Arteries devoted to sustain streams of users, resources and debris, are a foremost factor and pre-condition of the development of urban areas and of the transformation of landscapes. Roadscapes reflect outcomes relate...Arteries devoted to sustain streams of users, resources and debris, are a foremost factor and pre-condition of the development of urban areas and of the transformation of landscapes. Roadscapes reflect outcomes related to super urbanization tendencies. Often conceived as isolated tubes, roads cut and obscure form, structure, biotic and abiotic factors of sites, urban fabrics and spaces. A broad vision of landscape is a basis for reconceiving roads. The concept of road-spine emerges： the road is conceived as the basis of a bundle of routes, nodes, surfaces, poles and tiles, devised to frame and shape a mosaic of open spaces, crops, farms, stores, basins and service areas. The road-spine entails the idea of a permeable infrastructure devised to integrate diverse functions： from serving various forms of motion, by ordering an isotropic grid of routes, to framing a porous urbanscape; from disposing surfaces meant to preserve biocenosis and biotopes, to favoring osmosis amid land uses. It also prefigures a distribution of land uses dependent on site vocations, and a mosaic of scenarios open to encounter, evasion, rest, amusement, participation, and to spontaneous practices of space.展开更多
The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of co...The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of collision. The global trajectory＇s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the. trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion＇s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision （accuracy）. The authors are presenting the motion＇s generator which constructs into lines a continuous trajectory C2 while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.展开更多
文摘Arteries devoted to sustain streams of users, resources and debris, are a foremost factor and pre-condition of the development of urban areas and of the transformation of landscapes. Roadscapes reflect outcomes related to super urbanization tendencies. Often conceived as isolated tubes, roads cut and obscure form, structure, biotic and abiotic factors of sites, urban fabrics and spaces. A broad vision of landscape is a basis for reconceiving roads. The concept of road-spine emerges： the road is conceived as the basis of a bundle of routes, nodes, surfaces, poles and tiles, devised to frame and shape a mosaic of open spaces, crops, farms, stores, basins and service areas. The road-spine entails the idea of a permeable infrastructure devised to integrate diverse functions： from serving various forms of motion, by ordering an isotropic grid of routes, to framing a porous urbanscape; from disposing surfaces meant to preserve biocenosis and biotopes, to favoring osmosis amid land uses. It also prefigures a distribution of land uses dependent on site vocations, and a mosaic of scenarios open to encounter, evasion, rest, amusement, participation, and to spontaneous practices of space.
文摘The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of collision. The global trajectory＇s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the. trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion＇s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision （accuracy）. The authors are presenting the motion＇s generator which constructs into lines a continuous trajectory C2 while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.
