Single-channel blind signal separation (SCBSS) is a critical challenge in signal processing, aiming to recover original signal components from a single mixed signal. This technology has broad applications across vario...
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In the context of the booming development of mobile communication technology, the 5G network is deeply integrated with various vertical industries. In order to solve problems such as large transmission latency, low sp...
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This proposed work investigates the power transfer from a vehicle to grid (V2G) technology. A specified electric vehicle (EV), e.g., Tata Nexon EV - Prime is considered in which Lithium-Ion (Li-Ion) battery is used. T...
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This paper proposes a Stackelberg game-based approximate optimal interaction control approach for human-centered reconfigurable robot manipulator (RRM) systems. Joint torque feedback technique is utilized to form the ...
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ISBN:
(纸本)9798350373707;9798350373691
This paper proposes a Stackelberg game-based approximate optimal interaction control approach for human-centered reconfigurable robot manipulator (RRM) systems. Joint torque feedback technique is utilized to form the RRM dynamic model. According to differential game, the RRM's optimal control issue is transformed into a Stackelberg game issue between the human and the RRM. By the adaptive dynamic programming (ADP) algorithm, the cost functions of human as well as RRM are developed by critic neural network (NN) and implement to solve Hamilton-Jacobian (HJ) equations, which facilitate the acquisition of Stackelberg equilibrium. The position tracking error is ultimately uniformly bounded (UUB) according to the Lyapunov theory. Experiment results demonstrate the effectiveness of the proposed method.
In robotic applications, electro-hydraulic servo systems are widely used due to their excellent force control characteristics and fast response capabilities. However, they must withstand complex dynamic loads, which p...
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This paper introduces a fast, high-accuracy methodology for conducting Electrochemical Impedance Spectroscopy' (EIS) based on Fast Fourier Transform (FFT), in order to meet the requirements of portable, real-time ...
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ISBN:
(纸本)9798350354966;9798350354959
This paper introduces a fast, high-accuracy methodology for conducting Electrochemical Impedance Spectroscopy' (EIS) based on Fast Fourier Transform (FFT), in order to meet the requirements of portable, real-time biomedical impedance-based detections. Instead of using white noise-like wideband signals as in conventional FFT-based EIS, the proposed method uses a square wave as the sensor excitation signal. This approach achieves a fast EIS measurement, but no longer requires complex circuits like high-resolution DACs or frequency mixers for the signal generation. The conditions where the sensor behaves like a pseudo electronic Linear Time-Invariance (LTI) circuit are firstly identified by investigating its large-signal behavior, Cyclic Voltammetry (CV), which ensures the sensor shows no potential-amplitude dependence, hence also providing possibilities for other novel EIS circuitry. A circuit consisting of a control amplifier and a Trans-Impedance Amplifier (TIA) is designed and fabricated with 65 nm CMOS to implement this methodology for validating its on-chip feasibility. This work shortens the EIS measurement time by 91.7% in a frequency sweep range from 0.5 Hz to 500 Hz, with only 1.48% average Mean Absolute Percentage Error (MAPE), compared to a commercial chemical instrument AutoLab, which ensures this method is suitable for portable, real-time EIS biomedical detections and applications.
The marine sector is moving towards all-electric ships to improve energy efficiency and reduce air pollution. A key part of an electric propulsion system for an electric ship is the electric motor, especially permanen...
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This paper presents a real-time cooperative control algorithm for multi-robot systems to perform formation maintenance and navigate through the environment while avoiding collision with static obstacles and among diff...
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ISBN:
(数字)9781665473385
ISBN:
(纸本)9781665473385
This paper presents a real-time cooperative control algorithm for multi-robot systems to perform formation maintenance and navigate through the environment while avoiding collision with static obstacles and among different group formations of robots. The control algorithm is computed by solving a quadratic program and utilizing the control barrier function to efficiently incorporate multiple control objectives in a unified manner and provide a safety certificate. In addition, a novel method for collision avoidance among different formations of robots is presented which only requires a representative robot in each formation to communicate with each other and thus reduces the required communication between the robots. The cooperative control algorithm is verified using a robotic experimental testbed.
Wireless communication is an essential enabling technology for UAV applications. Several factors impact the reliability of communication signals, including multipath. Multipath propagation is a phenomenon where a sign...
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ISBN:
(纸本)9798350393101;9798350393095
Wireless communication is an essential enabling technology for UAV applications. Several factors impact the reliability of communication signals, including multipath. Multipath propagation is a phenomenon where a signal arrives at a receiver through multiple paths and significantly affects communication quality and reliability. Many ongoing studies focus on finding more efficient solutions to this issue;however, there is a lack of available references that can clearly establish the nature of the fundamental issues associated with multipath propagation. This study investigates the impact of multipath on UAV communication signals. It comprehensively examines the random variations in path gain and propagation delay, revealing the challenges these variations pose to UAV communication.
In recent years, distributed power generation has received widespread attention due to its advantages such as low power generation cost, environmental friendliness, and high efficiency. A large number of distributed g...
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