In this work, a novel online model-free controller for an underactuated dirigible is developed based on reinforcement learning and optimal control theory. A reinforcement learning structure is used while overcoming th...
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ISBN:
(纸本)9781665491907
In this work, a novel online model-free controller for an underactuated dirigible is developed based on reinforcement learning and optimal control theory. A reinforcement learning structure is used while overcoming the dependence of the value function on future values by introducing a neural network that is adapted using input-output data. The suboptimal critic neural network is structured such that optimality is guaranteed over the interval from which the data is valid. The system performance is validated using a highly realistic physics engine, Gazebo, with the robot operating system (ROS) interface and the results are compared to the performance of a model-based controller specifically designed to control the airship model. It is emphasized that the proposed formulation does not leverage any knowledge of vehicle dynamics and thus is considered a vehicle agnostic control strategy.
Ray is a novel distributed computing framework designed for artificial intelligence computations and has been widely applied in various fields. However, its default load balancing algorithm, which is based on the equa...
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This paper presents a comprehensive approach to controlling a Parrot Mambo minidrone in a simulation environment using MATLAB. The primary objective is to guide the drone along a predefined path while maintaining stab...
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The recent shift towards renewable energy sources, such as wind and solar, has necessitated the development of more robust and adaptive load-frequency control (LFC) techniques. This study explores the application of P...
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This study presents a Takagi-Sugeno (T-S) fuzzy logic-based modeling technique for a Mecanum Wheeled Mobile Robot (MWMR). T-S systems are well-suited for handling the inherent nonlinearities and undisclosed subsystems...
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ISBN:
(纸本)9798331517939;9788993215380
This study presents a Takagi-Sugeno (T-S) fuzzy logic-based modeling technique for a Mecanum Wheeled Mobile Robot (MWMR). T-S systems are well-suited for handling the inherent nonlinearities and undisclosed subsystems in the MWMR. A Genetic Algorithm (GA) is employed to optimize the T-S parameters so that the physical model can be perfectly obtained. Notably, without requiring an explicit description of the complete MWMR dynamics, the GA successfully converges to optimal T-S parameters within 200 generations. The resulting T-S model exhibits a high level of accuracy, achieving aMean Squared Error (MSE) of 0.015 when compared to the realMWMRsystem's velocity response.
The paper describes the process of the information objects classification in e-learning systems using the mathematical background of fuzzy logic. This approach can be used to improve the process of searching and organ...
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The traditional construction management model has been unable to meet the high requirements of safety, quality, efficiency, etc., coupled with the development of information technology such as BIM, GIS, IoT, etc., the...
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Today, technology plays a pivotal role in our daily lives, significantly impacting individuals. Individuals with muscular dystrophy, such as Amyotrophic Lateral Sclerosis (ALS), benefit from eye-tracking technology, a...
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ISBN:
(纸本)9798400714092
Today, technology plays a pivotal role in our daily lives, significantly impacting individuals. Individuals with muscular dystrophy, such as Amyotrophic Lateral Sclerosis (ALS), benefit from eye-tracking technology, allowing them to interact with computers. This technology empowers them to control computer functions using only their eye movements, eliminating the need for traditional mouse and keyboard inputs. Despite these advancements, ALS patients still face challenges with certain tasks. Our study focuses on a specific individual with ALS who utilizes eye-tracking technology to navigate Adobe Premiere's video editing software. Our objective is to address these challenges by providing a solution that leverages the shortcut commands already available in Adobe Premiere Pro while also creating a simplified interface tailored for the individual we are designing for. This approach facilitates easier access to these shortcuts during his work. Our research emphasizes the potential to adapt and personalize assistive eye-tracking technology, creating more opportunities for individuals with disabilities.
Switching power supply with higher efficiency and reliability is more and more applied in the design of digital instrument control system of nuclear power station. The design scheme of using a single power supply will...
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Most land-air amphibious UAVs feature a four-wheel design that limits their adaptability in narrow and uneven spaces. This study proposes the rotor flywheel as a new land-air design that integrates a one-wheel structu...
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ISBN:
(纸本)9781665491907
Most land-air amphibious UAVs feature a four-wheel design that limits their adaptability in narrow and uneven spaces. This study proposes the rotor flywheel as a new land-air design that integrates a one-wheel structure and eight-rotor wings for more flexible motion. The dynamics model is then conducted with the Kane method, finding two power-saving self-balance state while rolling. Its controller design highlights the multi-input decoupling approach utilizing feedback, along with the dynamic model-based component to enable efficient control of its intricate operations. Results of simulations and experimental tests have validated the stability and adaptability of the mode-switching and rolling of the robot in ground motion.
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