检索结果-内蒙古大学图书馆

international conference on robotics and automation Sciences (ICRAS)

作者： Nattawat Yachum Surapong Kokkrathoke Somjai Chunjarean Keerati Manasatitpong Nilaped Russamee Accelerator Research and Development Synchrotron Light Research Institute Nakom ratchasima Thailand

ISBN: (数字)9798350352504

ISBN: (纸本)9798350352511

In-house 6-MeV Linear Accelerator (linac) for fruit Sterilization Laboratory in Synchrotron Light Research Institute, thailand which is operated to control an electron beam energy and used for the generation of X-ray radiation. the experiments required an important component, such as linac tube, Electron gun, Microwave source and One of the components affect to Quality, Stability and Reliability of the linac operation that is Water Cooling System (WCS) control. there is used to minimize heat dissipation on the linac tube. It is specification of operation within 40°C. though the designing linac structure was operated which the parameters at 90 Hz repetition rate frequency and 5 µs pulse width beam. Fluctuation of the beam energy suggested that stability of the WCS was insufficient to X-ray intensity of fruit sterilization application. the improvement of WCS was reduced high temperatures on the linac surface and also adjusted fine control parameters with PID controller algorithm of water temperature was suppressed to within 40±0.1°C. As a result of the improvement the X-Ray intensity was effective for stabilization of fruit Sterilization application.

关键词： Cooling Electron beams Synchrotrons Optical wavelength conversion Linear particle accelerator control systems Electron tubes

来源：评论

学校读者我要写书评

暂无评论

Model-Based Cross-Scale Reinforcement Learning Optimal control

Model-Based Cross-Scale Reinforcement Learning Optimal Contr...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Gonghe Li Linna Zhou Xiaomin Liu Chunyu Yang School of Information and Control Engineering China University of Mining and Technology Xuzhou China Faculty of School of Information and Control Engineering China University of Mining and Technology Xuzhou China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

A model-based cross-scale reinforcement learning optimal control method is proposed for a class of nonlinear singularly perturbed systems. Initially, according to the singular perturbation theory, the original singularly perturbed system is decomposed into fast and slow subsystems, thereby transforming the original optimal control problem into optimal control problems for the fast and slow subsystems. A cross-scale information interaction mechanism is proposed, where full-order system state data is sampled to update the initial values of the fast and slow subsystems. this approach helps overcome the limitations associated with the online solving of rigid equations and reduce the cumulative errors. To approximate the solution of the Hamilton-Jacobi-Bellman (HJB) equations for the fast and slow subsystems, neural networks (NNs) are employed to approximate the cost functions within iterative processes. Simulation resultst validated the effectiveness of the proposed method.

关键词： Perturbation methods Optimal control Reinforcement learning Artificial neural networks Cost function Mathematical models Data models Iterative methods informatics

来源：评论

学校读者我要写书评

暂无评论

Global Fractional Second-Order Sliding Mode control for Underactuated Systems with Performance Constraint and Input Saturation

Global Fractional Second-Order Sliding Mode Control for Unde...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Wanglong Li Xia Liu School of Electrical Engineering and Electronic Information Xihua University Chengdu China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

With more degrees of freedom and intrinsic structural constraints, underactuated systems present significant challenges in control. For underactuated systems with performance constraint and input saturation, a global fractional second-order sliding mode controller (GFSOSMC) is proposed. By designing the performance function and error transformation function, the position error can be constrained within a prescribed range. the fractional order calculus operators which convert the integer order differential and integral quantities into fractional order ones are introduced to the sliding mode surface. To omit the convergent mode and remain robustness throughout, the global sliding factor is introduced. With the fractional second-order sliding mode surface and the global sliding factor, the GFSOSMC is designed. then a hyperbolic tangent function is used to approach the input saturation. the proposed method not only addresses performance constraint and input saturation, but also effectively mitigates the chattering. Meanwhile, it enables the position and velocity to converge rapidly.

关键词： Torque Calculus Robustness informatics Sliding mode control Convergence

来源：评论

学校读者我要写书评

暂无评论

Modeling and Validation of a Single-Axis Tilting Quadrotor with Enhanced Attitude control

Modeling and Validation of a Single-Axis Tilting Quadrotor w...

引用

robotics, automation and Artificial Intelligence (RAAI), IEEE international conference on

作者： Pushkar Kumar Amit Shukla Darshankumar Prajapati Ankit Mehra Ashish Rana Indian Institute of Technology Mandi Himachal Pradesh India

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

Standard quadrotors are inherently limited by their underactuated nature, typically offering only 4 degrees of freedom (DOF) through their four rotors. While sufficient for general applications, however this design falls short in scenarios requiring full attitude control, improved wind resistance, aerial manipulation and other specialized capabilities. this paper presents the design, implementation, and evaluation of a novel fully actuated 6-DOF quadrotor featuring a single-axis tilting mechanism. Our proposed design incorporates four rotors and two tilt motors, enabling complete position and attitude control. We derive a comprehensive dynamic model of the quadrotor and discuss the control parameters crucial for stable flight. the paper details the practical implementation of this design on actual hardware, demonstrating its feasibility beyond theoretical concepts. Furthermore, we showcase the quadrotor's enhanced performance through experimental results. these results highlight the advantages of our fully actuated design over traditional underactuated quadrotors in applications requiring precise aerial manipulation and resilience to external disturbances

关键词： Resistance Attitude control Rotors Aerodynamics 6-DOF Vehicle dynamics Standards Robots Quadrotors Resilience

来源：评论

学校读者我要写书评

暂无评论

Topological approaches for simultaneous localization and mapping

Topological approaches for simultaneous localization and map...

引用

international conference on informatics, Electronics & Vision (ICIEV)

作者： Naoyuki Kubota Tokyo Metropolitan University Japan

ISBN: (纸本)9781538610244;9781538610237

Recently, various types of robots have developed for the exploration and monitoring in unknown and dynamic environment. Especially, the expectation of robots used in disasters is increasing to prevent the second disaster. Especially, it is very important to extract the environmental information related for remote control and monitoring of mobile robots. Simultaneous localization and mapping (SLAM) is an important methodology to deal with environmental information. Various types of methods for SLAM have been proposed such as Extended Kalman Filter (EKF) SLAM, Graph SLAM, visual SLAM, and cooperative SLAM. In general, there are two main approaches of grid mapping and topological mapping in the study on SLAM. In this talk, we focus on topological mapping methods to extract environmental features from a 3D point cloud. Various types of unsupervised learning methods based on topological mapping have been proposed to deal with environmental features in unknown environments. One of them is Growing Neural Gas (GNG) that can dynamically change the topological structure composed of nodes and edges. the advantage of GNG is in the incremental learning capability of nodes and edges according to target data distribution. We have proposed several different topological mapping methods based on GNG to extract the environmental features from a 3D point cloud until now. In this talk, we explain the research background of SLAM, the learning algorithm of GNG, and experimental results of GNG for SLAM in various environments. Next, we explain multi-layer GNG to extract hierarchical features in environmental maps as a multi-scale approach, and batch learning algorithm for GNG (GL-GNG) to improve the convergence property. Furthermore, we explain the modified method of GNG-utility (GNG-U), that we called GNG-U2. GNG-U2 can improve the real-time adaptability of extracting topological structure in non-stationary data distribution. Next, show experimental results of SLAM based on GNG-U2 in dyna

关键词： Simultaneous localization and mapping Feature extraction three-dimensional displays Monitoring Data mining informatics

来源：评论

学校读者我要写书评

暂无评论

Advances in Intelligent and Soft Computing: Preface

Advances in Intelligent and Soft Computing

引用

Advances in Intelligent and Soft Computing 2012年 154 AISC卷 V-VI页

作者： Rocha, Miguel P. Luscombe, Nicholas Rodríguez, Juan M. Corchado Fdez-Riverola, Florentino Dep. Informática CCTC Universidade Do Minho Braga Portugal EMBL Outstation - Hinxton European Bioinformatics Institute Wellcome Trust Genome Campus Hinxton Cambridge United Kingdom Department of Informatics ESEI: Escuela Superior de Ingeniería Informática University of Vigo As Lagoas s/n Ourense Spain Department of Computing Science and Control Faculty of Science University of Salamanca Salamanca Spain

来源：评论

学校读者我要写书评

暂无评论

Synchronization of Delayed Neural Networks via Self-Triggered Impulsive control Strategy

Synchronization of Delayed Neural Networks via Self-Triggere...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Fei Chang Chuandong Li Yinghua Zhou College of Electronic and Information Engineering Southwest University Chongqing China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper addresses the issue of asymptotic synchronization in delayed neural networks (DNNs) by designing a rational self-triggered impulsive control (STIC) strategy. By applying a Razumikhin-like comparison lemma, the presence of time delays in the system is considered, and a self-triggered mechanism (STM) is formulated to determine the impulsive interval based on the previous impulsive moment. Utilizing the developed STIC strategy, a set of sufficient conditions for achieving asymptotic synchronization of DNNs is established, with a proof ensuring the exclusion of the Zeno phenomenon. Compared to the event-triggered impulsive control (ETIC) strategy, this STIC strategy offers an advantage by predicting the next impulse occurrence based on the previous impulsive instant and available information, eliminating the need for continuous system state monitoring to verify triggering conditions. this strategy reduces communication costs and enhances resource utilization.

关键词： Sufficient conditions Costs Delay effects Neural networks Continuous time systems Trajectory Synchronization Resource management informatics Monitoring

来源：评论

学校读者我要写书评

暂无评论

Finite-Iteration Learning control for Nonlinear Systems with Parameter Uncertainties

Finite-Iteration Learning Control for Nonlinear Systems with...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Zihan Li Dong Shen School of Mathematics Renmin University of China Beijing P.R. China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

For most of the existing iterative learning control (ILC) results, the tracking of the target trajectory is achieved asymptotically as the iteration number tends to infinity. In this study, a finite-iteration learning control (FILC) strategy is proposed to achieve the accurate tracking of trajectory in a finite iteration number. As the first study of FILC, a linear parameterized system with parameter uncertainties is considered in this article. To eliminate the influence of unknown parameters, we first design a parameter update law. the true value of the unknown parameter is estimated in a finite iteration number by using the proposed parameter update law. then, with the help of the true value of unknown parameter, a novel fractional-power structure control law with a iteration-varying control gain is designed. Under the proposed FILC scheme, the tracking of target trajectory is achieved in a finite-iteration number. the computation method of the iteration number is given. Illustrative examples are provided to verify the theoretical results.

关键词： Uncertain systems Target tracking Accuracy Estimation control systems Stability analysis Trajectory Nonlinear systems informatics Iterative learning control

来源：评论

学校读者我要写书评

暂无评论

Robust Extended Kalman Filter for Graphical Nonlinear Systems with Hybrid Cyber-Attacks

Robust Extended Kalman Filter for Graphical Nonlinear System...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Simeng Guo Wenling Li School of Automation Science and Electrical Engineering Beihang University (BUAA) Beijing China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper studies the extended Kalman filtering for graphical nonlinear systems with hybrid cyber-attacks. the considered system states and measurement outputs are generated based on graph structures, and the measurement signals are subject to denial-of-service attacks and deception attacks. In order to improve the filtering performance of graphical nonlinear systems subjected to hybrid cyber-attacks, we design an extended Kalman filter with a diagonal gain matrix in the graph frequency domain by means of the graph Fourier transform. the diagonal form of the gain matrix allows the states of each node to be updated independently, thus reducing the iterative accumulation error. Further, we introduce higher-order terms in the first-order Taylor expansion of the nonlinear function to compensate for the linearization error. Finally, we obtain the diagonal Kalman gain matrix by solving two Riccati-like equations. A simulation example on a power system validates the superior performance of the proposed filter against hybrid cyber-attacks.

关键词： Filtering Frequency-domain analysis Taylor series Mathematical models Hybrid power systems Kalman filters Iterative methods Nonlinear systems informatics Cyberattack

来源：评论

学校读者我要写书评

暂无评论

An equivalent electrical model for numerical analyses of ODEP manipulation

An equivalent electrical model for numerical analyses of ODE...

引用

IEEE international conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Wenfeng Liang Shue Wang Yanli Qu Zaili Dong Gwo-Bin Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China Chinese Academy and Sciences China Chinese Academy of Sciences Beijing Beijing CN Center of Micro Nano Technology Research National Cheng Kung University Taiwan Centre of Micro and Nano Systems Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

Opticaldielectrophoresis(ODEP)has been explored experimentally with success in manipulating microscale objects in the last 5 years. However, not much theoretical analyses have been performed to understand its operating principles in depth and also determine its limitations as a tool to manipulate micro- and nano-scale objects. In this paper, we present our work on establishing an equivalent electrical model to analyze the important physical interactions when optically induced dielectrophoretic force is used to manipulate micron-sized polystyrene beads. Simulation results show that the ODEP manipulation of microbeads is frequency-dependent and that the electrothermal effect is negligible. Furthermore, the relationship between the frequency of the applied voltage and the maximum manipulation velocity of the microbeads obtained from simulation is consistent with our experimental measurements. In addition, simulation results also show that the minimum radius of a bead that can be manipulated exponentially decreases with respect to the size of the illuminated spot. For instance, when the illuminated spot size is 1 μm, ODEP can theoretically manipulate 100 nm beads - indicating that ODEP can be extended to manipulate nano-scale objects if the illuminated spot size can be significantly reduced.

关键词： Force Conductivity Electric fields Drag Simulation Nanobioscience

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：