Using directional antennae in forming a wireless sensor network has many advantages over omnidirectional, including improved energy efficiency, reduced interference, increased security, and improved routing efficiency...
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In this study, a hybrid impedance and admittance control strategy is developed as a low-level, high-speed controller for legged robots that fuses two controllers within the range of several ticks of a control loop. Th...
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ISBN:
(纸本)9781665476331
In this study, a hybrid impedance and admittance control strategy is developed as a low-level, high-speed controller for legged robots that fuses two controllers within the range of several ticks of a control loop. This strategy enables the rigid-link legs not only to have accurate motion trajectories but also to adapt to the impacts caused by interactions with unknown environments. In addition, owing to the significantly different characteristics of the leg in compression and in tension, the study introduces a novel switching strategy that adjusts the hybrid level of the controller in the range of the leg stride. The proposed strategy was experimentally validated on a linkage-based leg wheel, and the results confirm the effectiveness of the strategy.
Using Xixiayuan Reservoir sediment as the main raw material and S105 slag powder as the admixture, the influence of different Na2SiO3 content and different alkali excitators co-excitation on the compressive strength o...
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Path tracking is a key problem in autonomous vehicles, but uncertainties in vehicle models and environmental parameters as well as the couple of lateral and longitudinal behaviors pose a major challenge to path follow...
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ISBN:
(数字)9798350348811
ISBN:
(纸本)9798350348828
Path tracking is a key problem in autonomous vehicles, but uncertainties in vehicle models and environmental parameters as well as the couple of lateral and longitudinal behaviors pose a major challenge to path following accuracy and efficiency. To solve this problem, a layered vehicle lateral and longitudinal controller based on model predictive control is proposed in this paper. Firstly, a lateral controller based on a synthesis of robust model predictive control is used to reduce the influence of model uncertainty. Then a longitudinal nonlinear model predictive controller is proposed to achieve the coordination between the lateral following error and the longitudinal forward speed of the vehicle. Finally, the bottom PID controller is used to control the throttle and brake of the vehicle. The effectiveness of the proposed method is verified by experiments, which show that it is robust to the uncertain parameters and the computation is relatively small.
Taiwan Highway System experiences successively investment of few decades in government. After the first national highway-Chung Shan, the Second national highway, twelve west to east freeway and western seaside freeway...
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ISBN:
(纸本)9783037857403
Taiwan Highway System experiences successively investment of few decades in government. After the first national highway-Chung Shan, the Second national highway, twelve west to east freeway and western seaside freeway go to operation, the road network is gradually complete. The road engineering changes the style from new construction to maintenance management. In recent years, because the government public construction budget reduce year by year, so road agencies should be emphasizing facilities management and enhancing construction performance that keeping highway transit's service quality with the constraints of budget limitations. World Bank carries on a series of project researches to the road in 1968 and develops the related evaluation module. In HDM-4, it provides the extensive module application and explicit method in the stages such as planning, programming, preparation and operation etc. It provides a reference that road agencies carry on related decision. HDM-4 provide user to adjusting with different region parameter such as weather, environment...etc. So this tool can be applicable to more widespread region. When the related pavement maintenance systems are not satisfactory, how to use the international identify tool help Taiwan's highway maintenance management. It is very interesting and workable research. We use HDM-4 to collect and analyze Guan-Xi region's Highway No.3 network data, traffic characteristic and cost related information. Through this knowledge, we can adjust the HDM-4's parameter to suit Taiwan's condition. Besides, we review technical literature and expert's experience to determine on maintenance alternates. We use adjusted mode with real highway budget to determine the threshold of routine and period maintenance. Considering maintenance cost, user cost and highway economy to decide suitable threshold. Finally, base on the best maintenance strategies to explain the relation between maintenance budget and performance. Base on this result
作者：
Acar, C.Shkel, A.M.Microsystems Laboratory
University of California Irvine Mechanical and Aerospace Engineering Dept. 2110 Engineering Gateway IrvineCA92697 United States
Efficient global damage identification methods have been reported in the literature based on detection of deviations in vibration characteristics, such as resonant frequencies, mode shapes and modal damping. In buildi...
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