检索结果-内蒙古大学图书馆

A Millipede-Inspired Miniature Self-Moving Ultrasonic Actuator with High Carrying Capability and Nanometer Resolution Excited by Longitudinal Vibration-Induced Flexural Traveling Wave

SSRN

引用

SSRN 2023年

作者： Wang, Lipeng Li, Xiang Wu, Jiang Ding, Zhaochun Du, Fuxin Rong, Xuewen Song, Rui Li, Yibin Center for Robotics School of Control Science and Technology Shandong University Jinan250061 China School of Mechanical Engineering Shandong University Jinan250061 China

To accomplish high carrying/positioning capability with compact structure, in this study, a miniature self-moving ultrasonic actuator (MSMUA) is developed by exciting a flexural traveling wave induced by dual longitudinal vibrations. Here, four lead-zirconate-titanite plates are bonded onto the bilateral ends of the bar-shaped vibrating body to efficiently generate the vibration. Interestingly, the MSMUA imitates the millipede in terms of the simple configuration and the operating principle. To test the validity, first, by using a Krimhertz-transmission-theory-based model, the key dimensions were adjusted to not only increase the driving-force-to-weight ratio but also make the elliptical motion shape close to the unity. Then, a prototype with the size of 87.5 × 9 × 9 mm3 and the weight of 15.67 g was fabricated, its moving/carrying/positioning performance was evaluated, and an array of MSMUAs was constructed to achieve flexible movement. At 105.44 kHz working frequency, the MSMUA in a tethered manner yielded the maximum payload of 433 g (equal to 27.7 times of its own weight), the maximum speed of 378 mm/s, and the maximum towing force of 0.4 N. Meanwhile, it crossed the gully 21 mm in width and climbed the slope of 7.4°. Installed with an onboard circuit and 3.7 V batteries, the MSMUA provided the minimum step displacement of 19.2 nm. Moreover, the array of MSMUAs produced the turning movements (whose directions, angular speeds, and steering radii were adjustable) and the in-situ rotations. This study demonstrates the MSMUA’s high carrying capability and nanometer resolution, and provides a new approach to design powerful ultrasonic actuators. © 2023, The Authors. All rights reserved.

关键词： Vibrations (mechanical)

来源：评论

学校读者我要写书评

暂无评论

Modeling and Anti-Swing control for 7-DOF Overhead Crane with Double Spherical Pendulum and Varying Cable Length Effects 42

Modeling and Anti-Swing Control for 7-DOF Overhead Crane wit...

引用

42nd Chinese control Conference, CCC 2023

作者： Li, Gang Liu, Xiaopeng Yu, Yining Guo, Peijun Li, Zhi Ma, Xin Center for Robotics School of Control Science and Engineering Shandong University Jinan250061 China Shandong Lankun Marine Engineering Co. Ltd Jinan250102 China Shandong Marine Group Ltd Jinan250102 China Shandong Offshore Research Institute Co. Ltd Qingdao266555 China

ISBN: (纸本)9789887581543

Complex double spherical pendulum dynamics increase the difficulty of the swing suppression control for underactuated overhead crane. Moreover, it would be a big challenge for trolley and bridge motion control while considering varying cable length effects. In this article, an accurate dynamic model for seven degree-of-freedom (7-DOF) overhead crane with double spherical pendulum and varying cable length effects is established by Lagrangian method without any simplifications. The dynamic model includes trolley travelling, bridge moving, cable length varying, hook swing and payload swing. An anti-swing controller is designed to suppress the hook swing and payload swing simultaneously. Theoretical analysis and simulation results prove the accuracy of the dynamic model and the effectiveness of the anti-swing controller. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： MIMO systems

来源：评论

学校读者我要写书评

暂无评论

Reinforcement learning with data augmentation for lane change decision-making

引用

Journal of Institute of control, robotics and Systems 2021年第8期27卷 572-577页

作者： Kim, Min-Seong Eoh, Gyuho Park, Tae-Hyoung Department of Control Robot Engineering Chungbuk National University Korea Republic of Industrial AI Research Center Chungbuk National University Korea Republic of Department of Intelligent Systems and Robotics Chungbuk National University Korea Republic of

In a lane change decision-making technique based on RL (Reinforcement Learning), most data is related to keeping a lane;on the contrary, the data related to lane change is sparse. Consequently, an ego-vehicle fails to learn its policy. To overcome this issue, we propose a new RL-based lane change decision-making technique that uses a safety inspection module and augmented data. The safety inspection module restrains the collision of the ego-vehicle and generates virtual augmented data acquired from lane change situations. The introduction of virtual augmented data mitigates sparse lane-change data problems, which results in performance improvement. We simulated the proposed technique using an open-source simulator called CARLA. © ICROS 2021.

关键词： Decision making

来源：评论

学校读者我要写书评

暂无评论

Feature Extraction of Motor Imagination EEG Signals for a Collaborative Exoskeleton Robot Based on PSD Analysis 42

Feature Extraction of Motor Imagination EEG Signals for a Co...

引用

42nd Chinese control Conference, CCC 2023

作者： Wu, Yunfeng Li, Junze Ren, Zichen Lu, Bo Zhang, Changzhu Qi, Peng Tongji University Department of Control Science and Engineering No. 1239 Siping Road Shanghai200092 China Elmore Family School of Electrical and Computer Engineering Purdue University West LafayetteIN47906 United States School of Mechanicaland Electric Engineering Soochow University Robotics and Microsystems Center Suzhou215021 China

ISBN: (纸本)9789887581543

The integration of brain-machine interface and exoskeleton robot has been widespread application in gait correction, walking assistance, and numerous other scenarios. To effectively extract the electroencephalogram (EEG) signal features of motor imagery while wearing an exoskeleton, this study proposes a frequency band pre-determination method based on power spectral density (PSD) that enables common spatial patterns (CSP) to extract features from the frequency band with the highest energy in the EEG. The signal power spectral density of all channels is obtained at or near the average frequency of the maximum short interval frequency component energy. A second round of filtering is performed on the data, and the signal components are used as input for the subsequent feature extraction step. The CSP method extracts features from the spatial domain signal and generates feature maps. Finally, Support Vector Machines (SVM) are utilized to classify the EEG signals. Based on the pre-set gait of the exoskeleton robot and the motor imagery paradigm, feature extraction and classification of motor imagery EEG data during exoskeleton use were conducted, with an average accuracy rate of 77%. The experimental results demonstrate the effectiveness of this method in extracting the motor imagery EEG features during exoskeleton use. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electroencephalography

来源：评论

学校读者我要写书评

暂无评论

Neural Lyapunov control for Nonlinear Systems with Unstructured Uncertainties

arXiv

引用

arXiv 2023年

作者： Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Dept. of ECE NYU Tandon School of Engineering 5 Metrotech Center BrooklynNY11201 United States

Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is available. We propose a learning framework that can synthesize state-feedback controllers and a CLF for control-affine nonlinear systems with unstructured uncertainties. Based on a regularity condition on these uncertainties, we model them as bounded disturbances and prove that a CLF for the nominal system (estimate of the true system) is an input-to-state stable control Lyapunov function (ISS-CLF) for the true system when the CLF’s gradient is bounded. We integrate the robust Lyapunov analysis with the learning of both the control law and CLF. We demonstrate the effectiveness of our learning framework on several examples, such as an inverted pendulum system, a strict-feedback system, and a cart-pole system. © 2023, CC BY.

关键词： State feedback

来源：评论

学校读者我要写书评

暂无评论

Techno-economic assessment of the use of linear fresnel solar collectors for the supply of heat in traditional fruits and vegetable processing industries in almeria’s province

Renewable Energy and Power Quality Journal

引用

Renewable Energy and Power Quality Journal 2021年 19卷 511-516页

作者： Gil, J.D. Ramos, Ja. Romero García, M. Pérez Molina, M. Martínez Ropero, J. Rodríguez, A. CIESOL Research Center on Solar Energy joint center UAL-CIEMAT Spain Automatic Control Robotics and Mechatronics group University of Almería Spain School of Engineering University of Almería University of Almería Ctra. De Sacramento s/n Almeria04120 Spain

This study presents a techno-economic assessment of the use of Linear Fresnel Solar Collectors for the heat supply in traditional fruits and vegetable processing industries in Almeria’s province. This assessment is justified by the high availability of solar radiation in the area under study, the evaluation of complementary energy self-consumption modalities, and the suitability of using local resources for the preservation and improvement of traditional productive activities. The work starts with an identification of the potential user’s needs and their location in the province. Afterward, the solar radiation resources have been estimated as they constitute one of the basic inputs for sizing the proposed systems. Together with the above, representative thermal demands have been considered and different configurations of commercial Linear Fresnel Solar Collector thermal plants aimed to contribute to solarize the analyzed productive processes have been designed and the corresponding techno-economic assessment have been undertaken. Main findings advance the profitability that can be achieved with this technology, reaching, after an optimized integration of the solar plant in the industrial process, a solar fraction between 66-82 % and payback periods of the investment between 6-12 years. © 2021, European Association for the Development of Renewable Energy, Environment and Power Quality (EA4EPQ). All rights reserved.

关键词： Solar energy

来源：评论

学校读者我要写书评

暂无评论

High-Speed Trajectory Tracking control for Quadrotors via Deep Reinforcement Learning

High-Speed Trajectory Tracking Control for Quadrotors via De...

引用

Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Hean Hua Hang Zhong Hui Zhang Yongchun Fang Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Technology Changsha China School of Robotics Hunan University Changsha China Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper presents a learning-based high-speed trajectory tracking control strategy for quadrotors, which achieves efficient learning and strong reliability by the collaboration of deep reinforcement learning (RL) and self-tuning mechanism. Different from existing methods, the proposed strategy is designed to explore optimal control performance by taking advantage of model-based self-tuning mechanism and deep reinforcement learning. Specifically, the self-tuning guided deep RL scheme is put forward for quadrotors, with superior learning efficiency and strong adaptability. Firstly, a novel self-tuning mechanism is constructed and some auxiliary variables are introduced to enhance the tracking performance. Then, based on the model-driven self-tuning design, the deep RL is proposed to achieve model-guided learning, where the tuning actions are adopted in the evaluation process during training, aiming at removing the bad explorations by the carefully designed parallel evaluation. Finally, the convergence is analyzed based on the proposed learning framework, which indicates the efficient cooperation of exploration and self-tuning mechanism. To verify the effectiveness of the proposed controller, the guided training and hardware experiments are implemented to show efficient cooperation and satisfactory high-speed trajectory tracking control of the proposed method.

关键词： Training Adaptation models Trajectory tracking Heuristic algorithms Optimal control Deep reinforcement learning Hardware

来源：评论

学校读者我要写书评

暂无评论

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots

arXiv

引用

arXiv 2024年

作者： Pustina, Pietro Calzolari, Davide Albu-Schäffer, Alin De Luca, Alessandro Della Santina, Cosimo Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen82234 Germany Department of Informatics Technical University of Munich Garching85748 Germany Department of Cognitive Robotics Delft University of Technology Delft Netherlands

Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing the core characteristics of the theoretically infinite-dimensional dynamics. However, there is no quantitative way to measure if the ROM of a soft robot has succeeded in this task. In other fields, like structural dynamics or flexible link robotics, linear normal modes are routinely used to this end. Yet, this theory is not applicable to soft robots due to their nonlinearities. In this work, we propose to use the recent nonlinear extension in modal theory –called eigenmanifolds– as a means to evaluate control-oriented models for soft robots and compare them. To achieve this, we propose three similarity metrics relying on the projection of the nonlinear modes of the system into a task space of interest. We use this approach to compare quantitatively, for the first time, ROMs of increasing order generated under the piecewise constant curvature (PCC) hypothesis with a high-dimensional finite element (FE)-like model of a soft arm. Results show that by increasing the order of the discretization, the eigenmanifolds of the PCC model converge to those of the FE model. © 2024, CC BY.

关键词： Structural dynamics

来源：评论

学校读者我要写书评

暂无评论

Sliding Mode control for Tower Crane with Double Spherical Pendulum and Variable Cable Length

Sliding Mode Control for Tower Crane with Double Spherical P...

引用

Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Gang Li Xin Ma Jing Li Yibin Li Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Fenghui Equipment Technology Co. LTD Jinnan China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

The complex dynamics of the double spherical pendulum with variable cable length present a significant challenge in controlling the swing of underactuated tower cranes. In this article, we present a sliding mode anti-sing controller for the underactuated seven degrees of freedom (7-DOF) tower crane with the double spherical pendulum and cable length variations. The underactuated 7-DOF tower crane model provides a comprehensive representation of the dynamics involved in jib slewing, trolley movement, cable length variations, hook swing, and payload swing. Utilizing the elimination method, a fully actuated system model is obtained from the underactuated 7-DOF tower crane model. Based on the fully actuated system model, we designed a sliding mode controller to effectively suppress both hook swing and payload swing. The theoretical analysis and experimental results demonstrate the accuracy of the 7-DOF tower crane dynamic model and the effectiveness of the sliding mode controller.

关键词： Uncertain systems Analytical models Cranes Accuracy Poles and towers Dynamics Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Geometric-based Bimodal control for Hybrid Aerial/Ground Vehicles

Geometric-based Bimodal Control for Hybrid Aerial/Ground Veh...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Haoming Tang Zhiqiang Miao Haoyu Wang Yizong Chen Hui Zhang Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Changsha China School of Robotics Hunan University Changsha China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

Hybrid ground/aerial vehicles, capable of adapting to both terrestrial and aerial environments simultaneously, can accomplish more complex tasks, holding promising applications across various domains. Furthermore, designing a highly real-time multi-modal controller to adapt to environmental and modal changes, is currently a critical issue to be addressed. Based on this requirement, a geometric-based bimodal control structure is proposed in this study. We initially design the aerial controller in the Lie algebra space, based on a geometric attitude controller. Moreover, inspired by the characteristics of ground locomotion, we modify the aerial controller to satisfy the constraints of this mode. Through this approach, we can simplify the design process of the ground controller. Both controllers feature a similar and simpler structure, meet real-time control requirements, and allow them to use the same parameters. Ultimately, the proposed method’s efficacy and performance are validated through ROS-Gazebo simulation environment.

关键词： Attitude control Algebra Trajectory tracking Process control Aerospace electronics Real-time systems Motion control

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：