检索结果-内蒙古大学图书馆

An improving analytically model with high accuracy for a micro manipulator

Journal of Information Hiding and Multimedia Signal Processing 2015年第6期6卷 1242-1249页

作者： Ni, Yuan Deng, Zong-Quan Li, Jun-Bao Wu, Xiang Li, Long Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology China Shanghai Key Laboratory of Mechanical Automation and Robotics SSchool of Mechatronic Engineering and Automation Shanghai University China

A proposed mathematical model is established for modal analysis of a micro manipulator. According to the geometric characteristics of the manipulator, the model is built by using finite element method with multipoint constraint equations, and the corresponding displacement coordinate matrix is obtained after that. Considering that the regular flexure hinge plays a key role, in this analysis process, the hinge is treated as a varied cross-section Euler-Bernoulli beam element and the finite element model is established by a new procedure which followed the element internal equilibrium principle consequently. The stiffness matrix, the mass matrix and the exact shape functions of the non-prismatic beam element can be obtained respectively. Furthermore, the influences of geometric parameters on the fundamental frequency can also be discussed. © 2015 Ubiquitous International. All rights reserved.

关键词： Natural frequencies

来源：评论

学校读者我要写书评

暂无评论

A lightweight pedestrian detection model for edge computing systems 17th

A lightweight pedestrian detection model for edge computing ...

引用

17th International Symposium on Distributed Computing and Artificial Intelligence, DCAI 2020

作者： Chen, Wen-Hui Kuo, Han-Yang Lin, Yu-Chen Tsai, Cheng-Han Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Mechanical and Mechatronics Systems Laboratories Industrial Technology Research Institute Hsinchu Taiwan

ISBN: (纸本)9783030530358

Most vision-based pedestrian detection systems adopted deep learning approaches with the framework of convolutional neural networks (CNNs) to reach the state-of-the-art detection accuracy. As CNN-based approaches are computationally intensive, the deployment of those systems to a resource-limited edge device is a challenging task, especially for a real-time application such as intelligent vehicles. In this study, we proposed a lightweight high-performance edge computing solution to achieve rapid and accurate performance in pedestrian detection. Experimental results showed that the proposed framework can effectively reduce the miss rate of the YOLO-tiny detection model from 48.8% to 26.2% while achieving an inference speed of 31 frames per second (FPS) tested on the Caltech pedestrian dataset. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

关键词： Edge computing

来源：评论

学校读者我要写书评

暂无评论

Hybrid position, posture, force and moment control with impedance characteristics for robot manipulators

Hybrid position, posture, force and moment control with impe...

引用

2011 IEEE International Conference on mechatronics and automation, ICMA 2011

作者： Yao, Yu Huang, Qingjiu Peng, Yan Oiwa, Taishi Institute of Robotic Science and Engineering Nanjing University of Technology 5 Xinmofan Rd Nanjing 210009 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-I3-11 Ookayama Meguro-ku Tokyo 152-8552 Japan School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

ISBN: (纸本)9781424481149

There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics to hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Furthermore, the effectiveness of our control method for surface contact work was verified by the dynamic simulation of character-erasing motion on the white board of 6-DOF robot manipulator. © 2011 IEEE.

关键词： Robot applications

来源：评论

学校读者我要写书评

暂无评论

Measurement-Based control for Minimizing Energy Functions in Quantum Systems

引用

IFAC-PapersOnLine 2023年第2期56卷 5171-5178页

作者： Henrik Glavind Clausen Salahuddin Abdul Rahman Özkan Karabacak Rafal Wisniewski Section for Automation and Control Department of Electronic Systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

In variational quantum algorithms (VQAs), the most common objective is to find the minimum energy eigenstate of a given energy Hamiltonian. In this paper, we consider the general problem of finding a sufficient control Hamiltonian structure that, under a given feedback control law, ensures convergence to the minimum energy eigenstate of a given energy function. By including quantum non-demolition (QND) measurements in the loop, convergence to a pure state can be ensured from an arbitrary mixed initial state. Based on existing results on strict control Lyapunov functions, we formulate a semidefinite optimization problem, whose solution defines a non-unique control Hamiltonian, which is sufficient to ensure almost sure convergence to the minimum energy eigenstate under the given feedback law and the action of QND measurements. A numerical example is provided to showcase the proposed methodology.

关键词： Lyapunov control quantum non-demolition measurements semidefinite programming variational quantum algorithms

来源：评论

学校读者我要写书评

暂无评论

Optimal Tracking Performance of MIMO Networked control Systems with Communication Constraints

Optimal Tracking Performance of MIMO Networked Control Syste...

引用

第26届中国控制与决策会议

作者： Chao-Yang Chen Ming Chi Zhi-Hong Guan Xian-He Zhang Xi-Sheng Zhan College of Automation Huazhong University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

In this paper, we study the optimal tracking performance problem of continuous-time linear multi-input multi-output(MIMO) networked control systems. The unstable and non-minimum phase systems is considered. The output feedback path is subject to quantization noise, additive white Gaussian noise and bandwidth constraints, and encoding and decoding are considered. The reference input is a random signal. The performance is measured through the tracking error energy, and two-parameter controller is considered. The explicit expression of the tracking performance has been obtained. The results show that the unstable poles and non-minimum phase zeros of the plant, the channel noise,bandwidth, quantization noise and coder will aggravate the optimal tracking performance.

关键词： Tracking Performance,Channel Noise,Quantization Noise,Bandwidth Constraint

来源：评论

学校读者我要写书评

暂无评论

Hybrid powertrain concept evaluation using optimization

Hybrid powertrain concept evaluation using optimization

引用

25th World Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exhibition: Sustainable Mobility Revolution, EVS 2010

作者： Murgovski, Nikolce Fredriksson, Jonas Sjöberg, Jonas Norén, Bengt Department of Signals and Systems Division of Automatic Control Automation and Mechatronics Chalmers University of Technology Gothenburge Sweden Complete Powertrain Powertrain Engineering Volvo Cars Corporation. Dept 97520-PV3B-Gothenburge Sweden

This paper describes automatic evaluation of series-parallel (combined) powertrain models using optimization. The novelty with the approach is the possibility to work with non-transparent industrial vehicle models, hidden for intellectual property reasons. The contribution extends the functionality of a recently developed tool for parallel hybrids, with the ability to operate on combined powertrains. Given the user inputs, which include dynamic vehicle model and driving cycle, the tool first produces a simplified powertrain model in the form of static maps, before dynamic programming is used to find an optimal torque split that minimizes fuel consumption. The main use of the tool is to evaluate the potential of a powertrain configuration. The paper contains an illustration of the tool operation on a non-transparent industrial vehicle model. The only requirement on the model is to provide access to some general variables and that it has a torque split that can be fully controlled.

关键词： Hybrid vehicles

来源：评论

学校读者我要写书评

暂无评论

On Instrumental Variable-Based Method for Identification of Permanent Magnet Synchronous Machine by Noisy Data 4

On Instrumental Variable-Based Method for Identification of ...

引用

4th International Conference on control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2022

作者： Ivanov, Dmitriy V Sandler, Ilya L Yakoub, Zaineb Antonova, Victoria V Terekhin, Michail A Bezyazykova, Lubov A Samara State University of Transport Dept. Mechatronics Samara Russia Dept. Automation and Control in Technical Systems Samara State Technical University Samara Russia National Engineering School of Gabes University of Gabes Gabes Tunisia

ISBN: (数字)9781665456593

ISBN: (纸本)9781665456593

The identification of parameters of the permanent magnet synchronous machine (PMSM) is considered. The paper uses a discrete model of the permanent magnet synchronous machine. The proposed algorithm makes it possible to consider the errors in measurements of current, voltage, and electrical angular speed. Extended instrument variables are used to identify parameters. To solve the overdetermined system, total least squares are used. This makes it possible to improve the accuracy of estimates of extended instrumental variables on a finite sample. The simulation results confirmed the high accuracy of the resulting estimates. © 2022 IEEE.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

control System for Electric Drives of Plate Straightening Machines

Control System for Electric Drives of Plate Straightening Ma...

引用

2023 International Russian automation Conference, RusAutoCon 2023

作者： Radionov, Andrey A. Semitko, Andrey Yu. Loginov, Boris M. Khramshin, Vadim R. Filimonova, Aleksandra A. Moscow Polytechnic University Department of Automation and Control Moscow Russia South Ural State University Department of Mechatronics and Automation Chelyabinsk Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia Nosov Magnitogorsk State Technical University Power Engineering and Automated Systems Institute Magnitogorsk Russia South Ural State University Department of Electric Drive Mechatronics and Electromechanics Chelyabinsk Russia

ISBN: (纸本)9798350345551

The essential quality parameter of rolled products is the flatness along the rolled stock length. The profile defects of the rolled stock, produced at the modern plate mill 5000, frequently occur in the course of intense cooling implied by the thermomechanical rolling technology. To eliminate them, the mill lines include cold straightening machines. The authors show typical flatness defects caused by the occurrence of longitudinal, central and edge waves. Further, the paper characterizes a cold straightening machine installed at the mill 5000 and provides the parameters of electric engines of straightening rollers. The key drawback of the design algorithm for electric drives' control is setting engine constant moments regardless of the thickness and character of the defects in the rolled stock processed. This causes overloading of the electric and mechanical systems of certain rollers and unsatisfactory product quality. To eliminate the drawback, the authors developed a method for individual setting of engine moments closely coupled in the course of sheet processing. The authors present a functional block diagram for the control system to implement the method. The rationale is provided for the digital setting of moment controllers switched on the inputs of speed controllers. The authors conducted simulation modelling and comparative analysis of engine speeds and moments at the design and proposed settings. The paper provides the analysis of oscillograms obtained before and after the introduction of the control system developed. Its technical and economic feasibility was confirmed during operation. © 2023 IEEE.

关键词： control systems

来源：评论

学校读者我要写书评

暂无评论

Decision-Making in Driver-automation Shared control:A Review and Perspectives

引用

IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1289-1307页

作者： Wenshuo Wang Xiaoxiang Na Dongpu Cao Jianwei Gong Junqiang Xi Yang Xing Fei-Yue Wang IEEE California PATH University of CaliforniaBerkeleyCA 94720 USA Department of Engineering University of CambridgeCambridge CB21PZU.K. Mechanical and Mechatronics Engineering University of WaterlooWaterloo N2L3G1Canada Department of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Research Center for Military Computational Experiments and Parallel Systems TechnologyNational University of Defense TechnologyChangsha 410073China

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to *** human driver,as an essential agent in the driver-vehicle shared control systems,should be precisely modeled regarding their cognitive processes,control strategies,and decision-making *** interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of *** open-ended questions arise,such as what proper role of human drivers should act in a shared control scheme?How to make an intelligent decision capable of balancing the benefits of agents in shared control systems?Due to the advent of these attentions and questions,it is desirable to present a survey on the decision making between human drivers and highly automated vehicles,to understand their architectures,human driver modeling,and interaction strategies under the driver-vehicle shared ***,we give a further discussion on the key future challenges and *** are likely to shape new potential research directions.

关键词： Automated vehicle decision-making human driver human-vehicle interaction shared control

来源：评论

学校读者我要写书评

暂无评论

Intersection Navigation Under Dynamic Constraints Using Deep Reinforcement Learning

Intersection Navigation Under Dynamic Constraints Using Deep...

引用

International Conference on control, engineering & Information Technology (CEIT)

作者： Ali Demir Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781538676424

In this study, we present a unified motion planner with low- level controller for continuous control of a differential drive mobile robot. Deep reinforcement agent takes 10 dimensional state vector as input and calculates each wheel's torque value as a 2 dimensional output vector. These torque values are fed into the dynamic model of the robot, and lastly steering commands are gathered. In previous studies, navigation problem solutions that uses deep - RL methods, have not been considered with agent's own dynamic constraints, but it has been done by only considering kinematic models. This is not reliable enough for real-world scenarios. In this paper, deep-RL based motion planning is performed by considering both kinematic and dynamic constraints. According to the simulations in a dynamic environment, the agent succesfully navigates through the intersection with 99.6% success rate.

关键词： Mathematical model Robot kinematics Mobile robots Dynamics Torque Vehicle dynamics

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：