We present a simple and effective way to account for non-convex costs and constraints in state feedback synthesis, and an interpretation for the variables in which state feedback synthesis is typically convex. We achi...
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Recently, tactile sensing has attracted great interests in robotics, especially for exploring unstructured objects. Sensor arrays play an important role in the exploration, which generates rich spatio-temporal informa...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Recently, tactile sensing has attracted great interests in robotics, especially for exploring unstructured objects. Sensor arrays play an important role in the exploration, which generates rich spatio-temporal information. In this work, we propose an efficient tactile recognition model, X-Tacformer. This model pays attention to both spatial and temporal features of tactile sequences from sensor arrays, which is verified by four public datasets, Ev-Objects, Ev-Containers, Augment8000 and BioTac-Dos. Comparative studies show that our model has resulted in a significant improvement of the recognition accuracy by 0.0223, 0.1416, 0.2735 and 0.1592 in these datasets. In order to verify its performances on dataset with rich spatio-temporal features, a self-designed dataset, ALU-Textures, was constructed with 10 fabrics from everyday textiles, aiming to extend the data collection action modes of current datasets by simulating human rubbing movements with the thumb and index fingers of an Allegro hand. Our model also demonstrates efficient salient feature learning capabilities on ALU-Textures, which is further augmented by tactile data augmentation methods.
In this paper, as the restriction of a rooted labeled unordered tree (tree, for short), we introduce a rooted labeled k-caterpillar(k-caterpillar, for short) that is a tree T whose number of the leaves in the tree obt...
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In this manuscript, a novel algorithm is presented for the identification of single input single output linear time invariant (SISO-LTI) systems. The proposed method is able to find poles of the transfer function desc...
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ISBN:
(数字)9798350395440
ISBN:
(纸本)9798350395457
In this manuscript, a novel algorithm is presented for the identification of single input single output linear time invariant (SISO-LTI) systems. The proposed method is able to find poles of the transfer function describing the system without any assumptions on the system order. The results presented in this paper generalize earlier identification schemes based on expansions of the transfer function using generalized rational orthogonal basis functions (GOBFs). These previous methods depended on a convergent sequence constructed from the coefficients of the orthogonal GOBF expansion. The first contribution of this study is showing that a wider family of functions may be used to construct similar pole finding algorithms. The aforementioned previous approaches can be interpreted as special cases of the results presented here. In addition, using this generalization a new pole identification scheme is proposed using finite Blaschke-products. Through experiments, the practical utility of this scheme is verified when compared to earlier variations of the pole finding scheme.
This article presents the problem of designing a nonlinear observer for an active magnetic suspension system. The design process of the nonlinear Luenberger observer (also known as the Kazantzis-Kravaris-Luenberger ob...
This article presents the problem of designing a nonlinear observer for an active magnetic suspension system. The design process of the nonlinear Luenberger observer (also known as the Kazantzis-Kravaris-Luenberger observer) is discussed. Particular attention was paid to the main nonlinearity of the system - the electromagnetic force, which was modeled applying the function describing the change in inductance as a function of the distance of the levitating object from the electromagnet surface. Theoretical analyses were confirmed by the results of experimental studies in which the task of moving the sphere between the given positions using current control was carried out. control tasks were conducted in the real-time regime on an embedded platform. The measured signals and estimated velocity were analyzed in the context of future implementations in control applications.
This paper proposes a fuzzy cluster-scaled principal component analysis (fuzzy cluster-scaled PCA) for mixed data, which consists of both numerical and categorical data with respect to quantitative and qualitative var...
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This paper provides a comprehensive tutorial on a family of Model Predictive control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision ...
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ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
This paper provides a comprehensive tutorial on a family of Model Predictive control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the optimization problem. These formulations have several benefits with respect to the classical MPC formulations, including guaranteed recursive feasibility under online reference changes, as well as asymptotic stability and an increased domain of attraction. This tutorial paper introduces the concept of using an artificial reference in MPC, presenting the benefits and theoretical guarantees obtained by its use. We then provide a survey of the main advances and extensions of the original linear MPC for tracking, including its non-linear extension. Additionally, we discuss its application to learning-based MPC, and discuss optimization aspects related to its implementation.
Understanding the impact of digital platforms on user behavior presents foundational challenges, including issues related to polarization, misinformation dynamics, and variation in news consumption. Comparative analys...
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In recent years, wide bandgap semiconductor devices such as silicon carbide (SiC) and gallium nitride (GaN) have been increasingly applied in electric drive systems, effectively enhancing system power density. However...
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ISBN:
(数字)9798350377798
ISBN:
(纸本)9798350377804
In recent years, wide bandgap semiconductor devices such as silicon carbide (SiC) and gallium nitride (GaN) have been increasingly applied in electric drive systems, effectively enhancing system power density. However, the high-frequency and high-speed characteristics of SiC devices exacerbate electromagnetic interference (EMI) issues within the system. Additionally, the cables in electric drive systems exhibit significant antenna effects, radiating conducted EMI into the surrounding space, thereby affecting the normal operation of other sensitive equipment. Therefore, it is essential to research motor drive system topologies that can actively suppress EMI and predict radiated interference in motor drive systems. The topology of a four-module motor paired with parallel inverters can achieve active suppression of EMI at the source. This paper conducts a simulation-based prediction of radiated interference for a parallel inverter-driven four-module motor system. It analyzes the coupling mechanisms of common mode and differential mode radiated interference and validates the radiated interference from both DC and AC cables through simulations, predicting the impact on surrounding sensitive equipment in practical systems.
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Add...
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