The paper is devoted to the problem of energy flows studying in a universal multilevel inverter, when an output voltage with a complex and controlled harmonic composition of the curve is forming. It is intended for mu...
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In the pursuit of sustainable electricity generation from offshore wind and wave energy, the combination of Floating Offshore Wind Turbines (FOWTs) and Oscillating Water Columns (OWCs) has emerged as a promising solut...
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Over the past decades, trajectory optimization (TO) has become an effective solution for solving complex motion generation problems in robotics, ranging from autonomous driving to humanoids. Yet, TO methods remain lim...
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ISBN:
(纸本)9798350381818
Over the past decades, trajectory optimization (TO) has become an effective solution for solving complex motion generation problems in robotics, ranging from autonomous driving to humanoids. Yet, TO methods remain limited to robots with tens of degrees of freedom (DoFs), limiting their usage in soft robotics, where kinematic models may require hundreds of DoFs in general. In this work, we introduce a generic method to perform trajectory optimization based on continuum mechanics to describe the behavior of soft robots. The core idea is to condense the dynamics of the soft robot in the constraint space in order to obtain a reduced dynamics formulation, which can then be plugged into numerical TO methods. In particular, we show that these condensed dynamics can be easily coupled with differential dynamic programming methods for solving TO problems involving soft robots. This method is evaluated on three different soft robots with different geometries and actuation.
The lack of unified approaches to creating various complex organizational and technical systems and the accompanying processes gives rise to a problem associated with general rules for assessing and ensuring the inter...
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The lack of unified approaches to creating various complex organizational and technical systems and the accompanying processes gives rise to a problem associated with general rules for assessing and ensuring the interoperability of such systems. complexsystems are characterized by multiple states. Each state is defined by a particular set of parameters. Changing the values of parameters that characterize a separate element of the system can lead to changes in the output parameters of the system as a whole and its state. The latter, along with the presence of complex functional dependencies, significantly complicates formalization when describing the functioning of such systems. Attempts to organize the joint functioning of systems that have not reached a certain level of quality according to a set of critical characteristics often have the opposite effect. The research results are intended to provide a basis for assessing process quality performance. The assessment results can be used to improve process performance, benchmarking, or identify risks associated with the application of processes.
The traditional development method for the asynchronous motor control system used in electric vehicles is to use handwriting for the bottom software and upper software. Due to the complex algorithms and logic involved...
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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. ...
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A defect scene is a collection of scenes with a high defect triggering rate of an autonomous driving system, which has the characteristic of being distributed in the logical scene parameter space between the collision...
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ISBN:
(纸本)9798350350227;9798350350210
A defect scene is a collection of scenes with a high defect triggering rate of an autonomous driving system, which has the characteristic of being distributed in the logical scene parameter space between the collision hazard and the safety boundary. In order to solve the problem of low defect scene coverage and scene complexity in the test scenarios of autonomous driving systems, a generalized defect scene generation method based on the attention mechanism is proposed to achieve the automatic generation of high-complexity defect scenes. Firstly, the scene is abstracted into a logical scene model that changes dynamically over time by combining environmental information and vehicle dynamics model;then, the scene controller modeling problem is abstracted into a Markov decision process, and the SA-DDQN (Social Attention Double Deep Q-Network) algorithm is proposed based on the attention mechanism. Constructing the multi-attention mechanism into the strategy model can make the ego vehicle more effective in capturing the complex interactions between input variables and focusing on potentially dangerous vehicles that are close to or in conflict with the planned path. Thus, it solves the problems of low percentage of defective scenarios, low generation efficiency, low scenario complexity, etc., and accelerates the testing process. Finally, a typical highway lane-changing overtaking scenario is taken as an example for simulation verification. The results show that the defective scene model generated based on the proposed SA-DDQN algorithm performs well in terms of scene interaction, scene coverage and repeatable testing.
At present, in the speed control algorithm of permanent magnet synchronous motor, PID control algorithm is widely used, but there are problems such as overshoot and insufficient anti-interference ability. Active distu...
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Automated Model Verification complexes are an important tool for research, testing, and verification of information and measuring instrument controlsystems, navigation, mechanical engineering, and other branches of t...
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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...
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