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检索条件"任意字段=IEEE International Symposium on Computer-Aided Control System Design"

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Evaluation on IMU and odometry sensor fusion for a Turtlebot robot using AMCL on ROS framework. 20

Evaluation on IMU and odometry sensor fusion for a Turtlebot...

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20th Latin American Robotics symposium (LARS) / 15th Brazilian symposium on Robotics (SBR) / 14th Workshop on Robotics in Education (WRE)

作者： Gai, Angello de Mello Bevilacqua, Solon Cukla, Anselmo Rafael Tello Gamarra, Daniel Fernando Univ Fed Santa Maria Control & Automat Engn Course Santa Maria RS Brazil Univ Fed Goias CIT Fac Ciencias & Tecnol Goias Brazil

ISBN: (纸本)9798350315387

When a robot's coordinate system and the environment map have a correspondence with localization algorithms, problems arise related to the accurate and direct measurement of the robot's position, which is directly linked to sensor measurements that often contain errors, noise, and influencing factors. In this article, an experiment will be conducted to demonstrate error propagation and the attempt at correction using the mentioned algorithms. This study will involve comparing simulation and odometry results from a real robot through two different trajectories. Correction techniques were used through the ROS framework to assess the robot's position using the Extended Kalman Filter (EKF), which performs a fusion of data from Odometry sensors, Inertial Measurement Unit (IMU), and the Adaptive Monte Carlo Localization (AMCL) algorithm on a Turtlebot3 in an indoor environment. Additionally, two navigation tests were conducted, one using the map generated by simultaneous localization and mapping (SLAM) and another using a computer-aided design (CAD) map of the environment where the robot is navigating. In this sense, the tests provide us with a comparison of sensor localization and localization algorithms in CAD and SLAM maps.

关键词： SLAM EKF ROS turtlebot data fusion AMCL

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computer system for Forming Compositions and Modeling the Properties of Secondary Polymer Materials 5

Computer System for Forming Compositions and Modeling the Pr...

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5th international Conference on control systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2023

作者： Chistyakova, Tamara Balabekovna Novozhilova, Inna Vasilievna Razygraev, Aleksandr Sergeevich Goncharova, Tatyana Sergeevna Saint-Petersburg State Institute of Technology Department of Computer-Aided Design and Control Systems Saint Petersburg Russia

ISBN: (纸本)9798350309126

The computer system for forming compositions and modeling the secondary polymer materials properties is described in the article. The polymer compositions are formed using a customizable dataware, which includes a polymer wastes database and a knowledge base for recycling polymers into useful polymer products The knowledge base is developed using a product-frame model for representing knowledge about polymers and their compatibility. Modeling and research of the secondary polymers properties (strength, elasticity and density) is carried out based on the mathematical models. The result of the modeling system is a technological map for the composite polymer mixture synthesis and the production of a useful polymer product. The map includes data on the recipe, physicochemical and technological properties of polymers as secondary raw materials, polymer composition, hardware and technological design of the process, values of technological controlled variables of individual stages of processing. The use of a modeling system in production makes it possible to reduce the time required to solve the problem of selecting compositions, as well as reconfiguring production for a new task, improve the consumer characteristics of polymer products and reduce defects. © 2023 ieee.

关键词： Materials properties

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Overshoot Reduction Inspired Recurrent RBF Neural Network controller design for PMSM 32

Overshoot Reduction Inspired Recurrent RBF Neural Network Co...

引用

32nd ieee international symposium on Industrial Electronics, ISIE 2023

作者： Yin, Zhenxiao Zhao, Hang Robotics and Autonomous Systems Robotics and Autonomous Systems Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350399714

With the rapid development of computer science, neural network (NN) has received widespread attention. However, it is mainly used as a black box in identification and prediction, which is highly complicated. Its explainability should be mentioned when it is used in real applications. So, this paper derives the explainable control scheme to make sure its theoretical rigorousness. Then a straightforward explanation of the neural network controller using a block diagram is given to help researchers to reproduce the method. Since the detailed design of the neural network should concern the principle of permanent magnet synchronous motor (PMSM), this analyses the real PMSM system and finds the control performance characteristic, especially in spontaneous disturbances. Unlike the black-box neural network, the recurrent radial basis function neural network (RRBF) controller method is proposed, guided by overshoot. Because various PMSMs have various performances of speed changing, three key functions of RRBF are proposed to check which variant is the most suitable for reducing the overshoot. Finally, the RRBF method is implemented in STM32, and its effectiveness in the experiment is checked. © 2023 ieee.

关键词： Permanent magnets

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design and Implementation of Integrated Distribution Auxiliary Power Supply Based on Flyback Converter 7

Design and Implementation of Integrated Distribution Auxilia...

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2023 7th international symposium on computer Science and Intelligent control, ISCSIC 2023

作者： Yue, Changlu Zhao, Xu Hu, Cong Beijing Inst. of Prec. Mechatronics and Controls Lab. of Aerospace Servo Actuation and Transmission Beijing China

ISBN: (纸本)9798350342987

In order to solve the problem of high voltage stress of the switching caused by the High DC input single-ended flyback converter and serious mutual influence between the multiple outputs of the single-ended flyback converter due to strong coupling, a dual-switch flyback converter and a full bridge are designed. The converter two-stage topology structure, in order to avoid the influence of the zero point of the right half plane of the continuous current mode, a type II feedback compensation network is used, the open-loop transfer function of the dual-switch flyback converter before and after compensation is calculated, and by applying Matlab provided Bode diagram analyzes its stability. After that, the closed-loop feedback system of the dual-switch flyback converter is built in the PSIM simulation environment to simulate the rationality of the design parameters. Finally, the stability of the closed-loop feedback system and the independence of the multi-channel power supply output are verified by experiments. © 2023 ieee.

关键词： Bode diagrams

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Intelligent English Automatic Translation system Based on TTS Technology 3

Intelligent English Automatic Translation System Based on TT...

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3rd international Conference on Artificial Intelligence and Autonomous Robot systems, AIARS 2024

作者： Sun, Xiyang Wang, Zhuo School of Foreign Languages Dalian University of Science and Technology Liaoning Dalian China

ISBN: (纸本)9798350376173

The intelligent English automatic translation system was built based on TTS technology. In the development process of the system, careful selection and configuration of text to speech converters and speech processors were carried out, and TTS technology was cleverly integrated, fully covering key aspects such as text analysis, prosody control, and speech synthesis. In order to better meet the specific requirements of English translation, the system has specially designed several key components, including but not limited to automatic segmentation and annotation of continuous speech, pre prosodic control of speech, speech synthesis, and optimization and reduction of speech databases. These carefully designed hardware units and software modules were integrated with each other, enabling the intelligent English automatic translation system to operate efficiently and smoothly. Through experiments, it can be seen that the intelligent English automatic translation system based on TTS technology performed well in terms of accuracy, ranging from 86.11% to 95.27%, which was significantly better than ordinary intelligent translation systems and traditional translation systems. This result fully proved that this system had a relatively high level of accuracy in processing English speech translation. The comprehensive design of the system has not only improved translation quality, but also laid the foundation for the development of future intelligent translation technology. © 2024 ieee.

关键词： computer aided language translation

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Applications of Graph Computing and Graph Neural Networks in Power systems: A Survey 11

Applications of Graph Computing and Graph Neural Networks in...

引用

11th China international Conference on Electricity Distribution, CICED 2024

作者： Lu, Jiangang Tan, Huijuan Zhao, Ruifeng Guo, Wenxin Dai, Zhen Li, Ping Guangdong Power Grid Co. Ltd. Power Dispatching Control Center Guangzhou China China Southern Power Grid Artificial Intelligence Technology Co. Ltd Guangzhou China

ISBN: (数字)9798350368345

ISBN: (纸本)9798350368345

With the increased integration of renewable energy sources and power electronic devices, the complexity and uncertainty of power system operations have risen significantly, leading to an evolution in power system computation. Graph computing and Graph Neural Networks (GNNs) offer innovative perspectives and solutions to these challenges. This paper explores the application of graph computing in the analysis of large-scale and complex networks in power systems, as well as the potential of graph neural networks in data-driven power grid operation analysis and decision making. The paper systematically reviews the fundamental theories and key technologies of graph computing and GNNs, along with their specific applications in power systems. These applications include, but are not limited to, load forecasting, state estimation, and fault diagnosis. © 2024 ieee.

关键词： Power systems computer aided design

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control system design of Variable-span Morphing Aircraft Based on T-S Fuzzy Modeling 7

Control System Design of Variable-span Morphing Aircraft Bas...

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2023 7th international symposium on computer Science and Intelligent control, ISCSIC 2023

作者： Yang, Xingwang Lu, Yuping Cao, Rui Qin, Shaoxin Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing China Yangzhou University College of Information Engineering Yangzhou China

ISBN: (纸本)9798350342987

The problem of cooperative control of morphing aircraft during deformable flight is studied. The object is a morphing aircraft with retractable wings. Firstly, the characteristics of aerodynamic parameters varying with deformation are analyzed, and the longitudinal T-S fuzzy model is established. Then, combined with the robust H_{\infty} control idea, and fuzzy Lyapunov function are adopted. Fuzzy Robust H_{\infty} control (FRHC) based on T-S fuzzy model is proposed. In the end, simulations verify that the model well describes motion characteristics of that nonlinear model within the flight envelope, and the proposed FRHC method guarantees the stability, robustness and tracking accuracy of deformation flight. CCS Concepts: Modeling methodologies, Model verification andvalidation, Nonlinear equations © 2023 ieee.

关键词： Robust control

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computer aided design of Printer Waste Gas Treatment Device Based on Intelligent control system and Sensor Technology 5

Computer Aided Design of Printer Waste Gas Treatment Device ...

引用

5th ieee international Conference on Information systems and computer aided Education, ICISCAE 2022

作者： Yan, Peng Chen, Jiaqi School of Mechanical and Electrical Engineering Wuhan University of Technology Hubei Wuhan China

ISBN: (数字)9781665481229

ISBN: (纸本)9781665481229

This project uses intelligent control module, sensor, computer 3D design technology to assist printer waste gas treatment device to complete printer waste gas treatment. The device adsorbs the exhaust gas and particulate matter generated by the ink cartridge and the paper outlet during printing through the adjustable suction port. And to the low temperature plasma chamber to intelligent identification, regulation, control on-demand treatment of waste gas. The UV lamp is reflected by a plane mirror in the photolytic chamber with sensing technology to achieve the secondary efficient removal of ozone, and thus to achieve the efficient purification of the printer pollution gas. At the same time, the device can start, run and close the intelligent control device according to the indoor pollutant concentration and the working state of the printer. It can also intelligently set the working time and power of the device, save energy and fully automatic harmless treatment of indoor printer exhaust gas. © 2022 ieee.

关键词： Gases

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Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth's Magnetic Field Generation Based on 2.4-Meter Square Helmholtz Coils

Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth...

引用

ieee/ION Position, Location and Navigation symposium (PLANS)

作者： Chaisakulsurin, Jormpon Manuthasna, Shariff Masri, Tanawish Panyalert, Thanayuth Palee, Kritsada Prasit, Pakawat Kamsing, Patcharin Torteeka, Peerapong Natl Astron Res Inst Thailand Publ Org Thai Space Consortium Project 260 Don Kaew Chiang Mai 50180 Thailand Natl Astron Res Inst Thailand Publ Org Ctr Observ Operat & Engn 260 Don Kaew Chiang Mai 50180 Thailand King Mongkuts Inst Technol Fac Engn Program Robot & Computat Intelligence Sy 1 Chalong Krung1 Alley Bangkok 10520 Thailand King Mongkuts Inst Technol Ladkrabang Int Acad Aviat Ind Dept Aeronaut Engn Air Space Control Optimizat & Management Lab 1 Chalong Krung1 Alley Bangkok 10520 Thailand

ISBN: (纸本)9781665417723

This paper proposes a Hardware-in-the-Loop simulation (HiLs) tested via square Helmholtz coils as a relative magnetic field generator. In technical terms, the HiLs is an indispensable tool for engineering design during rapid proto-typing of attitude determination and control algorithms for the turning parameters that control the attitude of the satellite, since most of the satellite's mission relies on its attitude, making this system one of the most essential to the satellite's operation. Moreover, performing controlled experiments with the parameters for developing adaptive control algorithms improves the overall efficiency of the satellite's kinematic system. The conceptual design of a proposed system architecture can be composed of the electrical currents of 2.4-meter square Helmholtz coils produced by a low-level microcontroller equipped with a DC-motor driver by a pulse-width modulation (PWM) signal through real-time connection to an orbit propagator using a high-level computer. This research focuses on the attitude dynamic of satellites through the interaction between the Earth's magnetic field (EMF) and the magnetotorque in the satellite. To apply this phenomenon, the intensity and the direction of the magnetic field must be identified through Biot-Savart's law. Along with the EMF, the reference position is calculated using the standard general perturbations satellite orbit model (SGP4), and the intensity is modeled based on coefficients from the 13th edition of the international Geomagnetic Reference Field (IGRF). Therefore, this paper presents a detailed development of a HiLs testbed for distributed attitude determination and control systems (hardware and software co-design, protocol, and control theory). Furthermore, it discusses a classic cooperative control case for the output of magnetic field intensity and direction, which was undertaken to explain the integrated simulation process and validate the effectiveness of the co-simulation tested to be a pri

关键词： Earth's Magnetic Field simulation Helmholtz coils Biot-Savart's law Attitude control system HiLs

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Modeling and controller design of vertical take-off and landing turbojet powered aircraft 7

Modeling and controller design of vertical take-off and land...

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7th international symposium on Autonomous systems, ISAS 2024

作者： Ouyang, Tianyu Yin, Yankai Kang, Fei Zhang, Jiachen Tian, Yu Yan, Xiaoquan Kuang, Wenchuan Duan, Feng Nankai University Tianjin Key Laboratory of Interventional Brain-Computer Interface and Intelligent Rehabilitation Tianjin China Tianjin Fulibo Intelligent Technology Co. Ltd Tianjin China

ISBN: (纸本)9798350363173

Aiming at the problems such as high altitude flight difficulty and poor wind resistance of rotary-wing UAV in disaster rescue, this paper proposes a vertical take-off and landing turbojet powered aircraft. The vehicle uses fuel as its power source, and four turbojet engines with vector propulsion systems provide thrust. Aiming at the difficult problem of controller design caused by complex nonlinear characteristics of aircraft, a T-S modeling method of aircraft is presented. Firstly, a dynamic model of the aircraft is established by analyzing the relationship between the force and rotation of the aircraft. On this basis, the T-S fuzzy model of aircraft is established by using sector nonlinear method. The model can decompose the complex nonlinear system into several simple linear subsystems, which is more convenient for controller design and analysis. To verify the validity of the T-S model, a fuzzy LQR controller is designed. Simulation results show that the designed controller can realize fast stabilization of the system. The structure design of the aircraft and T-S fuzzy control are of great practical significance for disaster relief in the complex plateau environment. © 2024 ieee.

关键词： controllers

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