The analysis examines the use of control laws developed through the quasi-optimal synthesis method and the maximum condition of the generalized power function. Fuzzy logic is used to address intellectualization challe...
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The rise of autonomous driving in everyday life makes efficient and collision-free motion planning more important than ever. However, multi robot applications in highly dynamic environments still pose hard challenges ...
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ISBN:
(纸本)9798350384581;9798350384574
The rise of autonomous driving in everyday life makes efficient and collision-free motion planning more important than ever. However, multi robot applications in highly dynamic environments still pose hard challenges for state-of-the-art motion planners. In this paper, we present a new iteration of a reactive circular fields motion planner with the focus on simultaneous control of multiple robots in robotic soccer games, which is able to operate omnidirectional robots safely and efficiently despite high measurement delays and inaccuracies. Our extension enables the definition and effective execution of complex tasks in soccer specific problems. We extensively evaluated our planner in several complex simulation environments and experimentally verified the approach in realistic scenarios on real soccer robots. Furthermore, we demonstrated the capabilities of our motion planner during the successful participation in the RoboCup 2022 and 2023.
The article discusses the design features of complexcontrolsystems based on a contactless DC electric motor as part of a tracking electric drive of a specialized unmanned robotic electrical complex. An important pro...
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Optimal control problem for semilinear hyperbolic equations is considered on 3 -star metric graph. The distributed controls on the edges are considered. The tracking type cost for steady state equation is considered f...
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ISBN:
(纸本)9798350362350;9798350362343
Optimal control problem for semilinear hyperbolic equations is considered on 3 -star metric graph. The distributed controls on the edges are considered. The tracking type cost for steady state equation is considered for the control problem. Using the Turnpike Property for dynamic control problem, the control problem is solved for the steady state equations. The necessary and sufficient optimality conditions are established for static controlproblems. Then the optimum design problem is considered for the topological perturbation of the graph. The small cycle of size epsilon -> 0 replaces the central node of 3-star graph. The distributed controls are introduced on the edges of the cycle. The topological derivative of the shape functional indicates the possibility of nucleation of the small cycle.
In an attempt to simplify the mathematical solution of real-world systems, further presumptions such as an integer order system and zero initial condition lead to imprecise and incorrect system modeling. By modeling r...
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This paper presents a method for controlling a custom robotic arm modeled in the Unified Robot Description Format (URDF) within the Robot Operating System (ROS) framework. The focus is on configuring controllers and i...
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In the realm of industrial automation and smart manufacturing, improving the efficiency of high-power induction furnaces (IFs) has become an essential goal. Precise monitoring of the operational status is indispensabl...
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ISBN:
(纸本)9798350354416;9798350354409
In the realm of industrial automation and smart manufacturing, improving the efficiency of high-power induction furnaces (IFs) has become an essential goal. Precise monitoring of the operational status is indispensable for achieving targeted optimization goals. The challenges encountered in this endeavor are twofold in nature. IF, as a highly complex thermoelectric system, spans multiple disciplinary fields, complicating the achievement of precise modeling. Furthermore, its electrical dynamic parameters continuously change throughout the melting process, eluding direct measurement methods. In this paper, we introduce a novel equivalent circuit framework that simplifies the analysis of the IF operational status. Secondly, we establish a PINN-based digital twin (DT) for IF to simulate the dynamics throughout the entire melting process, thereby supporting the status monitoring. State-space constraints are introduced to overcome the deficiencies of the traditional PINNs in handling multidimensional systems. Finally, we assess the feasibility of the approach using actual operational data spanning the complete working cycle of IF.
Improvement and optimization of a number of parameters of information and controlsystems of avionics of UAVs (an unmanned aerial vehicle) is today an actual scientific and practical task. One of the main requirements...
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Modern educational organizations face a number of complex challenges related to the effective management of their resources. Ensuring high-quality education with limited financial, human and time resources is becoming...
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This paper focuses on applying two evolutionary algorithms, Ant Lion Optimization (ALO) and Gradient-based Optimization (GBO), to enhance load frequency control (LFC) in a power system. LFC is crucial for stable power...
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