Asynchronously switched sampled-data systems can help model power systems and vehicles that evolve in continuous-time with switching behavior and discrete time measurements. We address the problem of jointly estimatin...
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ISBN:
(数字)9781665467612
ISBN:
(纸本)9781665467629
Asynchronously switched sampled-data systems can help model power systems and vehicles that evolve in continuous-time with switching behavior and discrete time measurements. We address the problem of jointly estimating a switching signal, with uncertainty in the exact switching times, as well as the continuous states of the system. We prove stability of the standard Kalman Filter under uncertainty in the switching times, with statistical bounds relating to the sampling period. We then propose a method for estimation of switching times as well as a method for efficient joint estimation of the state and switching signal inspired by the interacting multiple-model extended-Viterbi algorithm. We validate our algorithms in simulation for a power converter and a maneuvering vehicle.
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge co...
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ISBN:
(数字)9798350357882
ISBN:
(纸本)9798350357899
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, ena...
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Orthogonal projections are widely used to determine optimal controllers, filters and approximations. This paper shows that despite their simple theoretical foundation and their regular use in practical applications, t...
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ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
Orthogonal projections are widely used to determine optimal controllers, filters and approximations. This paper shows that despite their simple theoretical foundation and their regular use in practical applications, the complexity for computing orthogonal projections might be very high. The paper proves that the causal projection on $L^{2}$ maps computable continuous functions onto not computable functions. Moreover, it is shown that the orthogonal projection associated with the polynomial approximation in $L^{2}$ shows complexity blowup in the sense that it maps polynomial-time computable continuous functions onto polynomials that are not polynomial-time computable. Finally, it is shown that the coefficients of the Wiener prediction filter for stationary stochastic processes might not be computable in polynomial time, even for smooth and polynomial-time computable spectral densities.
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge co...
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In this article, a compressive sensing-based reconstruction algorithm is applied to data acquired from a nodding multibeam Lidar system following a Lissajous-like trajectory. Multibeam Lidar systems provide 3D depth i...
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This study aims to investigate the potential of rooftop solar photovoltaic systems for commercial buildings. Helio-Scope software is utilized to perform simulations to determine the ideal rooftop area for photovoltaic...
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This study aims to investigate the potential of rooftop solar photovoltaic systems for commercial buildings. Helio-Scope software is utilized to perform simulations to determine the ideal rooftop area for photovoltaic panels. The efficiency of photovoltaic systems is impacted by the shading effects of photovoltaic modules installed in parallel rows. To enhance energy output, the optimal distance between rows is determined, and it is found that 5-feet inter-row spacing provides the best results. The simulation results indicate that with 5-feet inter-row spacing, photovoltaic system has an energy generation of 371.6 MWh, specific yield of 1508.0 kWh/kWp, performance ratio of 82.1%, solar access rate of 98.9%, total solar resource fraction of 96.3% and a total irradiance of 1655.9 kWh/m2. The annual nameplate energy is 425.1 MWh, output energy at irradiance levels is 423.1 MWh, optimal DC output is 378.5 MWh, inverter output is 373.5 MWh, and total energy delivered to the national power grid is 371.6 MWh. The average daily DC inverter input power is 158881.5110 W and the average daily AC inverter output power is 152231.6311 W, showing an inverter efficiency of approximately 95.93%. Moreover, detailed testing of the installed PV system is performed on-site to make sure that equipment’s performance guarantees are achieved, the system is properly installed and its configuration is suitable for commercial operations. The maximum daily output energy generation of an installed photovoltaic (PV) system is 1.33 MWh, and its average energy generation is 1.09 MWh. The voltage of all strings is within the rated range of the inverter, with a maximum voltage of 835 V and a minimum of 698 V, as tested by PV string open-circuit voltage. The inverter efficiency test is also performed, with a maximum efficiency of 98.83% and fill factors ranging from 81.37% to 82.34%. The payback period of a photovoltaic system is 4.22 years and LCOE is 0.0229$/kWh. PV system saved 215569.818 metric to
This paper studies fault-tolerant control of the spacecraft attitude control system with prescribed performance under the coexistence of actuator faults, disturbances and uncertainties. First, a flexible appointed-tim...
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ISBN:
(数字)9798350363173
ISBN:
(纸本)9798350363180
This paper studies fault-tolerant control of the spacecraft attitude control system with prescribed performance under the coexistence of actuator faults, disturbances and uncertainties. First, a flexible appointed-time prescribed performance function (FAPPF) is proposed, which can significantly improve prescribed performance control robustness to unknown initial errors and avoid repeated and cumbersome parameter adjustments. Secondly, an equivalent fusion error is designed based on FAPPF, and terminal sliding mode is introduced to design a fault-tolerant controller, so that the attitude and angular rate meet the prescribed performance constraints at the same time. Further, the improved gray wolf optimization algorithm (IGWO) is introduced for online tolerant allocation of actuator control, which satisfies saturation and fault constraints while reducing energy consumption. Finally, numerical simulation proves the controller’s superiority and robustness.
We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a concentric perimeter against N ≥ 2 in...
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