The Density-Based Traffic Signal control System (DB-TSCS) is an innovative approach to manage traffic flow at intersections. Incorporating advanced sensor technologies and intelligent algorithms, the system adjusts th...
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Agriculture is vital to food security and economic stability, but weeds reduce crop yields by competing for sunlight, water, and nutrients. Manual weeding and herbicides are often ineffective and environmentally harmf...
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Integrated sensing and communication (ISAC) and reconfigurable intelligent surface (RIS) are two critical enablers for sixth-generation (6G) communication systems. Sensing-aided communication enhancement (SACE) is one...
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ISBN:
(纸本)9798350381993;9798350382006
Integrated sensing and communication (ISAC) and reconfigurable intelligent surface (RIS) are two critical enablers for sixth-generation (6G) communication systems. Sensing-aided communication enhancement (SACE) is one of the foreseeable scenarios of ISAC. This paper focuses on a RIS-assisted SACE (R-SACE) mechanism where the base station (BS) acts as a sensor and communicator. In particular, the RIS and the sensing at the BS assist in suppressing harmful direct interference and meanwhile reconstructing another feasible communication link. The average achievable capacity maximization problem of the RIS-assisted communication link is investigated by jointly optimizing the time resource allocation within a coherent ISAC time frame and the reflecting recoding of the RIS under the constraints of sensing performance and interference. Alternating algorithm (AO) and particle swarm optimization (PSO) methods are utilized to solve the above optimization problem. Simulation results validate the performance gains of the proposed R-SACE mechanism in suppressing interference and enhancing average achievable capacity.
As the distribution network scale expands and intelligence levels improve, network edge devices are generating an ever-increasing amount of data and computing, causing significant stress on data storage, cloud computi...
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This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control...
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ISBN:
(纸本)9798350377712;9798350377705
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of unactuated dynamics to formulate a Linear Quadratic Regulator(LQR) and solving a Riccati gain while accounting for potential physical constraints through a second-order approximation of the log-barrier function. And then the user-tuned feedback gain for the floating base task is replaced by a new one constructed from the solved Riccati gain. Extensive simulations conducted in MuJoCo with a point bipedal robot, as well as real-world experiments performed on a quadruped robot, demonstrate the effectiveness of the proposed method. In the different bipedal locomotion tasks, compared with the user-tuned method, the proposed approach is at least 12% better and up to 50% better at linear velocity tracking, and at least 7% better and up to 47% better at angular velocity tracking. In the quadruped experiment, linear velocity tracking is improved by at least 3% and angular velocity tracking is improved by at least 23% using the proposed method.
This paper addresses the critical need for safer firefighting practices, highlighted by the increase in firefighter injuries and fatalities reported in the 2023 Fire Service Statistical Yearbook. With 239 injuries and...
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ISBN:
(纸本)9798331517939;9788993215380
This paper addresses the critical need for safer firefighting practices, highlighted by the increase in firefighter injuries and fatalities reported in the 2023 Fire Service Statistical Yearbook. With 239 injuries and three fatalities in 2022, the study underscores the urgency of integrating robotics into firefighting operations to enhance safety. Our focus is on rapidly generating accurate traversability maps. We employ advanced techniques, such as Inpaint and Smoothing Filters, to effectively process raw elevation data, ensuring continuous and reliable traversability calculations. Validation through LiDAR data from a Unitree Go1 robot in various environments demonstrates the effectiveness of our approach. Moreover, our Traversability Filter Model processes grid_map messages to produce probabilistic traversability values, offering improved granularity for training. Comparative results highlight the success of our method in enhancing traversability estimation, thereby optimizing robotic firefighting operations.
Unmanned aerial vehicles can improve shortterm weather forecasting by acquiring information from weather sensors and other sensors. With this information, there is the possibility of making relevant maps like solar ra...
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ISBN:
(纸本)9798350364309;9798350364293
Unmanned aerial vehicles can improve shortterm weather forecasting by acquiring information from weather sensors and other sensors. With this information, there is the possibility of making relevant maps like solar radiation, pollen, emissions, particles, and others. Another advantage of this acquisition system is the high rate of flights, compared to the classic measurements made with the weather balloon, which is launched twice a day. In addition to the advantages listed above, we discuss the multiplication factor of the acquired data, these systems being able to operate in various geographical locations.
The presence of pests in crops has a significant negative influence on both the quality and the quantity. As a result, taking steps to control and prevent bug infestations is more crucial than ever. Early detection of...
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As a critical component of the power system, the operational stability and efficiency of the converter station directly affect the safety and reliability of the entire power system. The existing converter station mana...
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In this paper, decentralized asynchronous output feedback controllers is proposed for Markov jump interconnected systems with general bounded transition rates. The designed asynchronous output feedback controllers are...
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ISBN:
(纸本)9798350363272;9798350363265
In this paper, decentralized asynchronous output feedback controllers is proposed for Markov jump interconnected systems with general bounded transition rates. The designed asynchronous output feedback controllers are independent of the system mode, which means that it has sustainable control behavior for the unavailable systems mode. In the controller design, the small-gain condition and the Shure compensation are used to deal with unknown interconnections and nonlinear problem. In addition, the existing conditions of the controller are obtained by using linear matrix inequalities. Finally, a simulation is given to verify the feasibility of the controller.
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