Path tracking control is the key to ensure that the laserguided automated guided vehicles (LGAGVs) can deliver the goods to the designated place quickly and safely. However, it is very difficult to build accurate AVG...
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ISBN:
(数字)9781728160672
ISBN:
(纸本)9781728160689
Path tracking control is the key to ensure that the laserguided automated guided vehicles (LGAGVs) can deliver the goods to the designated place quickly and safely. However, it is very difficult to build accurate AVG dynamic model because of the variety of LGAGV dynamic types. In addition, a lot of manual test work is needed in traditional path tracking control, which makes the design of LGAGV path tracking challengeable. In this paper, the deep reinforcement learning (RL) is used to realize the design of LGAGV path tracking controller. Firstly, according to its characteristics, LGAGV path tracking problem is described as a Markov decision process (MDP) with continuous state and continuous action under the unknown transition probability. Then, a reliable control policy was learnt by LGAGV through the Proximal Policy Optimization (PPO) without any additionally exploring the possibilities. The simulation results show that the distance error and the stability of the control motor are better than the traditional model free algorithmic control when the angle error is fitting.
In laser-guided bomb attacking process,the target indication from the laser target designator is the premise for the bomb to hit the target *** the lack of quantitative study of the irradiation area of the laser targe...
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In laser-guided bomb attacking process,the target indication from the laser target designator is the premise for the bomb to hit the target *** the lack of quantitative study of the irradiation area of the laser target designator,this paper,based on the existing aircraft motion model and the laser transmission model,uses two aircraft as respectively the carrier of the laser-guided bomb and the carrier of the laser designator and proposes a method to calculate the global irradiation area of the airborne laser *** using the proposed algorithm,the global irradiation area when attacking a large flat target or a large spherical target is simulated ***,according to the simulation results,the influences of different factors on the shapes of the irradiation area are discussed in detail.
On-line automatic inspection system for measuring the tire geometry is proposed with the dedicated machine vision design. A sequence of the tire images are acquired while a tire object passes through the inspection sy...
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ISBN:
(纸本)9781479970988
On-line automatic inspection system for measuring the tire geometry is proposed with the dedicated machine vision design. A sequence of the tire images are acquired while a tire object passes through the inspection system. The tire geometry, including the cutting edge, angle and width, represents the quality of the sequential tire objects that are connected together to make the inner tire belt. A sequential line matching algorithm is developed to measure the tire geometry automatically. With the input of the standard tire model geometry, Line Detection with a Priori (LDP) is conducted to locate the candidate lines of interest in a high speed. laser light is cast to the tire surface from a small incident angle, which robustly refine the location of the tire edge in a image. Lines of the sequential images of a tire object are matched based on their orientation and distance in the Hough space. Lots of experiments in the Aeolus Tyre manufacturing Co. Ltd, China show that, the proposed system can inspect the tire geometry consistently with the human measurement and at the same time reduce the time of measuring to 20ms. It is promising for the industrial applications of high-speed measurement of accurate geometry with low cost constraints.
The existing problem of current laser pulse receiving system is that the laser pulse's width is too narrow to be directly collected. And the consistency of the four signals acquisition is very strict. To deal with...
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ISBN:
(纸本)9783037859926
The existing problem of current laser pulse receiving system is that the laser pulse's width is too narrow to be directly collected. And the consistency of the four signals acquisition is very strict. To deal with these problems, a new design of laser pulse receiver will be introduced in this article. This laser pulse receiving system includes the following structures: new high-speed laser pulse receiving hardware based on CPLD and Four-Quadrant Detectors, new peak-hold circuit of laser pulse, high-speed parallel ADC system, and processing data with fast interpolation algorithm in a Floating-Point DSP. Through the new design of high-speed parallel ADC system, the receiving system is able to simultaneously complete the timing of four high-speed laser pulse signals acquisition and the storing of data. The new construction of high-speed parallel acquisition is a core module in this design. And a new flow how to the DSP handle the data with fast interpolation algorithm will also be introduced in this article.
In this paper we propose a new grid based approach to model a dynamic environment. Each grid cell is assumed to be an independent Markov chain (iMac) with two states. The state transition parameters are learned online...
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ISBN:
(纸本)9781467317375
In this paper we propose a new grid based approach to model a dynamic environment. Each grid cell is assumed to be an independent Markov chain (iMac) with two states. The state transition parameters are learned online and modeled as two Poisson processes. As a result, our representation not only encodes the expected occupancy of the cell, but also models the expected dynamics within the cell. The paper also presents a strategy based on recency weighting to learn the model parameters from observations that is able to deal with non-stationary cell dynamics. Moreover, an interpretation of the model parameters with discussion about the convergence rates of the cells is presented. The proposed model is experimentally validated using offline data recorded with a laserguided Vehicle (LGV) system running in production use.
Over the last 6 years Applied Energetics has built on work initiated at it's HV predecessor North Star Research in applying IGBT H-bridges and MOSFET H-bridges to a variety of pulsed power problems. These include ...
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Over the last 6 years Applied Energetics has built on work initiated at it's HV predecessor North Star Research in applying IGBT H-bridges and MOSFET H-bridges to a variety of pulsed power problems. These include Tesla coils for laserguided Energy (LGE) experiments, Klystron modulators, quasi-DC power supplies with high peak power requirements, power systems for DC accelerators, and atmospheric plasma heating circuits. The advantages of the H-bridge are well known - particularly their efficient transformation of DC to AC voltage. We outline some of the novel improvements and applications of this technology in this paper.
Digital simulation, hardware in the loop (HWIL) simulation and experiments of target practice were recognized as being powerful tools in checking the performances of laser homing guided weapons (LHGWs
Digital simulation, hardware in the loop (HWIL) simulation and experiments of target practice were recognized as being powerful tools in checking the performances of laser homing guided weapons (LHGWs
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