this study addresses the decoupling issue within the Active Disturbance Rejection Control (ADRC) framework, taking into account the existence of additional dynamics in the plant input path. these additional dynamics a...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this study addresses the decoupling issue within the Active Disturbance Rejection Control (ADRC) framework, taking into account the existence of additional dynamics in the plant input path. these additional dynamics are not directly incorporated into the observer equations. the paper proposes a compensation strategy that employs a filter to shape the observer’s input signal. the transfer function forms for the structure under analysis, as well as the matching conditions in the input path, have been established. the findings indicate that while the use of an input filter can enhance the stability of the decoupling loop, it may also reduce the disturbance attenuation. the conclusions drawn from analytical studies and numerical simulations are validated by experimental results.
In this paper spatially interconnected (ladder) systems have been discussed. First, the multidimensional, in that case, 2D - continuous in time and discrete in the spatial variable, has been introduced. Next, the temp...
In this paper spatially interconnected (ladder) systems have been discussed. First, the multidimensional, in that case, 2D - continuous in time and discrete in the spatial variable, has been introduced. Next, the temporal dynamics has been discretized, which has allowed to create the general, discrete model for the system dynamics. It has been assumed that system elements are the subject of uncertainty of the norm bounded form. Finally, robust stability testing and robust stabilizing controller design conditions have been proposed and its effectiveness is illustrated by an simulation example.
this paper investigates the application of Few Shot Segmentation techniques in addressing weed management challenges within agricultural robotics. Traditional methods, such as indiscriminate herbicide spraying, pose e...
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ISBN:
(数字)9798350358513
ISBN:
(纸本)9798350358520
this paper investigates the application of Few Shot Segmentation techniques in addressing weed management challenges within agricultural robotics. Traditional methods, such as indiscriminate herbicide spraying, pose environmental and economic concerns, emphasize the necessity of developing automated precision procedures. Semantic Segmentation models can offer significant advancements in weed management within agricultural robotics but can be negatively impacted by domain shifts, often requiring adaptation, hindering the development of the field. In this context, we propose a Few Shot Segmentation-based approach for precise weed segmentation in corn and bean cultivations. Our model, adapted from PFENet, exhibits robust performance across varying environmental conditions, mitigating domain shift issues. Evaluation on the ROSE dataset demonstrates the model’s reliability and generalizability, highlighting the potential of Few Shot Segmentation in advancing agricultural robotics technologies.
the paper focuses on the stabilization of fractional order linear discrete-time systems withthe Grünwald-Letnikov type fractional difference operator. the Z-transform, a highly effective method for stability ana...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the paper focuses on the stabilization of fractional order linear discrete-time systems withthe Grünwald-Letnikov type fractional difference operator. the Z-transform, a highly effective method for stability analysis of linear control systems, is used to examine the behavior of the system’s solutions. Given the crucial importance of stability in automatics, the primary concern is the stabilization of control systems. Stabilization involves determining the appropriate feedback that ensures the asymptotic stability of the system. In cases where the system is not initially asymptotically stable, stabilization is achieved through a state feedback. this feedback mechanism is derived from the eigenvalues of the matrix linked to the closed-loop system. the outlined asymptotic stability conditions offer guidance in eigenvalue placement to guarantee system stability.
ROS2 systems are distributed applications built from strongly isolated components (nodes). Communication is realized through a publish/subscribe mechanism. Despite having these modern software architecture elements, R...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
ROS2 systems are distributed applications built from strongly isolated components (nodes). Communication is realized through a publish/subscribe mechanism. Despite having these modern software architecture elements, ROS2 has no canonical modelling language that captures overall application design and helps in mapping nodes across distributed platforms. We propose a model-based design approach based on the graphical programming language IEC 61499, mapping ROS2 constructs to native IEC 61499 model elements. Code generation creates native ROS2 nodes from IEC 61499 code. As an additional benefit, this approach also eases integration of ROS2 systems with non-ROS components.
the article examines the use of Gaussian Process models to simulate the dynamic processes of a Pressurized Water nuclear Reactor for fault detection and diagnostics. the paper illustrates the potential of Gaussian Pro...
the article examines the use of Gaussian Process models to simulate the dynamic processes of a Pressurized Water nuclear Reactor for fault detection and diagnostics. the paper illustrates the potential of Gaussian Process models as a tool for monitoring and predicting various fault conditions in Pressurized Water nuclear Reactor power plants, including reactor coolant flow and temperature variations, deviations from nominal working point or faulty power measurements. the article discusses the characteristics and benefits of Gaussian Process models and how they can be utilized to improve: the reliability and accuracy of nuclear power plant anomaly detection, fault diagnosis and decision making process in states of emergency. Overall, this paper highlights the capabilities of Gaussian Process models to enhance the safety, reliability and efficiency of nuclear power plants. the results of this study are expected to provide valuable insights for engineers and researchers in the fields of control engineering and nuclear power.
this paper advocates for the digitization of transportation enterprises, focusing on the railway industry’s need for integrated ticketing and asset management systems. It introduces Data Lake technology as a solution...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this paper advocates for the digitization of transportation enterprises, focusing on the railway industry’s need for integrated ticketing and asset management systems. It introduces Data Lake technology as a solution for centralized data management, enabling railway companies to enhance operational efficiency and improve decision-making processes. By integrating diverse data sources within the Data Lake framework, the paper demonstrates the potential for achieving holistic insights and predictive analytics to optimize railway operations. Practical implementation of Data Lake in the MOTIONAL project exemplifies its efficacy in real-world applications, underscoring its pivotal role in modernizing railway transportation and station management systems.
We introduce a self-contained pneumatic actuator capable of 1.43 times stiffness gain from 1332 N/m to 1913 N/m without needing an external air source or valve. the design incorporates an air chamber bellows and a spr...
We introduce a self-contained pneumatic actuator capable of 1.43 times stiffness gain from 1332 N/m to 1913 N/m without needing an external air source or valve. the design incorporates an air chamber bellows and a spring bellows, connected and sealed. Stiffness modulation is achieved by altering the air chamber volume. We present an approach for computing the volume, pressurized force, and stiffness of a single bellows component, as well as methods for composing single bellows models to predict the change in stiffness of the dual bellows actuator as a function of air chamber compression. We detail the fabrication of the actuator and verify the models on the fabricated prototype. this actuator holds promise for future integration in tunable stiffness robots demanding high strength and adaptability in dynamic scenarios.
Many industrial processes involve systems with spatiotemporal dynamics. As demands for accuracy and performance grow, conventional control algorithms are no longer sufficient. there is a need for improved identificati...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
Many industrial processes involve systems with spatiotemporal dynamics. As demands for accuracy and performance grow, conventional control algorithms are no longer sufficient. there is a need for improved identification and control methodsthat account for both temporal and spatial dynamics and are realizable in practical scenarios. this work presents an approach that competes with existing on-line feedback, using predictive iterative learning control. the control scheme is characterized along with details of its design and implementation. Simulations supplying are modeled after vacuum wafer heating in a furnace. the approach qualitatively tackled the nearly opposing goals of accurate parametric identification of the plant and trajectory tracking, demonstrating success when applied to practical problem.
When studying or designing a large-scale network system, a simpler representation of the dynamics of the system is often needed. this is because, for a very large scale system where the dynamics of all the nodes are c...
When studying or designing a large-scale network system, a simpler representation of the dynamics of the system is often needed. this is because, for a very large scale system where the dynamics of all the nodes are coupled, the system of differential equations describing the system are very high order. In such cases, engineers are faced with determining a "lower-order" model that provides a good enough representation of the large-scale dynamics. Prior work by the author has identified fractional-order dynamics in large, scale-free networks and noted that fractional-order models often better match the dynamic response of the network when the stiffness relationship (a spring constant) in the relationship between nodes in the network is larger. this work extends those results by systematically determining what parameters in the network are statistically significantly correlated with fractional-order models better matching the large-scale dynamics than integer-order models. Specifically we find a weak correlation between the degree of connectivity of the network, the spring constant, the distance in the network between the two nodes, and the size of the network to be statistically significantly correlated to whether fractional-models are better. Interestingly, in contrast to the stiffness, the damping is statistically uncorrelated with fractional-dynamics.
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