检索结果-内蒙古大学图书馆

PID-fuzzy switching-based strategy to heading control for remote operated vehicle

Neural Computing and Applications 2024年 1-17页

作者： Xie, Baolong He, Shuping Cao, Xiang Wang, Honghai Stojanovic, Vladimir Shi, Kaibo School of Electrical Engineering and Automation Anhui University Hefei230039 China School of Artificial Intelligence Anhui University Hefei230039 China School of Computing and Artificial Intelligence Chaohu University Chaohu238024 China Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

Accurate heading control is the premise for underwater vehicles to complete underwater operations. In order to improve the performance of heading control, this paper proposes a heading control strategy based on PID-fuzzy switching. First, the force analysis of the steering motion was carried out to derive the dynamics model of the steering motion. Then, the whole heading control process is divided into two phases, steering phase and holding phase. Fuzzy control is used in the steering phase, and PID control is used in the holding phase. By setting the automatic switching switch, the control system can switch freely between the two to meet the needs of system adjustment under different errors. Finally, the performance of the established heading control system is verified through motion control simulations and pool experiments, and the proposed control strategy is compared with other methods. The results show that the control strategy can effectively achieve ROV heading control with good steady-state accuracy, and the overall performance has been greatly improved. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

Speed Profile Optimization for Autonomous Electric Bus in Urban Area: Based on Service Route Parameter in Thailand

Speed Profile Optimization for Autonomous Electric Bus in Ur...

引用

2023 International Conference on Power, Energy and Innovations, ICPEI 2023

作者： Sakulphaisan, Guntinan Son-In, Sirirat Junhuathon, Nitikorn Muankhaw, Theerapol Pathumwan Institute of Technology Faculty of Science and Technology Industrial Technology and Innovation Management Bangkok Thailand Bansomdejchaopraya Rajabhat University Faculty of Engineering and Industrial Technology Electrical Engineering and Automation Control Systems Bangkok Thailand Rajamangala University of Technology Faculty of Engineering Department of Electrical Engineering Thanyaburi Pathumthani Thailand

ISBN: (纸本)9798350344585

This study conducts a comprehensive analysis of optimizing the speed profile of an AE-bus, a critical step in enhancing its operational efficiency. It encompasses three distinct case studies, each targeting specific objectives. The first case emphasizes energy consumption reduction, contributing to overall resource efficiency. The second focuses on eco-conscious speed profiles within predefined travel durations, balancing environmental sustainability and timeliness. The third case prioritizes travel time minimization for streamlined efficiency. Detailed insights into speed adjustments, bus positions, and energy consumption patterns are provided for each case. The findings reveal tailored approaches for energy conservation, speed, and travel time optimization. Additionally, emissions analysis demonstrates that electric buses significantly reduce CO2 emissions compared to conventional NGV buses, showcasing their potential for environmental benefits. © 2023 IEEE.

关键词： Electric buses

来源：评论

学校读者我要写书评

暂无评论

Optimized GA-Based PID control Design for Stick-Slip Suppression in Drill String of Rotary Drilling System

Optimized GA-Based PID Control Design for Stick-Slip Suppres...

引用

International Conference on Artificial Intelligence in Renewable Energetic Systems, IC-AIRES 2024

作者： Mawloud, Tellaa Abderrezak, Aibeche Zinelabidine, Doghmane Mohamed Madjid, Kidouche Automation and Electrification of Process Applied Automation Laboratory Faculty of Hydrocarbons Chemistry University M’Hamed Bougara Boumerdes35000 Algeria Institute of Electrical and Electronics Engineering University M’hamed Bougara Boumerdes Algeria Bob L. Herd Department of Petroleum Engineering Texas Tech University LubbockTX79401 United States

ISBN: (纸本)9783031803000

Stick-slip phenomena in the oil and gas drilling sector cause drillstring vibrations that provide major issues. These vibrations result in reduced drilling efficiency, equipment malfunctions, and possible dangers. This work introduces a thorough method for modeling and regulating stick-slip behavior. It utilizes a mechanical model with three degrees of freedom (3-DOF) that incorporates the influence of dry friction. The model combines both axial and torsional degrees of freedom to precisely reflect the intricate dynamics of the drillstring. Additionally, a control technique is suggested to alleviate stick-slip vibrations. This strategy involves using a hybrid Proportional-Integral-Derivative (PID) controller that has been tuned using Genetic Algorithms (GA). The PID-GA controller is specifically engineered to manage the rotating speed, mitigate stick-slip oscillations, and improve drilling stability. The efficacy of the suggested 3-DOF model and PID-GA control method in reducing stick-slip vibrations during drilling is proven by numerical simulations conducted under different drilling situations. The findings demonstrate notable advancements in drilling performance, such as decreased vibrations caused by friction, improved efficiency in drilling, and extended lifespan of the drillstring. This research significantly helps to the progress of drilling operations by offering a strong framework for modeling and managing stick-slip behavior. As a result, it improves drilling performance and guarantees operational safety in the oil and gas industry. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Gas industry

来源：评论

学校读者我要写书评

暂无评论

Substation Personnel Smoking Detection Based On GhostNetV2-YOLOv5 6

Substation Personnel Smoking Detection Based On GhostNetV2-Y...

引用

6th International Symposium on Autonomous Systems, ISAS 2023

作者： Peng, Jishen Wang, Chang Li, Yang Chen, Hongtian Liaoning Technical University Faculty of Electrical and Control Engineering Huludao China Shanghai University School of Mechatronic Engineering and Automation Shanghai China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai China

ISBN: (纸本)9798350316155

In substations, violations such as smoking may lead to equipment damage and even threaten the safety of personnel. In this paper, a GhostNetV2-YOLOv5 based algorithm for detecting smoking by substation personnel is proposed. The algorithm uses GhostNetV2 as the backbone network to improve the accuracy of the model while achieving real-time detection of smoking behavior. The experimental results show that the method can improve the detection speed of the model without reducing the detection accuracy, and compared with the original YOLOv5 algorithm, the total mAP is improved by 2.58% and the prediction speed is improved by 1.61 times, which is superior to other smoking detection networks and has practical application value. © 2023 IEEE.

关键词： Personnel

来源：评论

学校读者我要写书评

暂无评论

Optimal control Design for Stick-Slip Vibrations Mitigation in Rotary Drilling Systems

Optimal Control Design for Stick-Slip Vibrations Mitigation ...

引用

International Conference on Artificial Intelligence in Renewable Energetic Systems, IC-AIRES 2024

作者： Tellaa, Mawloud Aibeche, Abderrezak Doghmane, Mohamed Zinelabidine Kidouche, Madjid Automation and Electrification of Process Applied Automation Laboratory Faculty of Hydrocarbons and Chemistry University M’Hamed Bougara Boumerdes35000 Algeria Institute of Electrical and Electronics Engineering University M’hamed Bougara Boumerdes Algeria Bob L. Herd Department of Petroleum Engineering Texas Tech University LubbockTX79401 United States

ISBN: (纸本)9783031803000

Various forms of vibrations can have a negative impact on the drilling process in rotary drilling equipment. The presence of vibrations can result in equipment damage, reduced borehole quality, decreased drilling efficiency, and increased non-productive time. Currently, the sole existing method to control these vibrations is by manually modifying drilling parameters, which is not a reliable technique and might lead to unfavourable economic consequences. Scientists have devised automated control systems to address these irregularities;however the effectiveness of the controllers is still being refined. Lately, the utilization of a PID controller based on particle swarm optimization has demonstrated noteworthy achievements. Nevertheless, the stick-slip vibration mitigation in rotary drilling equipment has not been subjected to testing. This research seeks to investigate and suggest the utilization of a PID controller, fine-tuned using the particle swarm optimization technique, to enhance the effectiveness of controllers developed for the purpose of reducing vibrations in rotary drilling systems. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Stick-slip

来源：评论

学校读者我要写书评

暂无评论

Category-Level and Open-Set Object Pose Estimation for Robotics

arXiv

引用

arXiv 2025年

作者： Hönig, Peter Hirschmanner, Matthias Vincze, Markus Automation and Control Institute Faculty of Electrical Engineering TU Wien Vienna1040 Austria

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object. While instance-level methods already excel for opaque and Lambertian objects, category-level and open-set methods, where texture, shape, and size are partially or entirely unknown, still struggle with these basic material properties. Since texture is unknown in these scenarios, it cannot be used for disambiguating object symmetries, another core challenge of 6D object pose estimation. The complexity of estimating 6D poses with such a manifold of unknowns led to various datasets, accuracy metrics, and algorithmic solutions. This paper compares datasets, accuracy metrics, and algorithms for solving 6D pose estimation on the category-level. Based on this comparison, we analyze how to bridge category-level and open-set object pose estimation to reach generalization and provide actionable recommendations. Copyright © 2025, The Authors. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Informer-LSTM-EWMA for Panax Notoginseng with Prediction of Early Intervention Time 13

Informer-LSTM-EWMA for Panax Notoginseng with Prediction of ...

引用

13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Ye, Jiahui Yang, Chunxi Zhang, Xiufeng Zhang, Jin Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Kunming650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment China Kunming University of Science and Technology Faculty of Information Engineering and Automation Kunming650504 China

ISBN: (纸本)9798350361674

Panax notoginseng is one of economic crop with significant medicinal value in southwest China. However, traditional extensive fertilization and irrigation method usually damages the soil, making it difficult to achieve sustainable cultivation of Panax notoginseng. In order to assess the growth status of Panax notoginseng and take timely action, this paper proposed an Informer-LSTM-EWMA model to predict the growth trend of Panax notoginseng in cultivation fields. In the experimental greenhouse, we set up two experimental fields A and B to verify the feasibility of the proposed method. Firstly, wavelet denoising is utilized on the date collected by the sensor. Then, Informer and Long short-term Memory (LSTM) are used to train the denoised data to obtain data prediction. Further process the predicted data through Exponential Weighted Moving Average (EWMA) for trend prediction. Finally, the early intervention time is obtained by searching for the maximum value. The results indicate that the model can predict early intervention time and its predictive performance is far better than that of a single model. © 2024 IEEE.

关键词： Prediction models

来源：评论

学校读者我要写书评

暂无评论

Robust Dynamic Positioning of Marine Surface Vessels Under Denial of Service Attacks 4

Robust Dynamic Positioning of Marine Surface Vessels Under D...

引用

4th International Conference on Data-Driven Optimization of Complex Systems, DOCS 2022

作者： Ding, Wei Zhang, Jin-Xi Changshu Institute of Technology Faculty of Electrical Engineering and Automation Changshu China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang China

ISBN: (数字)9781665459822

ISBN: (纸本)9781665459822

This paper is concerned with the dynamic positioning problem for a class of marine surface vessels (MSVs) with model uncertainties and environmental disturbances, possibly subject to denial of service (DoS) attacks. To solve this problem, a novel robust control approach is proposed, consisting of a constrained controller and an integration compensator. The former is used to confine the internal errors within the predefined sets, against the model uncertainties and disturbances. The latter works during the DoS attacks to reconstruct the position information. In this way, the satisfactory dynamic positioning performance of the MSVs is guaranteed. Moreover, the control simplicity is preserved, i.e., there is no need to employ specific tools to approximate the model uncertainties, to estimate the disturbances, or to observe the system state. The simulation results on Cybership II illustrate the effectiveness of the proposed control approach. © 2022 IEEE.

关键词： Robust control

来源：评论

学校读者我要写书评

暂无评论

Prescribed Performance Filtering for Generation of Smooth Reference Trajectory 4

Prescribed Performance Filtering for Generation of Smooth Re...

引用

4th International Conference on Industrial Artificial Intelligence, IAI 2022

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

This paper is concerned with the problem of generating smooth reference trajectories by filtering, for backstepping control designs for nonlinear systems. To solve this problem, a prescribed performance filtering approach is proposed. Our filter is driven by an input signal which is generated recursively. In each design step, a barrier function is employed to confine the filtering error within the predefined bound. In this way, the filtered reference is not only smooth but also approximate the original reference with any high accuracy. The simulation results on the tracking control of a Van der Pol system illustrate the effectiveness and superiority of our approach. © 2022 IEEE.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

USDE-Based Task-Space Bilateral Teleoperator control Design with Time Delay 16th

USDE-Based Task-Space Bilateral Teleoperator Control Design ...

引用

16th International Conference on Modelling, Identification and control, ICMIC 2024

作者： Luo, Xin Ma, Jun Wang, Xian Na, Jing Xing, Yashan Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Kunming650500 China

ISBN: (纸本)9789819617760

In this paper, we present a control strategy for bilateral teleoperators operated in the task space, which is designed to estimate the uncertain dynamics. To implement this proposed strategy, we develop a straightforward yet robust unknown system dynamics estimator (USDE) by incorporating a low-pass filtering operation. By using the USDE, we can eliminate the impact of unmodeled system dynamics without the need to measure the acceleration signal. Furthermore, the proposed USDE offers the advantages of requiring only one tuning parameter and being easily adjustable compared to conventional estimators. The convergence of the estimation error associated with the unmodeled system dynamics and the stability of the closed-loop control system are both rigorously demonstrated through Lyapunov’s theorem. Ultimately, the superior performance of our method, as evidenced by enhancing motion synchronization and stability, is confirmed through simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Time delay

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：