Coldplay X&Y: For Piano, Voice and Guitar (Pvg) by Coldplay

By Coldplay

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Key words: humanitarian demining, mine action, master-slave bilateral control hand system, mine hunter vehicle. 1. INTRODUCTION Since 1999, our group has been involved in the research and development [1] of landmine detection and clearance technology with the aim of maximizing safety and increasing the overall speed in humanitarian demining as shown in Figure 1. Currently Chiba University’s group is participating in the Japan Science and Technology Agency’s (JST) Sensing and Access Control R&D for Humanitarian Mine Action project [2] with our effort to develop a small vehicle named Mine Hunter Vehicle with two arms, one is the SCARA arm having mine detection sensor, the other one is the multiple link arm for mine clearance as shown in Figure 2.

Sway Reduction on Container Cranes using Delayed Feedback Controller. Nonlinear Dynamics, 34(3–4):347–358. H. and Al-Mousa, A. (2003a). Delayed Position-Feedback Controller for the Reduction of Payload Pendulations of Rotary Cranes. Journal of Vibration and Control, 9(1):257–277, 2003a. H. T. (2003b). Cargo Pendulation Reduction of ShipMounted Cranes. Nonlinear Dynamics, 35(3):299–311. McCormick, F. and Witz, J. (1993). An Investigation into the Parametric Excitation of Suspended Loads During Crane Vessel Operations.

In practice the positions of obstacles and mines will always be different, so arm positioning cannot be solved offline in advance. Therefore this system will always use reference generation with online inverse kinematics to solve the positioning problem. 9 between the current position and the reference position. The trajectory is calculated according to Eq. (1) y= 2π xp − xn xp + xn cos (t − tn ) + . 2 T 2 (1) Here, xp is the initial reference position, xn is the next reference position, T is the period in seconds, and tn is the predefined time at which xn is achieved.

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