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Dynamic modeling and Aerodynamic Characteristics Analysis of Flapping-Wing Aerial Vehicles

Dynamic Modeling and Aerodynamic Characteristics Analysis of...

引用

complex systems and Intelligent Science (CSIS-IAC), international Annual conference on

作者： Tingting Wang Xiuyu He Yao Zou Wei He Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China

ISBN: (数字)9798331504755

ISBN: (纸本)9798331504762

Inspired by flying creatures in nature, flapping-wing aerial vehicles (FWAV s) are developed to improve the flight efficiency and the concealment. During the flight, FWAV s obtain the required lift and thrust force by the active movement of the wings. Depends on this way of flying, FWAVs have great advantages in weight reduction and aerodynamic performance improvements. Therefore, in order to have a better performance in flight, the dynamic analysis of FWAVs is carried out in this paper. Firstly, the static characteristics and the dynamic characteristics of the airfoil adopted by the FWAV are analyzed. Based on the blade element theory, the dynamic model of FWAVs is obtained. Then, the numerical simulations show the effects of different flight speeds and flapping frequencies on the aerodynamics of FWAV s. This is of great significance for the stable flight and the autonomous control of FWAVs.

关键词： Blades Atmospheric modeling Force Aerodynamics Numerical simulation Data models Numerical models Vehicle dynamics Automotive components Intelligent control

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Formalization of the Problem of Optimal control of a Higher Educational Institution

Formalization of the Problem of Optimal Control of a Higher ...

引用

international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Svetlana Zhikhoreva Anatoly Pogodaev Department of Applied Mathematics Lipetsk State Technical University Lipetsk Russia

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 one of the most important tasks in the field of education. This article discusses the subject of research related to the development of a mathematical model and an algorithm for optimal management of an educational organization.

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Hybrid Dynamic modeling for an Underwater Rigid-Soft Snake Robot 12

Hybrid Dynamic Modeling for an Underwater Rigid-Soft Snake R...

引用

12th international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Zhang, Junhao Chen, Yinglong Gong, Yongjun Naval Architecture and Ocean Engineering College Dalian Maritime University Dalian116026 China National Center for International Research of Subsea Engineering Technology and Equipment Dalian Maritime University Dalian116000 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Facing the complex and narrow underwater environment such as underwater sunken ship cabin, submarine cave and oil field, inspired by the movement gait of biological snakes, taking into account the swimming efficiency and movement flexibility, an underwater snake robot composed of rigid propulsions and soft joints is proposed. This paper is devoted to solving the mathematical model of robot and proposes a hybrid dynamic modeling method. Firstly, the common constant curvature method is used to describe the configuration of soft joints, the improved Kelvin-Voigt model is used to reflect its hyperelastic dynamic characteristics, and its dynamic expression is obtained based on Lagrange method. Then the interaction relationship between rigid propulsions and dense medium is deduced. Finally, the soft part and rigid part of the snake robot are modeled as a floating combined chain manipulator through dynamic constraints. Through the coordinated control of rigid propulsions and soft joints, the simulation shows a variety of motion cases of the snake robot. This model can be used as a general model of rigid-soft combined chain robot for dynamic simulation platform in design stage and be used to design the control strategy of robot motion in dense medium. © 2022 IEEE.

关键词： Manipulators

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Dynamic Sensing modeling of Dielectric Elastomer Sensors Based on GRU Neural Network 6

Dynamic Sensing Modeling of Dielectric Elastomer Sensors Bas...

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6th international conference on Intelligent Robotics and control Engineering, IRCE 2023

作者： Zhang, Mingyi Huang, Peng Wang, Yawu School of Automation China University of Geosciences Wuhan Hubei430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei430074 China

ISBN: (纸本)9798350326338

Dielectric elastomer sensor (DES) is a flexible sensor that can perform free bending deformation, thus it has broad application prospects in the fields of medical electronics, wearable devices, soft robots, etc. Previous studies have mostly focused on exploring the static sensing characteristics of the DES. Considering that the DES may be used in dynamic conditions, it is very meaningful to study its dynamic sensing characteristics to broaden its application ranges. In this paper, a dynamic sensing model of the DES is established based on the gate recurrent unit (GRU) neural network. Firstly, the structure of the DES and the construction of the experimental system are introduced. In addition, the dynamic sensing characteristics of the DES are analyzed by conducting several sets of experiments, which shows that the DES has significant rate-dependent hysteresis nonlinearities, multivalued mapping and memory characteristics. After that, the dynamic sensing model of the DES is built based on the GRU neural network to describe the above dynamic sensing characteristics. Next, the dynamic displacement and force sensing models of the DES are trained according to the dynamic displacement-capacitance and dynamic force-capacitance experimental data, respectively. Finally, several experiments are performed to verify the effectiveness and generalization ability of the established dynamic sensing model. © 2023 IEEE.

关键词： Capacitance

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Research on Goal Planning Problem Based on Genetic Algorithm

Research on Goal Planning Problem Based on Genetic Algorithm

引用

control, Electronics and Computer Technology (ICCECT), IEEE international conference on

作者： Lele Hao Junjie Wang Bowen Li Chenxu Wang Yuangang Li Shaanxi University of Science & Technology Xi'an China

ISBN: (数字)9798350380958

ISBN: (纸本)9798350380965

Genetic algorithm as a powerful heuristic optimization algorithm excels in complex problems and global optimization. The aim of this study is to deeply explore the application of genetic algorithm in optimization problems and fully analyze its significance and effectiveness in several fields. Genetic algorithms represent solutions in the problem space as individuals by modeling the basic principles of biological evolution, and generate new generation solutions through crossover, mutation and other operations. Its application in complex problem solving is of wide significance, not only efficiently searching the problem space, but also dealing with complex situations such as multi-objectives and multi-constraints, which provides feasible optimization solutions for practical problems. The study adopts a typical genetic algorithm process, including individual representation, selection, crossover, mutation and other operations. By adjusting the algorithm parameters, adaptive optimization is achieved and the robustness of the algorithm is improved. In the example study, the optimal path is found by genetic algorithm, taking into account both path length and time constraints. Satisfactory results were obtained through the example study. The optimized path meets the minimization requirement of length, which proves the effectiveness of genetic algorithm in solving practical problems. The powerful performance of genetic algorithm in solving complex optimization problems is demonstrated, which provides useful insights for further research and application.

关键词： Evolution (biology) Heuristic algorithms Minimization Search problems Robustness Planning Time factors

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Development and Optimization of Simulation Model of Decision Aid System Implementation

Development and Optimization of Simulation Model of Decision...

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Intelligent Technologies (CONIT), international conference on

作者： Tatyana Panfilova Alexey Gladkov Vadim Tynchenko Oksana Kukartseva Mikhail Kvesko Department of Technological Machines and Equipment of Oil and Gas Complex Siberian Federal University Krasnoyarsk Russia Department of Information Economic Systems Reshetnev Siberian State University of Science and Technology Krasnoyarsk Russia Artificial Intelligence Technology Scientific and Education Center Bauman Moscow State Technical University Information-Control Systems Department Reshetnev Siberian State University of Science and Technology Department of Systems Analysis and Operations Research Reshetnev Siberian State University of Science and Technology Krasnoyarsk Russia Department of information and control systems Reshetnev Siberian State University of Science and Technology Krasnoyarsk Russia

ISBN: (数字)9798350349900

ISBN: (纸本)9798350349917

The use of simulation modeling of production activities to improve the effectiveness of management decisions allows to evaluate the quality of the decision made on the model, as well as a means of training employees. The relevance of the research topic in the management of the project to create a decision support system (DAS) using simulation modeling is that in today’s world more and more organizations face the need to make decisions based on the analysis of large amounts of data and information. For this purpose, it is necessary to use special tools and methods that will allow to process data quickly and accurately and make decisions based on the results obtained.

关键词： Decision support systems Training Productivity Computational modeling Project management Process control Planning

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Online Learning Feedback control Considering Hysteresis for Musculoskeletal Structures

Online Learning Feedback Control Considering Hysteresis for ...

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IEEE/RSJ international conference on Intelligent Robots and systems (IROS)

作者： Kawaharazuka, Kento Okada, Kei Inaba, Masayuki Univ Tokyo Grad Sch Informat Sci & Technol Dept Mechanoinformat Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

ISBN: (数字)9781665479271

ISBN: (纸本)9781665479271

While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still an obstacle, and realizing target posture quickly and accurately has been difficult. Therefore, we develop a feedback control method considering the hysteresis. To solve the problem in feedback controls caused by the closed-link structure of the musculoskeletal body, we update a neural network representing the relationship between the error of joint angles and the change in target muscle lengths online, and realize target joint angles accurately in a few trials. We compare the performance of several configurations with various network structures and loss definitions, and verify the effectiveness of this study on an actual musculoskeletal humanoid, Musashi.

关键词： Visualization Target tracking Neural networks Humanoid robots Muscles Vision sensors Sensor systems

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Optimizing Liquid Level control in Double Tank systems: A PID controller Approach

Optimizing Liquid Level Control in Double Tank Systems: A PI...

引用

Electrical, Computer and Energy Technologies (ICECET), international conference on

作者： Cristina-Maria Stancioi Vlad Muresan Valentin-Ioan Sita Automation department Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (数字)9798350395914

ISBN: (纸本)9798350395921

The precise control of liquid levels in industrial processes is critical for maintaining productivity and product quality. However, dealing with liquid levels in double tank systems presents specific challenges due to issues such as cross-coupling and nonlinear dynamics. In this article, we consider a PID controller technique to improving liquid level management in double tank systems. The necessity of optimization in control systems, as well as the particular challenges presented by double tank structures are described. The PID controller is implemented as an adaptive tool for dealing with these challenges while highlighting its principles and features. The study digs into the process of system modeling, controller design, and double tank-specific optimization strategies. Throughout this work, there were investigated the challenges involved in maintaining liquid levels in such complex structures and proved the accuracy of PID controllers for overcoming all of these challenges. The obtained results are described through the accurate and stable control performance, regardless of dynamic operating environments and disturbances by utilizing PID control's adaptability and resilience.

关键词： Liquids Accuracy System performance Process control systems modeling Steady-state Quality assessment PD control Optimization Resilience

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Multi-level Management: Defining the Schedule of a complex Set of Works with Variable Volumes Using a Heterogeneous Set of Resources

Multi-level Management: Defining the Schedule of a Complex S...

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international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Dmitry Kononov Meran Furugyan Institute of Control Sciences of RAS Moscow Russia Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences Moscow Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

Within the framework of the multilevel management system for complex systems, the task of the tactical level of determining an acceptable schedule for a complex set of works is considered. The jobs are divided into two types. Job of the first type allows interruptions during execution. The second type of jobs is uninterrupted. To perform jobs, a heterogeneous set of resources is used - renewable and non-renewable. Renewable resources are represented by several processors, the performance of which may differ from each other. Non-renewable resources are divided into several types. The scope of jobs is not known in advance and depends on the amounts of non-renewable resources allocated to it. A deadline has been set, no later than which all jobs must be completed. An approximate polynomial algorithm for creating an admissible schedule for completing a set of jobs has been developed.

关键词： Schedules Renewable energy sources Program processors Instruments Finance Approximation algorithms Polynomials Mathematical models Machine tools Fuels

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Model Predictive control for a 2-DOF Robotic Arm: Dynamics and control

Model Predictive Control for a 2-DOF Robotic Arm: Dynamics a...

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modeling, Simulation & Intelligent Computing (MoSICom), international conference on

作者： Pallavi Mishra Manish Kumar Pandey Ram Niwash Mahia Department of Electrical Engineering National Institute of Technology Hamirpur Hamirpur India

ISBN: (数字)9798331533311

ISBN: (纸本)9798331533328

The growing interest in arm robotics is driven by the need to facilitate complex and repetitive jobs for humans, as well as by the advancement of production. There is a need for optimal control techniques for better control of robot arms. This paper presents the control dynamics of a planar robot arm with two degrees of freedom using the Model Predictive control (MPC) technique. It uses the feedback linearization technique to linearize the nonlinear control dynamics of the robot manipulator. The control parameters using the model predictive control technique are achieved by minimizing a quadratic criterion. Furthermore, a simulation analysis and its results are outlined to emphasize the efficiency of the presented technique.

关键词： Optimal control 2-DOF Production Predictive models Feedback linearization Nonlinear dynamical systems Manipulator dynamics Frequency control Predictive control Convergence

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