As with all actuated mechanical systems, the development of a control scheme for robotic systems must take actuator saturation into account. Furthermore, in order to properly control a robotic arm, other types of mech...
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ISBN:
(数字)9781665479271
ISBN:
(纸本)9781665479271
As with all actuated mechanical systems, the development of a control scheme for robotic systems must take actuator saturation into account. Furthermore, in order to properly control a robotic arm, other types of mechanical limitations must also be considered (e.g. limited operating range of the joint, speed limitations). In this paper, we propose a saturation-aware trajectory-based Explicit Reference Governor, a lightweight constrained control scheme with no on-line optimization. Additionally, we tested the effectiveness of the proposed control architecture on a 7 degree-of-freedom KUKA LBR IIWA14 R820. Both the performance and the computational time of our proposed solution were tested against other constrained control solutions available in the literature.
Access control in Cloud computing (CC) refers to the ability to restrict access to information stored on the cloud. This allows organizations to ensure their information is secured and helps minimize risk. There are v...
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Accurately analyzing and predicting driver lane-changing intentions is of paramount importance, as it significantly enhances the safety of self-driving vehicles in their decision-making processes, holding great promis...
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This article introduces a bio-inspired 3D flocking algorithm for a drone swarm, built upon a previously established 2D model, which has proven to be effective in promoting stability, alignment, and distance variation ...
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ISBN:
(纸本)9781665491907
This article introduces a bio-inspired 3D flocking algorithm for a drone swarm, built upon a previously established 2D model, which has proven to be effective in promoting stability, alignment, and distance variation between agents within large groups of agents. The study highlights how the incorporation of a vertical interaction between agents and the acquisition by each agent of a minimal amount of information about their most influential neighbor impacts the collective behavior of the swarm. Additionally, we present a comprehensive investigation of the impacts of the intensity of alignment and attraction interactions on the collective motion patterns that emerge at the group level. These results, mostly conducted in a validated simulator, have significant implications for designing efficient UAV swarm systems and using collective patterns, or phases, in operational contexts such as corridor tracking, surveillance, and exploration. Further research will explore the effectiveness and efficiency of this UAV swarm flocking algorithm, as well as its ability to ensure safe transitions between collective phases in different operational contexts.
Accurate and impartial classification of brain tumors is crucial for early diagnosis and treatment. Deep learning technology can effectively represent and utilize the visual content of images, playing a key role in mo...
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As artificial intelligence (AI) continues to drive industrial upgrading, the demands for efficient and real-time AI services have escalated. However, meeting these demands poses challenges, particularly within the fra...
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This paper proposes a fuzzy optimal adaptive prescribed performance control strategy for nonlinear multi-agent systems. Firstly, to solve the prescribed performance problem, an error transformation function is used to...
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Empowering Healthcare systems with Machine Learning: Mechanisms, Classifications, and Applications' examines how machine learning (ML) and healthcare are dynamically combining. It explains how ML algorithms manage...
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This study uses machine learning models as potent analytical tools to look into the issue of inventory cost and profit prediction in the automobile industry. Throughout a ten-year dataset from 2012 to 2023, the study ...
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This paper analyzes the effect of control parameters of feed-forward and inner loop velocity controller in an admittance control scheme on the performance and passivity. The interaction force, inertia, and damping com...
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ISBN:
(数字)9781665479271
ISBN:
(纸本)9781665479271
This paper analyzes the effect of control parameters of feed-forward and inner loop velocity controller in an admittance control scheme on the performance and passivity. The interaction force, inertia, and damping compensation were considered as the feed-forward input. Sufficient conditions and guidelines for each parameter were provided to enable the implementation of a wide range of desired admittance satisfying passivity. The proposed guidelines were verified through experiments.
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