Micro aerial vehicles are widely being researched and employed due to their relative low operation costs and high flexibility in various applications. We study the under-actuated quadrotor perching problem, designing ...
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ISBN:
(纸本)9781665499248
Micro aerial vehicles are widely being researched and employed due to their relative low operation costs and high flexibility in various applications. We study the under-actuated quadrotor perching problem, designing a trajectory planner and controller which generates feasible trajectories and drives quadrotors to desired state in state space. This paper proposes a trajectory generating and tracking method for quadrotor perching that takes the advantages of reinforcement learning controller and traditional controller. We demonstrate the performance of the trained reinforcement learning controller generated trajectory information and manipulated quadrotor toward the perching point (manually throwing it up in the air with an initial velocity of 1 m/s). We show that this approach permits the control structure of trajectories and controllers enabling such aggressive maneuvers perching on vertical surfaces with relatively accurate. Computation time of evaluating the policy is only 0.03 sec per trajectory, which is two orders of magnitude less than common trajectory optimization algorithms with an approximated model.
More and more mission-critical industrial systems are deploying hardware (e.g. FPGA) based controls these days for increased cyber-security and reliability eliminating cyber-risks which is higher for software based co...
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The computation of means, specifically the arithmetic mean, weighted mean, and harmonic mean, serves as a fundamental component in numerical computing, particularly in diverse signal processing applications. This pape...
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ISBN:
(数字)9798350361261
ISBN:
(纸本)9798350361261;9798350361278
The computation of means, specifically the arithmetic mean, weighted mean, and harmonic mean, serves as a fundamental component in numerical computing, particularly in diverse signal processing applications. This paper presents an adaptable, low-complexity, and reconfigurable scheme for the implementation of various mean calculations. The key concept involves utilizing in-memory computing (IMC) technique and executing computations through a set of memristive devices. Specifically, the required multiplications and additions leverage the inherent properties of memristor devices, adhering to Ohm's law and Kirchhoff's current law. This innovative approach not only enhances flexibility by leveraging the unique capabilities of IMC but also reduces computational complexity and latency compared to conventional implementation approaches.
As all walks of life gradually return to normal, various event venues in Shenyang are both full and idle. In order to make full and effective use of venue resources, event venue booking is particularly important. This...
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This study proposes a novel approach to address the multi-objective challenge of traffic control on congested freeways using Deep Reinforcement Learning (DRL). The approach involves developing a Learning-based Variabl...
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ISBN:
(纸本)9798400709234
This study proposes a novel approach to address the multi-objective challenge of traffic control on congested freeways using Deep Reinforcement Learning (DRL). The approach involves developing a Learning-based Variable Speed Limit (VSL) agent specifically designed to optimize traffic efficiency while enhancing road safety. This agent employs a multi-objective reward function, striking a delicate balance between safety and mobility by optimizing speed limits to minimize collision risks and maximize traffic flow simultaneously. To illustrate the architecture of the Framework, a Deep Q-Networks (DQN) topology is presented. Through a comprehensive simulation study on a congested section of the A1 freeway in Morocco, our multi-objective DRL-VSL Framework showcased significant improvements, with mean speed increasing by 2.55% and Time to Collision values demonstrating a 57.33% enhancement. These results highlight the Framework's ability to simultaneously improve traffic flow and safety in real-world scenarios, contributing to the advancement of intelligent traffic controlsystems through DRL.
The overall dominance of various wave patterns and electrical activity across time is used to assess EEG brain waves. This kind of brain computer (BCI) interface enables, however, considerably limits the human's f...
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Mathematical fuzzy logic focuses on fuzzy functions for logical formulas whereas the core of fuzzy systems is fuzzy facts and rules specifying properties of concrete predicates and functions. The gap between them is b...
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ISBN:
(数字)9783031700187
ISBN:
(纸本)9783031700170;9783031700187
Mathematical fuzzy logic focuses on fuzzy functions for logical formulas whereas the core of fuzzy systems is fuzzy facts and rules specifying properties of concrete predicates and functions. The gap between them is bridged by representing fuzzy facts and rules as nonlogical axioms in intuitionistic and intermediate sequent calculi. Inference in these calculi extended with fuzzy nonlogical axioms is sound with respect to fuzzy Godel models. If a formula is derivable, then a lower bound of its truth value is calculated from the derivation tree. Inference in these calculi is complete for atoms whose truth values are positive. Inference in Godel-Dummett calculus remains complete for valid formulas even in presence of nonlogical axioms.
The suite of algorithms proposed for Wire-arc Directed Energy Deposition (DED) processes presents a groundbreaking approach to enhancing manufacturing precision and efficiency. These algorithms, individually and colle...
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In recent years, with the progress of distributed photovoltaic technology and the reduction of costs, the installed scale of distributed photovoltaic has grown rapidly. Due to the high average photovoltaic permeabilit...
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In both analogue and digital systems, the Level Shifter (LS) circuit has emerged as a crucial circuit element. Research papers towards the advancement of LS circuits have multiplied during the last few decades. their ...
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