary having a smallest corresponding buffer distance, where the ADV is at least a predetermined distance away from the one or more obstacles in the successful paths. The ADV is controlled to drive autonomously according the selected path to avoid the one or more obstacles.

Abstract: A steering device includes a steering member, a steering operation mechanism, a reactive force motor, a steering motor that drives the steering operation mechanism, a steering torque sensor, and an electronic control unit. The electronic control unit sets a manual steering angle command value. The electronic control unit computes a reactive-force-related composite angle command value. The electronic control unit computes a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value. The electronic control unit causes a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value. The electronic control unit causes a rotational angle of the steering motor to follow the steering-related composite angle command value. The electronic control unit estimates a first disturbance torque.

Abstract: A method for steering a motor vehicle by a steering mechanism. The steering mechanism has an actuating element, a manual actuator, a steering actuator, at least one transmission component, and a steering feel function. The steering actuator is connected to at least one steerable wheel of the motor vehicle via the at least one transmission component. The actuating element and the manual actuator are mechanically connected to each other. Operating values of a total transmission force acting on the at least one transmission component are transmitted to the steering feel function, which is used to determine input values of a manual force for the manual actuator from the determined operating values for the entire transmission force. The input values are transmitted to a system function for limiting the input values and compared to a predefined maximum value and a predefined minimum value for the actuating force by the system function.

Abstract: A mobile vehicle having an Automated Optical Inspection (AOI) dynamic inspection system with multi-angle visual quality includes a base body, two driving brackets, two connecting rod assemblies and an arm member and a working portion. The arm member is swingably disposed on the base body. The working portion is disposed on one end of the arm member which is remote from the base body. The working portion includes a first photographing device. The first photographing device is configured for capturing an image of an object. At least two second photographing devices are configured to be disposed in an environment and configured for capturing an image of the object.

Abstract: Present embodiments describe a method for controlling a robotic vehicle that can include causing a processor to determine a localized position of a dynamic object, determining, via the processor, a predicted trajectory of the robotic vehicle based on the localized position of the dynamic object, and determining an optimum trajectory based on the predicted trajectory, the optimum trajectory chosen based a travel velocity and longitudinal velocity. Determining the optimum trajectory can include computing a cost value comprising a plurality of cost terms associated with the optimum trajectory, and determining a control command that modifies a travel velocity and a travel vector of the robotic vehicle based on the cost value. The method further includes causing, via the processor, the robotic vehicle to follow the optimal trajectory based on the control command.

Abstract: A robot control system includes a robot that screw-fastens a sub-component placed in a main-component to the main-component, a robot control unit that controls the robot, and a display as an output unit through which the robot control unit outputs a message to an operator. The robot control unit determines whether or not the robot can screw-fasten the sub-component to the main-component by itself. Then, when the robot control unit determines that the robot cannot screw-fasten the sub-component to the main-component by itself, the robot control unit outputs a cooperation message to an operator through the display.

Abstract: A vehicle control system generates a first target trajectory, which is a target trajectory for an automated driving of a vehicle, and executes vehicle travel control based on the first target trajectory. The vehicle control system generates a second target trajectory which is a target trajectory which does not conflict with a restrict condition, when the travel based on the first target trajectory conflicts with a safety restrict condition, and executes travel assist control by using the second target trajectory. The vehicle control system judges whether or not a resurgence condition is satisfied by using the first target trajectory that is generated during the execution of the travel assist control. If it is judged that the resurgence condition is satisfied, the vehicle control system returns to the execution of the vehicle travel control from that of the travel assist control.

Abstract: In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.