This paper is devoted to the description of the adaptive modulation method for communication systems using signals with orthogonal frequency-division multiplexing. The present paper describes a method aimed at reducin...
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Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execution of tasks and missions in such sc...
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ISBN:
(数字)9798350382655
ISBN:
(纸本)9798350382662
Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execution of tasks and missions in such scenarios. We study time-robust path planning for synthesizing robots' trajectories that adhere to spatial-temporal specifications expressed in Sig-nal Temporal Logic (STL). In contrast to prior approaches that rely on discretized trajectories with fixed time-steps, we leverage Piece-Wise Linear (PWL) signals for the synthesis. PWL signals represent a trajectory through a sequence of time-stamped waypoints. This allows us to encode the STL formula into a Mixed-Integer Linear Program (MILP) with fewer variables. This reduction is more pronounced for specifications with a long planning horizon. To that end, we define time-robustness for PWL signals. Subsequently, we propose quantitative semantics for PWL signals according to the recursive syntax of STL and prove their soundness. We then propose an encoding strategy to transform our semantics into a MILP. Our simulations showcase the soundness and the performance of our algorithm.
In this article, the takeover time for the operation of automated ships are determined for the first time. Differences and similarities in terms of definitions and procedures between automotive engineering and experim...
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ISBN:
(数字)9798350315790
ISBN:
(纸本)9798350315806
In this article, the takeover time for the operation of automated ships are determined for the first time. Differences and similarities in terms of definitions and procedures between automotive engineering and experimental conditions are presented. Using the simulated example of a canal encountering situation with simple complexity dimensions, two criteria for determining the success of a takeover situation are defined. A TOT analysis is carried out on the basis of both definitions. The results show that takeover times of more than 20 s can be expected.
Modular process plants, built from Process Equipment Assembly (PEA), promise a higher flexibility compared to monolithic plants. Digital documentation is a key requirement for a seamless orchestration of a modular pla...
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ISBN:
(数字)9798350361230
ISBN:
(纸本)9798350361247
Modular process plants, built from Process Equipment Assembly (PEA), promise a higher flexibility compared to monolithic plants. Digital documentation is a key requirement for a seamless orchestration of a modular plant using PEAs from different vendors. From a process engineering functional view the Module Type Package (MTP) documents the capabilities realized by a PEA. From a automation perspective the documentation and specification can be optimized by utilizing a standard called System control Diagrams (SCDs). There is up to now no connection of the individual standards. This connection could enable an integrated engineering approach to raise consistency and reduce engineering effort. This work presents an approach to map SCD based automation planning to the MTP. Therefore, both standards are introduced and a mapping from SCD to MTP is realized. It is shown, that most of the functions from SCD have a representation in the MTP, enabling the linking of basic automation functions to capabilities. This enables engineers which are using SCD as a planning tool to efficiently provide an MTP for PEAs or modular plants.
The paper presents a reconfigurable fault-tolerant control strategy for a semi-active suspension using magnetorheological (MR) damper. The aim of the control reconfiguration is to handle the adverse behaviour of the M...
The paper presents a reconfigurable fault-tolerant control strategy for a semi-active suspension using magnetorheological (MR) damper. The aim of the control reconfiguration is to handle the adverse behaviour of the MR damper due to oil leakage induced by the wear of the suspension component. The proposed method relies on the data driven model of the MR damper, using an estimation procedure to quantify the healthiness of the damper and to estimate the performance degradation due to the oil leakage. The reconfiguration control strategy is founded on the Linear Parameter Varying (LPV) framework, where a scheduling variable is defined to represent the healthiness level of the MR damper. By the scaling of the control action through the scheduling variable, the performance degradation of the MR damper can be compensated to match the behaviour of the healthy dampers. The proposed method is demonstrated through simulations, comparing the performance of the fault-tolerant LPV control to conventional semi-active control methods
作者:
Du, TaoYang, JieWen, Chao-KaiXia, ShuqiangJin, ShiSoutheast University
National Mobile Communications Research Laboratory Nanjing210096 China Southeast University
Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China Institute Of Communications Engineering
National Sun Yat-sen University Kaohsiung80424 Taiwan Zte Corporation
The State Key Laboratory Of Mobile Network And Mobile Multimedia Technology Shenzhen518055 China Southeast University
National Mobile Communications Research Laboratory The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China
Utilizing high-resolution antenna arrays and wide bandwidth of the millimeter-wave (mmWave) spectrum in 5G new radio (NR) mmWave communication systems holds the potential for high-throughput data transmission while en...
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Model-Free control (MFC) approach is a novel technique to handle nonlinearities and uncertainties in controlsystems in order to provide enhanced performance level. The design of MFC is based on an ultra-local model, ...
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Model-Free control (MFC) approach is a novel technique to handle nonlinearities and uncertainties in controlsystems in order to provide enhanced performance level. The design of MFC is based on an ultra-local model, which is an approximation of the dynamics of the controlled system for a short period of time. This structure also involves a model-based robust control, which guarantees the accurate tracking performance of the closed-loop system. In this paper, a novel technique is proposed for designing the robust control for taking into account the varying characteristics of the ultra-local model. A novel modeling method is presented, which combines the original plant of the controlled system and the ultra-local model. Then, a robust control design is proposed, by which the tracking performance and the robustness of the closed-loop system can be guaranteed. The design steps and effectiveness of the proposed control strategy is demonstrated through a vehicle-oriented control problem using the high-fidelity simulation software, CarMaker.
In this paper a motion profile design for unmanned aerial vehicles is proposed which method is able to guarantee safe collision-free motion. The motivations of the work are provided by the uncertainties of covered are...
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In this paper a motion profile design for unmanned aerial vehicles is proposed which method is able to guarantee safe collision-free motion. The motivations of the work are provided by the uncertainties of covered areas by the vehicles, and also the need of high performance fast vehicle motion. The uncertain information on the environment for detecting Conflict areas is processed through clustering and Mahalanobis-distance-based filtering methods. The resulted Conflict areas are involved in the motion design method, which is facilitated through reinforcement learning. This paper shows the application of the method on a drone that moves together with a mobile robot in the same environment. The safe and high performance motion of the drone is illustrated through simulation example.
In this paper, a route selection algorithm is proposed for aerial and ground vehicle cooperative control. The main goal is to determine a feasible trajectory for a drone, which satisfies several limitations. Moreover,...
In this paper, a route selection algorithm is proposed for aerial and ground vehicle cooperative control. The main goal is to determine a feasible trajectory for a drone, which satisfies several limitations. Moreover, during the route selection, the flight time is also minimized to increase the efficiency of the entire system. The route selection is performed by a graph-based method, which is evaluated for different initial conditions. Then, the proposed algorithm determines the trajectories for the drone, and the predefined limitations are also considered. The method is validated in a MATLAB-based simulation environment, in which the whole algorithm is implemented.
This paper proposes a design method for achieving safe trajectory of indoor drones. The trajectory design with a reinforcement-learning-based (RL) agent is facilitated, which can result in efficient and collision-free...
This paper proposes a design method for achieving safe trajectory of indoor drones. The trajectory design with a reinforcement-learning-based (RL) agent is facilitated, which can result in efficient and collision-free motion. The method is developed for motion in indoor area with moving mobile robots, and thus, the collision with these obstacles must be avoided. Through RL-based design the fast motion of the drones can be achieved, which must perform a mission between workstations in a manufacturing system. The effectiveness of the design process through a simulation example on a real laboratory environment is illustrated.
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