检索结果-内蒙古大学图书馆

RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Sara Ashrafi S. Ali A. Moosavian Department of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS Lab, together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Forty Plus Years of Model Reduction and Still Learning 63

Forty Plus Years of Model Reduction and Still Learning

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Astolff, A. Beck, C.L. Bhattacharjee, D. Kawano, Y. Moreschini, A. Sandberg, H. Scherpen, J.M.A. Imperial College London Department of Electrical and Electronic Engineering United Kingdom Università di Roma 'Tor Vergata' Dipartimento di Ingegneria Civile e Ingegneria Informatica Italy Univ. of Illinois at Urbana-Champaign IL United States Hiroshima University Graduate School of Advanced Science and Engineering Japan Kth Royal Institute of Technology Stockholm Sweden Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Jan C. Willems Center for Systems and Control Netherlands

ISBN: (纸本)9798350316339

The approximation of complex dynamical systems models by reduced order models has been considered an important research problem for over four decades, not only in the field of control, but also in economics, image processing, circuit analysis, statistical mechanics, aircraft structures, and more recently in hybrid energy systems, to name just a sampling of fields. In this paper, we provide an overview of the development of balanced truncation and interpolation approaches for reducing linear and non-linear dynamical systems models for the purpose of control analysis and design. © 2024 IEEE.

关键词： Importance sampling

来源：评论

学校读者我要写书评

暂无评论

Distributionally robust stability of payoff allocations in stochastic coalitional games

arXiv

引用

arXiv 2023年

作者： Pantazis, George Franci, Barbara Grammatico, Sergio Margellos, Kostas Delft Center for Systems & Control TU Delft Netherlands The Department of Advanced Computing Sciences Maastricht University Netherlands The Department of Engineering Science University of Oxford United Kingdom

We consider multi-agent coalitional games with uncertainty in the coalitional values. We provide a novel methodology to study the stability of the grand coalition in the case where each coalition constructs ambiguity sets for the (possibly) unknown probability distribution of the uncertainty. As a less conservative solution concept compared to worst-case approaches for coalitional stability, we consider a stochastic version of the so-called core set, i.e., the expected value core. Unfortunately, without exact knowledge of the probability distribution, the evaluation of the expected value core is an extremely challenging task. Hence, we propose the concept of distributionaly robust (DR) core. Leveraging tools from data-driven DR optimization under the Wasserstein distance, we provide finite-sample guarantees that any allocation which lies in the DR core is also stable with respect to the true probability distribution. Furthermore, we show that as the number of samples grows unbounded, the DR core converges almost surely to the true expected value core. We dedicate the last section to the computational tractability of finding an allocation in the DR core. © 2023, CC BY.

关键词： Probability distributions

来源：评论

学校读者我要写书评

暂无评论

Online controller Tuning Method Using Fictitious Reference Iterative Tuning Based on Recursive Least-Squares Method for Quadrotor Flight control

Online Controller Tuning Method Using Fictitious Reference I...

引用

IEEE International Conference on Industrial engineering and engineering Management

作者： Ayumu Sato Ryo Tanaka Advanced Engineering School National Institute of Technology Kurume College Fukuoka Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Fukuoka Japan

This paper proposes an online controller tuning method using fictitious reference iterative tuning (FRIT) design method based on recursive least-squares (RLS) method for quadrotor flight control. FRIT is a method of directly adjusting controller parameters such as PID gains using input/output data without using a mathematical model of the controlled object. This paper compares the performance of conventional discrete PID control with that of discrete PID control implementing RLS-FRIT by simulation. The results show that the proposed RLS-FRIT has better control performance than the conventional method. The robustness against disturbances was also found to be superior to that of the conventional method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Classification of Road Damage Images Considering the Discovery of Unknown Classes

Classification of Road Damage Images Considering the Discove...

引用

Automation, control and Robots (ICACR), International Conference on

作者： Hiroki Nagamatsu Kousuke Matsushima Advanced Engineering Course National Institute of Technology Kurume College Fukuoka Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Fukuoka Japan

In this paper, we propose a classification method for road damage images considering mobile devices. In the general deep learning approach, it is difficult to find unknown classes. Therefore, we address the problem of Novel Class Discovery (NCD). In addition, mobile devices have limited resources. Thus, we need to reduce the number of parameters in the neural network. To solve these problems, We propose to use lightweight vision transformers (ViTs) for the encoder part of UNified Objective Function (UNO), an unsupervised learning method. Furthermore, we show the effectiveness of ViT by comparing our method to convolutional neural networks (CNNs) with a similar number of parameters.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Method for Solving Camera Pose Estimation Problems Considering the Pairwise Constraints and Polar Coordinates

A Method for Solving Camera Pose Estimation Problems Conside...

引用

International Conference on Computers, Communications, and systems (ICCCS)

作者： Kohta Uematsu Kousuke Matsushima Advanced Engineering School National Institute of Technology Kurume College Fukuoka Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Fukuoka Japan

The camera pose estimation problem using correspondences involves outliers in most cases. In recent years, Random Sample Consensus (RANSAC) is often used as a well-known outlier removal method, however, RANSAC does not guarantee to generate an optimal model due to the characteristics of its processing. Therefore, a method that separates rotation and translation parameters by using the Pairwise Constraints has been proposed. Since this method has no randomness, it can estimate the optimal rotation parameters. In the conventional method, the rotation parameters are expressed in terms of the rotation axis, and estimated using the Branch-and-Bound method. In the proposed method, the rotation parameters are expressed in polar coordinates and searched for. Experimental results show that the proposed method achieves better accuracy in most cases than the conventional methods on synthetic data. The proposed method also succeeded in reducing the execution time.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Anomaly Detection Based on Principle of Justifiable Granularity and Probability Density Estimation

Anomaly Detection Based on Principle of Justifiable Granular...

引用

2023 China Automation Congress, CAC 2023

作者： Du, Sheng Ma, Xian Li, Xiang Wu, Min Cao, Weihua Pedrycz, Witold School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Faculty of Engineering and Natural Sciences Department of Computer Engineering Istanbul Sariyer Turkey

ISBN: (纸本)9798350303759

Anomaly detection is essential to ensure the safety of industrial processes. This paper presents an anomaly detection approach based on the probability density estimation and principle of justifiable granularity. First, time series data are transformed into a two-dimensional information granule by the principle of justifiable granularity. Then, the test statistic is constructed, and the probability density and cumulative distribution functions of the test statistic are calculated. Next, the confidence level determines the test threshold. Finally, the time series data of a key parameter in the sintering process is used as a case study. The experimental result demonstrates that the proposed approach can detect abnormal time series data effectively, providing an accurate and effective solution for detecting time series anomalies in industrial processes. © 2023 IEEE.

关键词： Time series

来源：评论

学校读者我要写书评

暂无评论

A discrete moth-flame optimization algorithm for multiple automated guided vehicles scheduling problem in a matrix manufacturing workshop

A discrete moth-flame optimization algorithm for multiple au...

引用

作者： Zeng, Junhai Xie, Wei Pan, Mi School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangdong Guangzhou510641 China Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing South China University of Technology Guangdong Guangzhou510641 China Department of Civil and Environmental Engineering University of Macau 999078 China

The growing need for customized and varied production has highlighted the significance of smart and automated factories in the manufacturing sector. In this particular context, the scheduling of multiple Automated Guided Vehicles (AGVs) plays a pivotal role in enhancing the efficiency of operations within an intelligent manufacturing shop. This study centers on the material handling process within a matrix manufacturing shop with the objective of identifying the most cost-effective transportation routes for materials. To accomplish the specified objective, this research aims to identify an optimal solution for reducing transportation costs. In particular, this study formulates a mixed-integer linear programming model and introduces a novel discrete variant of the moth-flame optimization (MFO) algorithm, named DMFO, to address the scheduling problem. The DMFO algorithm incorporates several significant enhancements. Firstly, a population initialization method is proposed, which combines a nearest-neighbor-based adaptive heuristic and a random sorting technique to ensure the formation of a well-structured population. Secondly, the flame generation mechanism and spiral flight search processes within the MFO have been redefined to achieve a more optimal balance between exploration and exploitation. A neighborhood search mechanism is subsequently devised, employing the concept of neighborhood relevance to accelerate the convergence process. Additionally, a heuristic approach is introduced to reduce the computational cost. Moreover, a population regeneration mechanism is proposed to avoid the algorithm falling into a local optimum. To validate the effectiveness of the DMFO, a comparative analysis is conducted using a dataset of 110 real-world factory instances. In this analysis, eight well-established optimization algorithms are employed. The simulation results consistently demonstrate that the relative percentage deviation (RPD) value of the DMFO tends to approach 0% more

关键词： Materials handling

来源：评论

学校读者我要写书评

暂无评论

Sharing and Collaborating When Teaching Automatic control: An Experience-Based Needs Analysis

Sharing and Collaborating When Teaching Automatic Control: A...

引用

Mediterranean Conference on control and Automation (MED)

作者： Steffi Knorn Anja Garone Damiano Varagnolo Emanuele Garone Department of Control Technische Universität Berlin Germany Brussels Institute for Advanced Studies Belgium Department of Engineering Cybernetics Norwegian University of Science and Technology Norway Department of Information Engineering University of Padova Italy Department of Automation and Systems Analysis Free University of Brussels Belgium

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

We discuss two specific issues that affected the workflows in our career as automatic control teachers and that are related to how teachers may establish teaching-oriented collaborations with colleagues from the same or different institutions. The first issue we identify is the systematic difficulty that one encounters when wanting to exchange instructional material with colleagues, while the second is the complexity of establishing students exchange programs across different institutions and nations. We discuss the nature and structure of the two problems, discuss why and how they are connected, and draw practical examples of how these problems may affect workflows. We then present a strategy that aims at solving these issues based on the introduction of an opportune indexing of instructional material in terms of contents and complexity of such contents, and how this information may be graphically displayed so to ease human and machine interpretability. We further discuss how this approach was used on a smaller scale to ease collaborations among close colleagues, and how it may be extended and adopted on a larger scale.

关键词： Visualization Systematics engineering profession Databases Education Buildings Collaboration

来源：评论

学校读者我要写书评

暂无评论

A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

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：