Solving the explicit model predictive control (MPC) problem entails enumerating a list of critical regions and their ancillary feedback laws. Unfortunately, their number and the time required to compute them increase ...
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Information on the physicochemical properties of chemical species is an important prerequisite when performing tasks such as process design and product ***,the lack of extensive data and high experimental costs hinder...
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Information on the physicochemical properties of chemical species is an important prerequisite when performing tasks such as process design and product ***,the lack of extensive data and high experimental costs hinder the development of prediction techniques for these ***,accuracy and predictive capabilities still limit the scope and applicability of most property estimation *** paper proposes a new Gaussian process-based modeling framework that aims to manage a discrete and high-dimensional input space related to molecular structure representation with the group-contribution approach.A warping function is used to map discrete input into a continuous domain in order to adjust the correlation between different *** selection techniques,including prior elicitation and prior predictive checking,are also applied during the building procedure to provide the model with more information from previous research *** framework is assessed using datasets of varying sizes for 20 pure component *** 18 out of the 20 pure component properties,the new models are found to give improved accuracy and predictive power in comparison with other published models,with and without machine learning.
The life cycle of a petroleum product reflects the evolution of its sales volume over time and represents the interval between its introduction on the market and its definitive disappearance from the commodity exchang...
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Warehouses are an important logistic component of various companies. Warehouses may have different layouts, equipment and their own features. Optimization of warehouse operations can decrease overhead costs and increa...
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The combination of Electric Autonomous Vehicles (EAVs) and renewable energy aligns with sustainability goals. However, to achieve these goals, it’s necessary to implement a robust control system for the key component...
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Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee *** the posture data of the human body such as walking,squatting and...
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Focusing on the ball double-screw hydraulic knee joint as the research object,this paper analyzes the load driving performance of the hydraulic knee *** the posture data of the human body such as walking,squatting and landing buffer as initial learning objects,motion features are *** simplifying the trajectories of different motion actions into key feature control points and flexible trajectory fitting,the trajectory of joint actions is *** method can realize the adaptability of the hydraulic robot knee joint in different movements,and take the flexible action as the optimization goal under the condition of ensuring the movement performance,so as to reduce the damage to the knee joint caused by the foot impact in *** simulation model was built by Adams and Matlab to complete the performance analysis and motion optimization experiment of the knee *** simulation results show that the foot impact force of the experimental model decreases gradually through ***,the method is applied to the hydraulic joint experimental prototype to prove its load capacity and flexible motion control performance.
The traditional centralized data sharing systems have potential risks such as single point of failures and excessive working load on the central *** a distributed and collaborative alternative,approaches based upon bl...
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The traditional centralized data sharing systems have potential risks such as single point of failures and excessive working load on the central *** a distributed and collaborative alternative,approaches based upon blockchain have been explored recently for Internet of Things(IoTs).However,the access from a legitimate user may be denied without the pre-defined policy and data update on the blockchain could be costly to the *** this paper,we first address these issues by incorporating the Accountable Subgroup Multi-Signature(ASM)algorithm into the Attribute-based Access control(ABAC)method with Policy Smart Contract,to provide a finegrained and flexible ***,we propose a policy-based Chameleon Hash algorithm that allows the data to be updated in a reliable and convenient way by the authorized ***,we evaluate our work by comparing its performance with the *** results demonstrate significant improvement on the effectiveness and efficiency.
We present a hierarchical architecture to improve the efficiency of event-triggered control (ETC) in reducing resource consumption. This paper considers event-triggered systems generally as an impulsive control system...
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In this paper, we present and analyze a class of discrete-time and sampled-data controllers named first-order projection elements (FOPEs). FOPEs form a class of hybrid controllers that have an underlying linear base d...
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In this paper, we present and analyze a class of discrete-time and sampled-data controllers named first-order projection elements (FOPEs). FOPEs form a class of hybrid controllers that have an underlying linear base dynamics, which are combined with a projection operator that ensures that the input-output (I/O) pair is contained in a well-designed sector. The I/O sector-constraint enables performance benefits in various application domains including motion control of high-precision machines. After the introduction of FOPEs, we focus on incremental stability analysis of these hybrid controllers. We show that the properties of the projection operator ensure incremental stability of the open-loop FOPE dynamics in case of an underlying linear dynamics that is exponentially stable. In this case, we compute tight bounds on the incremental gain. Under an appropriate small-gain condition, we show incremental input-to-state stability of the sampled-data interconnection of a FOPE with a continuous-time linear time-invariant plant. For the case of projected integrator dynamics, we provide a counterexample showing that incremental stability can be compromised. We provide additional, necessary and sufficient conditions under which FOPEs with integrator dynamics are incrementally asymptotically stable. Numerical simulations provide a practical example of the established incremental properties for the trajectories of a dynamical system coming from an industrial motion control application.
This paper proposes a novel hybrid UAV that can turn acutely with flip-turn motion. The UAV has a link consisting of four rotors, named quadlink, which is connected to the fuselage via a passive joint. When the UAV wa...
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ISBN:
(数字)9798350358513
ISBN:
(纸本)9798350358520
This paper proposes a novel hybrid UAV that can turn acutely with flip-turn motion. The UAV has a link consisting of four rotors, named quadlink, which is connected to the fuselage via a passive joint. When the UAV wants to turn in the reverse direction, only the quadlink rotates to generate thrust in the reverse direction for deceleration without changing the attitude of the wings. This eliminates the vertical motion during the deceleration of the conventional tailsitter UAVs and achieves acute turning. Then, once the UAV sufficiently slows down, it accelerates in the reverse direction while flipping the fuselage upside down to point the nose in the reverse direction. Finally, the UAV fully transitions to reverse cruise flight in the opposite direction. This paper only considers longitudinal motion as the first step in controlling the proposed UAV. The acute turn is accomplished without switching controllers. The paper finally presents a simulation result to evaluate the performance of the proposed UAV and controller.
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