检索结果-内蒙古大学图书馆

control of 2-D Semi-Markov Jump systems:A View from Mode Generation Mechanism

IEEE/CAA Journal of automatica Sinica 2024年第1期11卷 258-260页

作者： Yunzhe Men Jian Sun Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.

关键词： Markov mode system

来源：评论

学校读者我要写书评

暂无评论

Using a Neurosimulator in the Problem of Maximizing the Output Value of a Dynamic Object

Using a Neurosimulator in the Problem of Maximizing the Outp...

引用

Information, control, and Communication Technologies (ICCT), International Conference on

作者： Dmitry Feofilov Andrey Kozyr Sergey Feofilov Department of Automatic Control Systems Tula State University Tula Russia Digital Control Systems Laboratory Tula State University Tula Russia

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

This paper considers the problem of finding quasi-optimal control for an object with an incomplete mathematical model. The main difficulty in practice is obtaining a system of differential equations that describe the dynamics of an object. In the absence of an accurate verified mathematical model of the system, the use of classical methods of optimal control theory is impossible. To solve the problem, it is proposed to use a neurosimulator of the control object and its use in the Chernousko-Krylov numerical iterative method, based on the Pontryagin maximum principle. This approach makes it possible to find quasi-optimal control for "black box" type objects. An example of using a neurosimulator in the problem of maximizing the output phase variable of a dynamic system when setting restrictions on the control signal and control time is given. A comparative analysis of the results obtained for an object specified using differential equations and its neurosimulator was carried out, and the advantages and disadvantages of this approach were identified.

关键词： Training Jacobian matrices Neural networks Closed box Optimal control Differential equations Search problems Mathematical models Object recognition Optimization

来源：评论

学校读者我要写书评

暂无评论

Social Radars: Finding Targets in Cyberspace for Cybersecurity

引用

IEEE/CAA Journal of automatica Sinica 2024年第2期11卷 279-282页

作者： Lili Fan Changxian Zeng Yutong Wang Jiaqi Ma Fei-Yue Wang School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Dalian Minzu UniversityDalian 116600China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Department of Civil and Environmental Engineering University of CaliforniaLos AngelesCA 90024 USA IEEE State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

INSPIRED by the insight from American political scientist Lasswell, who summarized the environmental role in societal surveillance [1], Schramm coined the term “social radar” [2] as it resembles the activities of radar in collecting and processing information, playing a crucial role in helping humans perceive changes in the internal and external environment and promptly adjusting adaptive behaviors.

关键词： prompt summarized insight

来源：评论

学校读者我要写书评

暂无评论

An Eye-to-Hand Visual Servoing controller of 3-DOF Robot Using Feature Matching technology 6

An Eye-to-Hand Visual Servoing Controller of 3-DOF Robot Usi...

引用

6th International Conference on Green technology and Sustainable Development, GTSD 2022

作者： Hung Phu, Nguyen Dang Thong, Vo Nguyen Ba, Dang Xuan University of Technology and Education Department of Automatic Control Ho Chi Minh City Viet Nam

ISBN: (数字)9781665466288

ISBN: (纸本)9781665466288

In robotic control sectors, the image-based visual servo method is an advanced approach used to control the robot to the desired position by using pixels from cameras. We can control the robot flexibly to achieve high quality when the joint variables have little backflash. Applications of this method can be classified into two groups: eye-in-hand and eye-to-hand ones. In this paper, we employ the eye-to-hand method for position tracking control problems of robotic manipulators. Kinematics of the robot and camera are first derived based on homogenous transformation relation and pinhole models. The control technique uses the normalized difference between the pixel observed from the camera and the desired pixel to result in proper control signals throughout a flexible activation gain. The feasibility of this method will be demonstrated through comparative simulation results. © 2022 IEEE.

关键词： Pixels

来源：评论

学校读者我要写书评

暂无评论

Formations of Agents Interacting by the Thermal Motion Equivalent Method

Formations of Agents Interacting by the Thermal Motion Equiv...

引用

Information, control, and Communication Technologies (ICCT), International Conference on

作者： Eduard A. Heiss Andrey V. Kozyr Oleg O. Morozov Digital Control Systems Laboratory Tula State University Tula Russia Department of Automatic Control Systems Tula State University Tula Russia

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

Multi-agent systems have advantages over single vehicles when performing scalable tasks, such as area monitoring. For area monitoring it is reasonable to use a heterogeneous multi-agent system, where part of the agents has on board optical sensors to search for objects, and the remaining agents have a device for interaction with the found objects, for example, a capture device. In this case, it is useful to provide monitoring by formations of agents, such as pairs of agents with optical sensors and capture devices to enable the multi-agent system to respond to found objects as quickly as possible. A swarm control method, named the thermal motion equivalent method, was previously proposed to solve the problem of searching for objects in an unknown environment. This method induces agents to Brownian chaotic motion in a given area. In this paper, a method of coupling and synchronization of agent motion is proposed to solve the formation problem. The quality of the method is evaluated by numerical simulation of a nonlinear model of the agent. Numerical simulation results are also presented, considering the data transmission delays in the agent network. The simulation results show the stability of the multi-agent system and formation of several agents.

关键词： Couplings Search problems Numerical simulation Stability analysis Synchronization Optical sensors Monitoring Thermal stability Numerical stability Multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

Synchronization of the Coupled Swarm Agents’ Movement Interacting by the Thermal Motion Equivalent Method

Synchronization of the Coupled Swarm Agents’ Movement Inter...

引用

Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

ISBN: (数字)9798350389234

ISBN: (纸本)9798350353051

One of the directions of development of methods for group control of swarm agents is formation. Formation of agents is useful in solving transport problems, navigation problems and others. Currently, there are various approaches for controlling agent formations such as virtual leader method, vector method and potential field method. However, these methods usually show good results only under certain conditions and tasks. One of the methods of group control is the thermal motion equivalent method, the current development of which provides the Brownian character of the agents’ motion. Mutual relative energetically inefficient oscillations arise between the agents when the method is used in the formation problem. The synchronization of the agents’ motion proposed in the paper eliminates the mutual oscillations and preserves the swarm stability. One of the advantages of the proposed controller is the absence of the need for complete information about the system. The workability of the proposed solution is demonstrated by numerical simulation using a simplified linear model of the agent - a quadrocopter. The numerical simulations conducted with a linear quadcopter model demonstrate the method’s effectiveness, even when facing external disturbances and interacting with other autonomous agents.

关键词： Workability Numerical simulation Stability analysis Vectors Numerical models Sensors Synchronization

来源：评论

学校读者我要写书评

暂无评论

Real-time Tiredness Detection System using Nvidia Jetson Nano and OpenCV

引用

Procedia Computer Science 2024年 242卷 536-543页

作者： Nicolae Florian Dumitru Popescu Andrei Hossu Department of Automatic Control and Systems Engineering University Politehnica Bucuresti Bucharest 060042 Romania Academy of Romanian Scientists Romania

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 person’s face in real time, preprocesses the picture to cut noise, then detects the face using Haar cascades. Next, using computer vision algorithms, characteristics associated with weariness, such as the eyes, are retrieved. These characteristics are then used to build a machine learning model that can predict weariness in the live stream feed. Lastly, using a graphical user interface, the findings are shown, and the system may be fine-tuned to increase accuracy. This device might be used in applications such as driver monitoring and traffic safety.

关键词： Neural Network Machine Learning Computer Vision Driver Monitoring

来源：评论

学校读者我要写书评

暂无评论

controlling and programming a robot using virtual reality

Controlling and programming a robot using virtual reality

引用

International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Maksymilian Gorzelak Tomasz Grzejszczak Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

The paper presents software that allows a user to control and program a robot using virtual reality. The user will be equipped with a Virtual Reality kit and will be able to use it to manipulate the robot arm as if they were physically interacting with it. One key feature of the software will be the ability to set the robot in a specific position, allowing the user to create and execute complex movement sequences for the robot to follow. The use of VR technology in this context offers a unique and immersive way for users to interact with and program the robot, making it an exciting and innovative approach to robotic control.

关键词： Visualization Solid modeling Service robots Robot control Virtual reality Programming Manipulators

来源：评论

学校读者我要写书评

暂无评论

Simultaneously Identifying the System Dynamics and Fault Isolation for Air Data Sensor Failures: A Convex Approach

引用

IFAC-PapersOnLine 2024年第4期58卷 103-108页

作者： J. Noom C.C. de Visser N.S. Ramesh M. Verhaegen Delft University of Technology Department of Mechanical Engineering Delft Center for Systems and Control Delft University of Technology Department of Aerospace Engineering Control and Simulation Division

This paper addresses the key question that when faults occur either the aircraft system dynamics changes due to the fault or these dynamics are unknown (precisely). This question is addressed for the important case of Air Data Sensor failures, due to e.g. icing, for fixed wing aircraft operating in a nominal fight condition. The solution to this question uses basic ideas from subspace Identification to cast this problem in linear least squares problem with convex constraints (nuclear norm and 1-norm constraints). The latter are relaxations of a rank and cardinality constraint. The presented solution is validated using real-life fight test data.

关键词： Signal Identification-based methods Flight control fault detection FDI for linear systems

来源：评论

学校读者我要写书评

暂无评论

A nonsingular terminal sliding algorithm for swing and stance control of a prosthetic leg robot

引用

Applied Mathematical Modelling 2023年 113卷 13-29页

作者： Jafari, Maryam Mobayen, Saleh Bayat, Farhad Roth, Hubert Department of Electrical Engineering University of Zanjan Zanjan38791-45371 Iran Future Technology Research Center National Yunlin University of Science and Technology Yunlin Douliou64002 Taiwan Hubert Roth is with the Institute of Automatic Control Engineering University of Siegen Siegen Germany

The design of swing and stance control for path following of a prosthetic leg robot subject to uncertain dynamics and exterior disturbances is a serious issue, which affects the development of wearable robots. In wearable robots, parametric uncertainties and external disturbances are unavoidable problems. This problem is associated with practical engineering of wearable robots due to the actual swing and stance situations, where the combination of contact and tracking control objectives is highly complex. This paper proposes two novel finite-time controllers for a prosthetic leg robot with three degree-of-freedom. A prosthetic leg robot should emulate hip vertical displacement, thigh and knee angles according to human gaits in the presence of ground friction force and external disturbances. For the swing phase, a nonsingular fast terminal sliding mode control method is designed to track the reference trajectories fast and in the finite time without any non-singularity problem and chattering phenomenon. Moreover, the other designed controller can deal with input saturation by using a hyperbolic tangent function and an auxiliary system. For the stance phase, an impulse momentum sliding mode control scheme is introduced which allows the prosthetic leg robot to emulate the mechanics of human walking. Using the proposed controller, the robot imitates the patient momentum exchange and weight transfer in the stance phase. The proposed techniques cause the transition between contact and off-contact phases and contact phase itself. Finally, the simulation results verify the efficiency of the provided technique. In our future work, we will focus on employing this technique to a practical prosthesis legged robot. © 2022 Elsevier Inc.

关键词： Prosthetics

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：