检索结果-内蒙古大学图书馆

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Andrea Berra Viswa Narayanan Sankaranarayanan Achilleas Santi Seisa Julien Mellet Udayanga G.W.K.N. Gamage Sumeet Gajanan Satpute Fabio Ruggiero Vincenzo Lippiello Silvia Tolu Matteo Fumagalli George Nikolakopoulos Miguel Ángel Trujillo Soto Guillermo Heredia CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Electrical and Space Engineering Robotics and AI Team Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

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.

关键词： Visualization Pose estimation Neural networks Lighting Object detection Autonomous aerial vehicles Aircraft navigation

来源：评论

学校读者我要写书评

暂无评论

Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

arXiv

引用

arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

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, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

arXiv

引用

arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

Compressive Sensing-Based Reconstruction of Lissajous-Like Nodding Lidar Data

引用

ASME Letters in Dynamic Systems and control 2021年第1期1卷 011009页

作者： Benson, Michael T. Sathishchandra, Harish Clayton, Garrett M. Andersson, Sean B. Department of Mechanical Engineering Villanova University VillanovaPA19085 United States Department of Electrical and Computer Engineering Boston University BostonMA02215 United States Center for Nonlinear Dynamics and Control Department of Mechanical Engineering Villanova University VillanovaPA United States Department of Mechanical Engineering Division of Systems Engineering Boston University BostonMA United States

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 information of the environment, but the vertical resolution of these devices may be insufficient in many applications. To mitigate this issue, the Lidar can be nodded to obtain higher vertical resolution at the cost of increased scan time. Using Lissajous-like nodding trajectories allows for the trade-off between scan time and horizontal and vertical resolutions through the choice of scan parameters. These patterns also naturally subsample the imaged area. In this article, a compressive sensing-based reconstruction algorithm is applied to the data collected during a relatively fast and therefore low-resolution Lissajous-like scan. Experiments and simulations show the feasibility of this method and compare the reconstructions to those made using simple nearest-neighbor interpolation. © 2021 ASME Letters in Dynamic Systems and control. All rights reserved.

关键词： Compressed sensing

来源：评论

学校读者我要写书评

暂无评论

Design, techno-economic evaluation, and experimental testing of grid connected rooftop solar photovoltaic systems for commercial buildings

引用

Frontiers in Energy Research 2024年 12卷

作者： Habib, Salman Tamoor, Muhammad Gulzar, Muhammad Majid Chauhdary, Sohaib Tahir Ahmad, Hasnain Alqahtani, Mohammed Khalid, Muhammad Control and Instrumentation Engineering Department King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Smart Mobility and Logistics King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Electrical Engineering and Technology Government College University Faisalabad Faisalabad Pakistan King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Electrical and Computer Engineering College of Engineering Dhofar University Salalah Oman Department of Electrical Engineering Pakistan Institute of Engineering and Applied Sciences PIEAS Islamabad Pakistan Department of Industrial Engineering and Center for Engineering and Technology Innovations King Khalid University Abha Saudi Arabia Dhahran Saudi Arabia

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

关键词： Solar power generation

来源：评论

学校读者我要写书评

暂无评论

Spacecraft Attitude Fault-tolerant Maneuver control with Flexible Prescribed Performance

Spacecraft Attitude Fault-tolerant Maneuver Control with Fle...

引用

International Symposium on Autonomous Systems (ISAS)

作者： Ze Yang Baoqing Yang Ruihang Ji Jie Ma Xu Fang Shuzhi Sam Ge Control and Simulation Center Harbin Institute of Technology Harbin China Electrical and Computer Engineering National University of Singapore Singapore Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian China

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.

关键词： Space vehicles Fault tolerance Actuators Energy consumption Uncertainty Attitude control Fault tolerant systems

来源：评论

学校读者我要写书评

暂无评论

Perimeter Defense using a Turret with Finite Range and Service Times

arXiv

引用

arXiv 2023年

作者： Bajaj, Shivam Bopardikar, Shaunak D. Moll, Alexander Von Torng, Eric Casbeer, David W. Department of Electrical and Computer Engineering Michigan State University United States Department of Computer Science and Engineering Michigan State University United States Control Science Center Air Force Research Laboratory United States

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 intruders. Upon release, each intruder moves radially towards the perimeter with a fixed speed. To capture an intruder, the turret’s angle must be aligned with that of the intruder’s angle and must spend a specified service time at that orientation. We address offline and online versions of this optimization problem. Specifically, in the offline version, we establish that in general parameter regimes, this problem is equivalent to solving a Travelling Repairperson Problem with Time Windows (TRP-TW). We then identify specific parameter regimes in which there is a polynomial time algorithm that maximizes the number of intruders captured. In the online version, we present a competitive analysis technique in which we establish a fundamental guarantee on the existence of at best (N − 1)-competitive algorithms. We also design two online algorithms that are provably 1 and 2-competitive in specific parameter regimes. © 2023, CC BY-NC-SA.

关键词： Polynomial approximation

来源：评论

学校读者我要写书评

暂无评论

Challenges of using artificial intelligence to detect valvular heart disease from chest radiography

引用

The Lancet Digital Health 2024年第1期6卷 e9页

作者： Nayebirad, Sepehr Okhovat, Amirali Hedayat, Behnam Masoudkabir, Farzad Shafiee, Akbar Kalhor, Ahmad Tehran Heart Center Cardiovascular Diseases Research Institute Tehran University of Medical Sciences Tehran*** Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

来源：评论

学校读者我要写书评

暂无评论

Enhanced Voltage Stability for DC Microgrids Integrating Hybrid Electric Vehicles with Virtual Inertia and Damping control

引用

Transportation Research Procedia 2025年 84卷 571-578页

作者： Hossam Ali Mohamed Zaery Syed Muhammad Amrr S.M. Suhail Hussain Vijay Vital Mohammad A. Abido Department of Electrical Engineering Faculty of Energy Engineering Aswan University 81528 Aswan Egypt School of Electrical Computer and Energy Engineering Arizona State University Tempe AZ 85281 USA K.A.CARE Energy Research & Innovation Center King Fahd University of Petroleum and Minerals (KFUPM) Dhahran 31261 Saudi Arabia Control & Instrumentation Engineering Department KFUPM Dhahran 31261 Saudi Arabia Interdisciplinary Research Center for Sustainable Energy Systems KFUPM Dhahran 31261 Saudi Arabia Electrical Engineering Department King Fahd University of Petroleum and Minerals Dhahran 31261 Saudi Arabia SDAIA-KFUPM Joint Research Center for Artificial Intelligence KFUPM Dhahran 31261 Saudi Arabia

DC microgrids (MGs) have experienced swift growth, driven by the expanding integration of energy storage devices(ESD), renewable energy sources (RESs), and localized loads. However, it suffers from insufficient inertia owing to less rotating mass sources, which can lead to poor voltage stability. This paper introduces a control method that emulates both inertia and damping to mitigate fluctuations in DC voltage, enhance system stability, and address the low inertia concern. The proposed virtual inertia and damping (VID) control system is adopted through using hybrid electric vehicle (HEV). The suggested HEV comprises three power sources: a battery, a fuel cell (FC), and a supercapacitor (SC). In this setup, both the battery and the FC are employed to supply virtual damping owing to their high-energy density, and the SC is utilized to support virtual inertial characteristics due to its high-power density. Through this approach, enhancements in the DC voltage stability of an islanded DC MG can be achieved. Simulations demonstrate that the proposed control system significantly outperforms existing works utilizing virtual inertia (VI) based on an EV’s battery only, as well as over systems lacking VI. The proposed control system effectively reduces voltage fluctuations and improves system stability, specifically in terms of the rate of change of voltage (ROCOV) and accelerated settling time.

关键词： Voltage Stability DC Microgrids Virtual Inertia Damping Hybrid Electric Vehicle Renewable Energy Sources

来源：评论

学校读者我要写书评

暂无评论

LanCOPE: Language-Guided Category-Level Object Pose Estimation from a Single RGB Image

引用

IEEE Robotics and Automation Letters 2025年第7期10卷 7555-7562页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Dai, Zhenqi Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha 410082 China Central South University School of Architecture and Art Changsha 410082 China The University of Western Australia Department of Computer Science and Software Engineering 6009 WA Australia

Monocular RGB-based category-level object pose estimation is more practical and cost-effective for robotics. However, existing methods do not fully exploit the rich semantic and contextual information in multimodal data (e.g. language) that provides additional object attributes to guide the model in extracting category features more reliably. We propose a language-guided category-level object pose estimation method (LanCOPE), taking a single RGB image as input. Our method uses DINOv2 to recover depth from a single RGB image and converts it into point cloud to perceive the object's geometry. We then introduce language descriptions for the RGB image, estimated point cloud and overall scene to better guide the point cloud encoder and image encoder in learning category features. We develop a cross-modal differential perception feature fusion network to fuse multimodal features. This network employs a differential perception module to eliminate redundant information across different modalities, highlighting signifcant semantic differences and similarities. Furthermore, it uses a cross-attention mechanism to fuse the semantic information of the language and vision features, improving the overall perception. Finally, we design a denoising network based on the skip fusion transformer to recover the object pose accurately. Extensive experiments on REAL275 and Wild6D datasets show that LanCOPE achieves state-of-the-art performance. Our code is available at LanCOPE. © 2016 IEEE.

关键词： category-level object pose estimation languag RGB image

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：