This paper proposes a novel robust control method for autonomous underwater vehicle (AUV) trajectory tracking, specifically addressing challenges arising from sudden changes in desired trajectories and significant mod...
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ISBN:
(数字)9798350384185
ISBN:
(纸本)9798350384192
This paper proposes a novel robust control method for autonomous underwater vehicle (AUV) trajectory tracking, specifically addressing challenges arising from sudden changes in desired trajectories and significant modeling uncertainties. The method leverages sparse online Gaussian process (SOGP) to learn unknown dynamics online, given a prior AUV model. An exponential forgetting scheme is integrated into the SOGP algorithm to ensure the selected training dataset incorporates both temporally and spatially informative data. By incorporating Gaussian process (GP) posterior information into an integral sliding mode control (ISMC) framework, the proposed GP-ISMC scheme enhances robustness and adaptability to uncertainties and disturbances encountered during diverse motion patterns. Lyapunov analysis guarantees system stability and tracking error convergence with a specific probability. Simulation results demonstrate that the proposed method has superior performance in tracking accuracy and prediction reliability.
This paper aims to identify the characteristics of acceleration/deceleration (accel/decel) constraints in commercial adaptive cruise control (ACC) and investigate their potential impact on traffic flow. We have collec...
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ISBN:
(数字)9781665468800
ISBN:
(纸本)9781665468800
This paper aims to identify the characteristics of acceleration/deceleration (accel/decel) constraints in commercial adaptive cruise control (ACC) and investigate their potential impact on traffic flow. We have collected empirical accel/decel data in Massachusetts and Georgia from various ACC-equipped vehicles including Tesla Model X/3, Civic, and Prius. Unlike constant values adopted in the literature so far, the observed maximum accel/decel rates across different ACC manufactures all suggest that the accel/decel constraints decrease linearly with vehicle speeds. Based on the data we also find: i) different ACC manufacturers seem to adopt different accel/decel constraints, ii) maximum accel rates do not vary significantly with the engine mode but differ in free-motion and car-following regimes iii) maximum decel rates show a strong correlation with minimum times to collision. We further demonstrate that accel/decel constraints in the ACC can contribute to speed overshootings/undershootings, causing capacity loss in the accelerating process and deteriorating congestion in the decelerating case. To reveal the underlying mechanisms, the paper develops an ODE model to analytically approximate the speed overshootings/undershootings and correlate them with the accel/decel constraints as well as ACC control parameters. Besides speed over/undershootings, simulation results also show that accel/decel constraints in ACCs can undermine the string stability.
This paper employs system identification to characterize Industrial Hydraulics System (IHS) system using an open-loop method. It utilizes a black box approach for estimating the model and parameters of the system usin...
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ISBN:
(数字)9798350364507
ISBN:
(纸本)9798350364514
This paper employs system identification to characterize Industrial Hydraulics System (IHS) system using an open-loop method. It utilizes a black box approach for estimating the model and parameters of the system using MATLAB System Identification Toolbox. The paper presents three data sets and validates the estimated model using statistical methods such as percentage best fit, Root Mean Square Error (RMSE), histogram analysis, and correlation analysis. The process began by obtaining the input-output data from the experimental work. The validation results obtained from the input-output data reveals an average best fit percentage for the three data sets is approximately $85 \%$. The data sets show small RMSE values, histogram analysis reveals a Gaussian distribution and strong evidence of the validity of the IHS model in the correlation analysis. Various orders of analysis were conducted, with the results indicating that a third-order linear system offers the closest representation of the IHS. The IHS has been modeled and validated using black box system identification has proven successful as there is no significant disparity in the outcomes.
The oil reservoir of M Oilfield locates in the eastern part of Ecuador, belongs to the typical tidal-controlled deposition. As the reservoir is affected by tidal action, the spatial distribution of sand bodies is extr...
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This article aims to systematize approaches to selecting predictive models based on associative search and analyze their effectiveness and applicability in the operating conditions of nuclear power plants (NPP). The s...
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ISBN:
(数字)9798350375718
ISBN:
(纸本)9798350375725
This article aims to systematize approaches to selecting predictive models based on associative search and analyze their effectiveness and applicability in the operating conditions of nuclear power plants (NPP). The study examines the main approaches and algorithms used for associative dataanalysis. In addition, the article includes a review of existing work in this area, evaluates its results, and suggests new promising directions for further research. The article is devoted to the issue of selecting a predictive model based on associative search for a technological process (TP) parameter to predict the risk potential of the TP of an NPP power unit using the example of one of the parameters of the information task of the upper level control system of the automated processcontrol system of an NPP - cooling water heating.
This article discusses the causes of pump bracket failure on a truck. The pump bracket attached to the vehicle frame. The bracket model developed in NX CAD. The analysis of the vibration strength calculation of the en...
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The distribution network (DN) is characterized by wide coverage and highly scattered data distribution. To improve the business process and data calculation capability for DN management, a foundational computing techn...
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In the design of the satellite electrical power system (EPS), there is a large amount of complicated design information, which cannot be effectively tracked and correlated in the form of documents when it is iterated ...
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dataanalysis for neutron scattering experiments is driven by the scientific needs of the instrument users and varies greatly by technique and field of study. data from an experiment must first be "reduced" ...
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ISBN:
(纸本)9783031236051;9783031236068
dataanalysis for neutron scattering experiments is driven by the scientific needs of the instrument users and varies greatly by technique and field of study. data from an experiment must first be "reduced" so that instrument artifacts are removed, and then scientists must choose from a wide variety of tools and applications to assemble a workflow that enables useful scientific results to be extracted. The highly manual nature of this process, combined with difficulty accessing computational resources and data when needed, puts limits on the efficiency and nature of the analysis undertaken. In addition, other activities, such as tracking data provenance to ensure the analysis is reproducible, or providing live dataanalysis during experiment runs, are also difficult to achieve. Calvera is a platform that aims to solve many of the difficulties encountered by scientists as they analyze experimental neutron scattering data. In particular, the platform will provide an integration point for a range of services, such as data virtualization, remote computation, and visualization under the control of a workflow management system. In addition, the platform will handle security related issues, and maintain a history of the data sets employed during workflow execution. User's will be able to construct, manage, and share workflows via a graphical user interface, as well as script workflows via a python API. In this paper, we will describe the architecture and design of Calvera, as well as how we will address the many requirements for executing neutron science workflows in a distributed environment.
In order to solve the problems of low efficiency and insecurity in the analysis of heterogeneous network resources, this paper proposes a blockchain-based efficient management and analysis mechanism for power Internet...
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ISBN:
(纸本)9783031067884;9783031067877
In order to solve the problems of low efficiency and insecurity in the analysis of heterogeneous network resources, this paper proposes a blockchain-based efficient management and analysis mechanism for power Internet of Things resources to realize the on-chain identification of heterogeneous network resources and off-chain data. Efficient and reliable management supports the aggregation and sharing of heterogeneous network resources. First of all, in order to achieve reliable and efficient access to heterogeneous network resource identification, an architecture model of a heterogeneous network identification analysis system is proposed. Secondly, in order to improve the efficiency of resource management and analysis, a resource registration process and analysisprocess are designed. The registration process of heterogeneous network resources includes four key steps: applying for registered resources, generating identification for user resources, sending a registration identification request, and identification registration. In order to improve the efficiency and reliability of authentication control, an attribute-based access control strategy is proposed to control the authentication of the gateway. In the experimental part, in order to verify the correctness of the analytical results, the analytical results of the algorithm in this paper are compared with the preset results. From the three dimensions of heterogeneous network resources exceeding the effective service time, not being allowed to be accessed, and the absence of resource identification, the correctness of the analytical results is verified.
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