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A Distributed Layered Planning and control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive control Approach

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2025年第3期147卷 031006页

作者： Imran, Basit Muhammad Fawcett, Randall T. Kim, Jeeseop Leonessa, Alexander Hamed, Kaveh Akbari Virginia Tech Mech Engn Blacksburg VA 24061 USA CALTECH Mech & Civil Engn Pasadena CA 91125 USA

This paper aims to develop a distributed layered control framework for the navigation, planning, and control of multi-agent quadrupedal robots subject to environments with uncertain obstacles and various disturbances. At the highest layer of the proposed layered control, a reference path for all agents is calculated, considering artificial potential fields (APF) under a priori known obstacles. Second, in the middle layer, we employ a distributed nonlinear model predictive control (NMPC) scheme with a one-step delay communication protocol (OSDCP) subject to reduced-order and linear inverted pendulum (LIP) models of agents to ensure the feasibility of the gaits and collision avoidance, addressing the degree of uncertainty in real-time. Finally, low-level nonlinear whole-body controllers (WBCs) impose the full-order locomotion models of agents to track the optimal and reduced-order trajectories. The proposed controller is validated for effectiveness and robustness on up to four A1 quadrupedal robots in simulations and two robots in the experiments.1 Simulations and experimental validations demonstrate that the proposed approach can effectively address the real-time planning and control problem. In particular, multiple A1 robots are shown to navigate various environments, maintaining collision-free distances while being subject to unknown external disturbances such as pushes and rough terrain.

关键词： Uncertainty Robots Robustness control algorithms Collisions (Physics) control equipment Predictive control Simulation

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Investigation on active vibration control to improve surface quality in precision milling process

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE 2024年第11期238卷 1593-1609页

作者： Guo, Miaoxian Xia, Wanliang Liu, Jin Guo, Weicheng Wu, Chongjun Univ Shanghai Sci & Technol Sch Mech Engn 516 Jungong Rd Shanghai 200093 Peoples R China Donghua Univ Sch Mech Engn Shanghai Peoples R China

The tool-workpiece vibration in the precision milling process plays a pivotal role in influencing the surface quality. To solve the machining problem coming with the process vibration, the active vibration control model as well as the corresponding platform are developed, and the active vibration control algorithms are applied to reduce the relative vibrations and improve the surface quality. Firstly, the milling vibration reduction and surface quality improvement are modeled based on the active control algorithms and the system dynamic characteristics. Then, applying the different algorithm control strategies, such as PID, Fuzzy PID, BP neural network, and BP neural network PID control, the control effect is simulated and analyzed. Finally, an experimental platform is established to validate the system's reliability. The efficiency of various active control methods is compared in terms of frequency vibration control and surface finish roughness improvement. The results indicate that under different milling parameters, the four algorithm control strategies exhibit optimal effects of 13.5%, 30.4%, 28.8%, and 40.1% respectively. These findings provide valuable insights into selecting the optimal vibration control method for precision milling.

关键词： Surface quality precision milling dynamic modeling active vibration control control algorithms

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High-speed catamaran response with ride control system in regular waves by Forcing Function Method in CFD

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OCEAN ENGINEERING 2024年 297卷

作者： Lau, Chun -Yu Ali-Lavroff, Jason Dashtimanesh, Abbas Holloway, Damien S. Mehr, Javad A. Univ Tasmania Sch Engn Private Bag 65 Hobart Tas 7001 Australia KTH Royal Inst Technol Sch Engn Sci Engn Mech Dept SE-10044 Stockholm Sweden Univ Tasmania Australian Maritime Coll Ctr Maritime Engn & Hydrodynam Locked Bag 1395 Hobart Tas 7250 Australia

An innovative Computational Fluid Dynamics (CFD) approach, defined as the Forcing Function Method (FFM), is used to simulate Ride control Systems (RCS) on an Incat Tasmania Wave-Piercing Catamaran vessel in analysis conducted at model scale. This study examines the FFM's capabilities in head sea regular waves using CFD, and considers three ride control scenarios: Bare Hull (BH), Pitch control (PC), and Non-Linear Pitch control (NL PC). CFD-predicted vessel motion is compared to experimental data from a 2.5 m Incat Tasmania Wave-Piercing Catamaran model at 2.89 m/s (Fr similar to 0.6), showing good agreement. Modification in FFM to account for emergence of control surfaces from the water, and time series of lift forces produced by FFM are also discussed. The frequency domain analysis using heave and pitch Response Amplitude Operators (RAOs) showed a good of agreement in motion reduction trends between CFD and experiments, providing a high level of confidence in the FFM predictions. Dimensionless vertical accelerations are calculated along the length of hull using the various control algorithms, showing a considerable reduction in acceleration, especially at the bow. These outcomes demonstrate the novel CFD approach, FFM, that can be used by ship designers for predicting high-speed vessel motion reductions from deployment of RCS, and thereby improving passenger comfort.

关键词： Wave-piercing catamaran Ride-control systems control algorithms CFD Forcing Function Method Regular waves High-speed vessel motions Passenger comfort Hydrofoil

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Mathematical model based on nonlinear differential equations and its control algorithm

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NONLINEAR ENGINEERING - MODELING AND APPLICATION 2024年第1期13卷

作者： Yuan, Xiaohua Ordos Vocat Coll Basic Sci Dept Ordos 017010 Peoples R China

A practical examination of the traditional robotic arm (RA) in operation revealed a significant limitation in its ability to control the position of motion. This underscores the urgent need to enhance the current RA's position control capabilities. Therefore, this study proposes the use of nonlinear differential equations (NDEs) to establish a mathematical model and the design of NDE-based RA motion control algorithms in conjunction with a central pattern generator neural network. A comparison of the control effects showed that the proposed method was highly fitted to the target trajectory. The joint node (JN) motion tracking trajectories of the three RAs were similar, up to 90-85% to the target trajectories of the JNs. In addition, the control of the motion position was similar up to 95-98% to the target motion position trajectories. The motion control algorithm based on NDEs was effective in improving the average execution time of the Pareto optimal frontier of the RA by 58.29%. The joint velocity and angle changes of the three types of RAs under the NDE control algorithm exhibited a high degree of similarity to the fluctuations observed in the expected and predicted curves. These observations contribute to an understanding of the effectiveness of the system observer in observing the joint angle changes. This indicates that the motion control based on NDEs can effectively enhance the tracking effectiveness of the JN positions of the RA, improve the control ability of the RA motion, and increase the joint stability of the RA.

关键词： NDE control algorithms RAs

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Learning the Optimal control for Evolving Systems with Converging Dynamics

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PROCEEDINGS OF THE ACM ON MEASUREMENT AND ANALYSIS OF COMPUTING SYSTEMS 2024年第2期8卷 1-39页

作者： Liu, Qingsong Fang, Zhixuan Tsinghua Univ Beijing Peoples R China Shanghai Qi Zhi Inst Shanghai Peoples R China

We consider a principle or controller that can pick actions from a fixed action set to control an evolving system with converging dynamics. The actions are interpreted as different configurations or policies. We consider systems with converging dynamics, i.e., if the principle holds the same action, the system will asymptotically converge (possibly requiring a significant amount of time) to a unique stable state determined by this action. This phenomenon can be observed in diverse domains such as epidemic control, computing systems, and markets. In our model, the dynamics of the system are unknown to the principle, and the principle can only receive bandit feedback (maybe noisy) on the impacts of his actions. The principle aims to learn which stable state yields the highest reward while adhering to specific constraints (i.e., optimal stable state) and to immerse the system into this state as quickly as possible. A unique challenge in our model is that the principle has no prior knowledge about the stable state of each action, but waits for the system to converge to the suboptimal stable states costs valuable time. We measure the principle's performance in terms of regret and constraint violation. In cases where the action set is finite, we propose a novel algorithm, termed Optimistic-Pessimistic Convergence and Confidence Bounds (OP-C2B), that knows to switch an action quickly if it is not worth waiting until the stable state is reached. This is enabled by employing "convergence bounds" to determine how far the system is from the stable states, and choosing actions through maintaining a pessimistic assessment of the set of feasible actions while acting optimistically within this set. We establish that OP-C2B can ensure sublinear regret and constraint violation simultaneously. Particularly, OP-C2B achieves logarithmic regret and constraint violation when the system convergence rate is linear or superlinear. Furthermore, we generalize our algorithm OP-C2B to the case

关键词： Evolving systems control algorithms Online learning

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Electromyography-Based control of Lower Limb Prostheses: A Systematic Review

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS

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IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS 2023年第3期5卷 547-562页

作者： Ahkami, Bahareh Ahmed, Kirstin Thesleff, Alexander Hargrove, Levi Ortiz-Catalan, Max Ctr Bion & Pain Res S-43130 Molndal Sweden Chalmers Univ Technol Dept Elect Engn S-41296 Gothenburg Sweden Integrum AB S-43153 Molndal Sweden Northwestern Univ Dept Phys Med & Rehabil Chicago IL 60611 USA Regenstein Fdn Ctr Bion Med Shirley Ryan AbilityLab Chicago IL 60611 USA Sahlgrens Univ Hosp Operat Area 3 S-41345 Gothenburg Sweden Bion Inst Melbourne VIC 3002 Australia

Most amputations occur in lower limbs and despite improvements in prosthetic technology, no commercially available prosthetic leg uses electromyography (EMG) information as an input for control. Efforts to integrate EMG signals as part of the control strategy have increased in the last decade. In this systematic review, we summarize the research in the field of lower limb prosthetic control using EMG. Four different online databases were searched until June 2022: Web of Science, Scopus, PubMed, and Science Direct. We included articles that reported systems for controlling a prosthetic leg (with an ankle and/or knee actuator) by decoding gait intent using EMG signals alone or in combination with other sensors. A total of 1,331 papers were initially assessed and 121 were finally included in this systematic review. The literature showed that despite the burgeoning interest in research, controlling a leg prosthesis using EMG signals remains challenging. Specifically, regarding EMG signal quality and stability, electrode placement, prosthetic hardware, and control algorithms, all of which need to be more robust for everyday use. In the studies that were investigated, large variations were found between the control methodologies, type of research participant, recording protocols, assessments, and prosthetic hardware.

关键词： Electromyography (EMG) pattern recognition lower limb amputation control architecture control algorithms movement intention recognition

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Survey of Advances in control algorithms of Quadrotor Unmanned Aerial Vehicle

Survey of Advances in Control Algorithms of Quadrotor Unmann...

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2015 IEEE 16th International Conference on Communication Technology(ICCT 2015)

作者： Lebao Li Lingling Sun Jie Jin College of Electrical Engineering Zhejiang University Key Laboratory of RF Circuits and Systems Hangzhou Dianzi University School of Electronic Engineering Dublin City University

First, the basic structure and principle of quadrotor UAV and its practical applications are introduced. Then, some control algorithms are also presented, such as, PID, LQR/LQG, H, sliding mode,feedback linearization, back stepping, model predictive,robust, adaptive, nested saturation, fuzzy logic, neural network, reinforcement learning, iterative learning,memory and brain emotional learning-based intelligent controllers, and the merits and drawbacks of them are analyzed. At last, we predict the main research direction on the future researches of quadrotor UAV.

关键词： Quadrotor unmanned aerial vehicle(UAV) control algorithms Linear and nonlinear Learning

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OPTIMISED PILOT BURNER WITH INTELLIGENT control TO ACHIEVE SUB 9 PPM EMISSIONS FOR SIEMENS ENERGY SGT-300-1S 7.9 MWe ENGINE 69

OPTIMISED PILOT BURNER WITH INTELLIGENT CONTROL TO ACHIEVE S...

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69th ASME Turbomachinery Technical Conference and Exposition (ASME Turbo Expo) (GT)

作者： Liu, Kexin Sadasivuni, Suresh Siemens Energy Ind Turbomachinery Ltd POB 1Waterside South Lincoln LN5 7FD England

ISBN: (纸本)9780791887943

In support of reduction in emissions, Siemens Energy Industrial Turbomachinery Ltd (SEITL) developed the optimised pilot burner for its SGT-300 engine to produce ultra-low emissions for a wider range of engine load. The optimised pilot burner has been developed based on the standard pilot burner, with the size of the pilot gaseous fuel injection holes optimised, resulting in a significant reduction in its effective area. To validate the design change, a single-shaft SGT-300 engine (SGT-300-1S) configured with the optimised pilot burners and the rest of the combustion hardware as standard was tested at various operating conditions including natural turndown as well as with turndown control temperature at part load by Variable Guide Vane (VGV) modulation. An intelligent control algorithm for combustion was used, and its settings for the optimised pilot burners were refined by pilot split mapping during engine testing. The same engine configured with standard pilot burners was also tested to provide reference data. Extensive instrumentation and measurement equipment were used in the engine test to measure NOx, CO, and Unburnt Hydrocarbon (UHC) emissions and combustion system performance, such as fuel supply pressures and temperatures, combustion hardware metal temperatures, and combustor and casing dynamic pressure. Engine test results show that the optimised pilot burner, when operated with the refined intelligent control method for combustion system, can achieve a wide load range of sub 9 ppmvd emissions for the SGT-300-1S engine.

关键词： Engines Pressure Stress Combustion chambers Fuels Combustion Metals Temperature control algorithms Guide vanes Emissions Hardware Nitrogen oxides Testing Combustion systems Turbomachinery Design Instrumentation

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algorithms for Cost Oriented Cyber Physical System (COCPS) for intelligent control of animal husbandry farms

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IFAC-PapersOnLine 2022年第11期55卷 31-36页

作者： Stefan Chivarov Kristian Dimitrov Nayden Chivarov

One of the important aspects of modern animal husbandry farms operations is to provide optimal and healthy environment for the animals and to increase productivity by precise indoors environment control, achieving lower energy consumption of the buildings and optimal amounts of food intake of the animals. This complex task can be achieved by the proposed Cost Oriented Cyber Physical System (COCPS) for intelligent control of animal husbandry farms. By implementing the described control algorithms, the COCPS by monitoring a wide range of indoor environment parameters can control a large variety of subsystems, in order to create beneficial and healthy environment for the animals and increase their productivity.

关键词： cyber physical system cps control algorithms farm automation agricultural buildings smart farming indoor climate control

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control Algorithm for IoT-Enabled Dual-Axis Solar Tracking System 13

Control Algorithm for IoT-Enabled Dual-Axis Solar Tracking S...

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13th International Conference on Renewable Energy Research and Applications

作者： Smith, Sebastian Waldron, Noah Karthik, Victor Spring Arbor Univ Sch Engn Spring Arbor MI 49283 USA

ISBN: (纸本)9798350375596;9798350375589

Solar energy, valued for being abundant, affordable, and clean, is becoming a major focus of research aimed at improving the methods used to harness it. One effective approach is using solar tracking systems, which adjust the orientation of solar panels to maintain optimal alignment with the sun, thereby increasing energy capture. Specifically, dual-axis solar tracking systems can boost energy yield by 30-40% compared to stationary panels because they can continuously adjust to the sun's position. Although traditional solar tracking methods have significantly improved energy yield compared to static panel installations, recent Internet of Things (IoT) technology has ushered in a new era of intelligent solar tracking systems, offering enhanced functionality and efficiency beyond conventional sun-sensing mechanisms. Previous work by the team discussed an IoT-based dual-axis solar tracking system and demonstrated its efficacy, showing that it performs comparably to traditional sensor-based systems. The system employs cost-effective, compact computers like the Raspberry Pi Zero 2 W to access real-time internet data for precise Sun tracking. An electric linear actuator system controls the solar panels, ensuring efficient alignment. The IoT-based solar tracking system features a sophisticated control algorithm that optimizes solar power generation. Our previous work discussed the comparison with sensor-based system. This paper delves deeper into the development of the control algorithm used for the IoT-based tracking system.

关键词： solar energy solar tracking system renewable energy IoT dual-axis system linear actuators control algorithms

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