The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current(DC)motor driven by a buck *** lumping all unknown matched/unmatched disturbances and uncerta...
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The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current(DC)motor driven by a buck *** lumping all unknown matched/unmatched disturbances and uncertainties together,the traditional active disturbance rejection control(ADRC)approach provides an intuitive solution for the problem under ***,for such a higher-order disturbed system,the increase of poles for the extended state observer(ESO)therein will lead to drastically growth of observer gains,which causes severe noise *** paper aims to propose a new model-based disturbance rejection controller for the converter-driven DC motor system using *** of estimating lumped disturbances directly,a new observer is constructed to estimate the desired steady state of control signal as well as errors between the real states and their desired steady-state ***,a controller with only speed measurement is proposed by utilizing the *** performance of the proposed method is tested through experiments on *** is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains.
A towfish is a passive underwater vehicle that is towed behind a surface vessel. The towfish is often designed to be symmetric from all directions primarily to achieve balanced hydrodynamic behaviour and foreseeable m...
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CHATGPT,one of the leading Large Language Models(LLMs),has acquired linguistic capabilities such as text comprehension and logical reasoning,enabling it to engage in natural conversations with humans.
CHATGPT,one of the leading Large Language Models(LLMs),has acquired linguistic capabilities such as text comprehension and logical reasoning,enabling it to engage in natural conversations with humans.
Some organizations in Japan have planned planetary explorations using a small rover. However, the rovers with cylindrical wheels have a risk of failing to move in the loose soil area, such as the surface of the lunar/...
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The feedback-based algorithm for quantum optimization (FALQON) has recently been proposed to find ground states of Hamiltonians and solve quadratic unconstrained binary optimization problems. This paper efficiently ge...
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The paper presents studying results of the output voltage stabilizing processes of a multilevel inverter based on two-channel impulse converters, the structure of the power circuit of which does not depend on the numb...
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According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to...
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According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ***,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further ***,designing an actuator for diverse working scenarios remains a *** this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional *** further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic *** results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.
The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required ...
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The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.
Human activities represent a major source of information for smart home automation. While performing their daily activities, humans trigger sensors producing measurements that flow into a sensor log. Vast majority of ...
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In this paper, we explore how to use a Nvidia Jetson Nano and Python to create a system that detects weariness in a person's face using computer vision and machine learning techniques. The system captures the pers...
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