检索结果-内蒙古大学图书馆

Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

Chinese Journal of Aeronautics 2024年第2期37卷 431-445页

作者： Hao LU Lan GAO Yunda YAN Mingzhe HOU Chenliang WANG Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information Science and Technology Hangzhou Normal UniversityHangzhou 311121China Department of Computer Science University College LondonLondon WC1E 6BTUnited Kingdom Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight *** cope with various wind conditions,this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the *** the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the compensation and nominal ***,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector ***-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds.

关键词： Path following Guiding vector field Wind disturbance Disturbance rejection Fixed wings

来源：评论

学校读者我要写书评

暂无评论

Fantastic squeaks and where to find them: Producing and analysing audible acoustics from leipäjuusto

Fantastic squeaks and where to find them: Producing and anal...

引用

作者： Nurkkala, Elina Carlson, Craig S. Hopia, Anu Postema, Michiel Department of Biomedical Technology Faculty of Medicine and Health Technology Tampere University Tampere Finland Department of Electrical Engineering and Automation Aalto University Maarintie 8 Espoo02150 Finland Department of Biomedical Technology Faculty of Medicine and Health Technology Tampere University Korkeakoulunkatu 3 Tampere Finland School of Electrical and Information Engineering University of the Witwatersrand 1 Jan Smutslaan Braamfontein Johannesburg South Africa Functional Foods Forum Faculty of Medicine University of Turku Turku Finland School of Electrical and Information Engineering University of the Witwatersrand Braamfontein Johannesburg South Africa

Chewing not only converts food chunks to digestible proportions, it also conveys audible acoustics resulting in a perception on the type and condition of the food being eaten. As biomedical engineers, we may want to reproduce the same eating experience for those who cannot chew or for those who have allergic reactions to some foods. But to understand this psychoacoustic phenomenon better, it is crucial to understand what produces the sound of specific foods. The purpose of this paper is to present a straightforward methodology to produce audible acoustics from a notoriously loud Finnish delicacy and analyse the sound produced. One hundred samples of leipajuusto and one hundred samples of Gouda cheese for controls were subjected to shear between a bamboo board and a wetted blade. All leipajuusto samples and none of the Gouda cheese samples produced audible squeaks. A 0.1-s delay between blade displacement and sound production was observed. We attribute this delay to the buildup to release. The frequency spectra from pushing and pulling movements were observed to have only negligible differences. This indicated that the internal structure between events did not change. Therefore, the hypothesis that a disruptive event underlies the squeaking process is less plausible. © 2024 by Walter de Gruyter Berlin/Boston.

关键词： Fourier analysis

来源：评论

学校读者我要写书评

暂无评论

Sliding Mode control for Recurrent Neural Networks With Time-Varying Delays and Impulsive Effects

引用

IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1319-1321页

作者： Lanfeng Hua Kaibo Shi Zheng-Guang Wu Soohee Han Shouming Zhong the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China the School of Electronic Information and Electrical Engineering Chengdu UniversityChengdu 610106China the Institute of Cyber-Systems and Control Zhejiang UniversityHangzhou 310027China the Department of Electrical Engineering and Convergence IT Engineering Pohang University of Science and TechnologyPohang 37673South Korea the School of Mathematics Sciences University of Electronic Science and Technology of ChinaChengdu 611731China

Dear Editor,This letter studies the problem of sliding mode control(SMC)design for recurrent neural networks(RNNs)with impulsive disturbances and time-varying transmission *** this end,an appropriate integral sliding ... 详细信息

关键词： impulsive letter delays

来源：评论

学校读者我要写书评

暂无评论

information Presentation Strategies to Promote Pedestrian Behavior Change in Mixed Spaces with Automated Vehicle

Information Presentation Strategies to Promote Pedestrian Be...

引用

2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Nishiura, Yuki Yamada, Hiroyuki Kurazume, Ryo Graduate School of Information Science and Electrical Engineering Kyushu University Japan Center for Sustainability - Connective Automation Hitachi Ltd. Research and Development Group Autonomous Control Research Department Ibaraki312-0034 Japan Kyushu University Faculty of Information Science and Electrical Engineering Fukuoka819-0395 Japan

ISBN: (纸本)9798350312072

This paper introduces an information presentation strategy for pedestrians, aiming to enhance traffic efficiency in a mixed pedestrian-automated vehicle environment, such as a public road. While automated driving technology has made remarkable progress, interactions with pedestrians on regular roads have mostly been studied in virtual environments using virtual reality goggles. According to these studies, potential traffic efficiency and safety issues arise from pedestrians' limited understanding of automated vehicle behavior. To address this, we propose a human-machine interface employing a head-mounted display (HMD) to mitigate traffic efficiency degradation caused by pedestrians. The proposed system draws upon behavioral economics principles to encourage pedestrians to modify their behavior and develop better interactions with automated vehicles. Simulations were conducted to identify an information presentation strategy that strongly supports learning, and its effectiveness was further validated through experiments involving a real vehicle. Notably, the experimental results confirmed that the information presentation strategies proven effective in simulations also facilitated pedestrian learning during real-world interactions. © 2024 IEEE.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

Exploring the Use of Particle and Kalman Filters for Obstacle Detection in Mobile Robots

Periodica polytechnica Electrical engineering and computer s...

引用

Periodica polytechnica electrical engineering and computer science 2023年第4期67卷 384-393页

作者： Gyenes, Zoltán Bölöni, Ladislau Szádeczky-Kardoss, Emese Gincsainé Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Muegyetem rkp. 3. BudapestH-1111 Hungary Department of Computer Science University of Central Florida 4328 Scorpius St OrlandoFL32816-2362 United States

The present study aims to explore the adaptation of estimation methodologies, specifically Particle filters and Kalman filters, for the purpose of determining the position and velocity vector of obstacles within the operational workspace of mobile robots. These algorithms are commonly employed in the motion planning tasks of mobile robots for the estimation of their own position. The proposed methodology utilizes LiDAR sensor data to estimate the position vectors and calculate the velocity vectors of obstacles. Additionally, an uncertainty parameter can be determined using the introduced perception method. The performance of the newly adapted algorithms is evaluated through comparison of the absolute error in position and velocity vector estimations. © 2023 Budapest University of technology and Economics. All rights reserved.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Prediction of the Navigation Angles Using Random Forest Algorithm and Real Flight Data of UAVs 20

Prediction of the Navigation Angles Using Random Forest Algo...

引用

20th IEEE Jubilee International Symposium on Intelligent Systems and Informatics, SISY 2022

作者： Al-Sudany, Huda Naji Lantos, Bela Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (纸本)9781665489881

Unmanned aerial vehicles (UAVs) are becoming more common in aviation. Predicting and estimating of UAV attitude are important aspects of the communication strategy. Autonomous UAVs' attitude estimate is a crucial component for controlling in flight mission. The attitude can take many forms such as Euler angles and Quaternion. This paper explains attitude estimation of UAV using Random Forest (RF) algorithm based on real flight data of Accelerations, Angular velocity, Magnetic Field, and GPS measurements for prediction current attitude angles (roll, pitch and yaw). The developed algorithm uses features that are derives from sensors measurements. The developed RF model results showed accurate prediction of UAVs attitude angles with small error values. © 2022 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Unmanned Aerial Vehicles Swarm Flocking Architectures: An Overview 10

Unmanned Aerial Vehicles Swarm Flocking Architectures: An Ov...

引用

10th IEEE Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems, ICCC 2022

作者： Kimathi, Stephen Lantos, Béla Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (数字)9781665481779

ISBN: (纸本)9781665481779

The eruption of unmanned aerial vehicles (UAVs) use has disrupted the aviation industry. More recently, swarming in UAVs has been gaining popularity and has attracted a huge interest from researchers and industry players due to their potential application in various fields. A UAV swarm, which is a collection of many UAVs has the capability of autonomous navigation and operation hence suitable for diverse applications. The capabilities inherent in a single UAV are expounded by having many such vehicles performing similar or differentiated tasks while flying together. The potential of UAV swarms is yet to be fully explored as many researches are still concerned with the theoretic specifics of these complex multi-agent systems. The purpose of this article is to provide an overview of the swarm flocking architectures used in UAVs and their origin. Also some applications and challenges of swarming in UAVs is presented. © 2022 IEEE.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Quaternion based attitude control of a maneuvering fixed wing UAV 26

Quaternion based attitude control of a maneuvering fixed win...

引用

26th IEEE International Conference on Intelligent engineering Systems, INES 2022

作者： Kimathi, Stephen Lantos, Bela Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (数字)9781665492096

ISBN: (纸本)9781665492096

This paper presents attitude control using the unit quaternion. Specifically, the orientation of a maneuvering fixed wing U A V is investigated through set point tracking. Two formulations are explored;the first, through quaternion error dynamics and the second, through quaternion logarithm. Both methods apply appropriate Lyapunov functions for the design and analysis of the closed stability of the control laws. The error dynamics are deduced from composite rotations between different frames of the UA V. Through the error dynamics, the orientation of the UAV's wind frame is aligned to a desired orientation. Using this procedure, the desired equilibrium points of the closed system are guaranteed to converge and are asymptotically stable. The formulation and implementation of these two methods is simple and intuitive, and through simulations, their successful use and effectiveness is shown. © 2022 IEEE.

关键词： Fixed wings

来源：评论

学校读者我要写书评

暂无评论

Research on Data Classification Based on LNDS-SVDD 7

Research on Data Classification Based on LNDS-SVDD

引用

7th International Symposium on Autonomous Systems, ISAS 2024

作者： Yuan, Yiwei Xue, Qiming Cao, Yuan Yi, Yingmin Bai, Lei Xi'an University of Technology Faculty of Automation and Information Engineering Shaanxi Xian710048 China Xianyang Key Laboratory of New Energy and Microgrid System Department of Electrical Engineering Shanxi Polytechnic Institute Xianyang712000 China

ISBN: (纸本)9798350363173

Due to the high dimension of industrial process data, there are aliasing areas when building hyper-spheres of different types of data by the SVDD algorithm, which will lead to inaccurate results in condition identification. A data classification method based on Local Neighbor Density Similarity Support Vector Data Description (LNDS-SVDD) is proposed to address this issue. Utilizing the local similar density in discriminating data similarity, the LNDS-SVDD can further judge the classification of samples distributed in the aliasing area using the density information. In this paper, a randomly generated synthetic data set and a real industrial process data set is used for simulating the proposed data classification algorithm. The results indicate that the classification accuracy is high, which is an effective condition identification method for the industrial process. © 2024 IEEE.

关键词： Classification (of information)

来源：评论

学校读者我要写书评

暂无评论

Exchange Strategies for Multi-Colony Ant Algorithms in Dynamic Environments 13

Exchange Strategies for Multi-Colony Ant Algorithms in Dynam...

引用

13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Mavrovouniotis, Michalis Li, Changhe Yazdani, Danial Handjimitsis, Diofantos Eratosthenes Centre of Excellence Limassol Cyprus Cyprus University of Technology Department of Civil Engineering and Geomatics Limassol Cyprus School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China University of Technology Sydney Faculty of Engineering & Information Technology Sydney Australia

ISBN: (纸本)9798350308365

In dynamic optimization problems where optimal solutions change over time, traditional ant colony optimization (ACO) algorithms face limitations. This study explores the adaptation of multi-colony ACO algorithms, known for their enhanced search capabilities in stationary problems, to tackle optimization problems in dynamic environments. Various strategies for exchanging information between colonies, which is a critical factor influencing algorithm performance, are investigated. Using the dynamic traveling salesman problem as a foundation, we generate test cases to reflect real-world complexities. Our results on a set of problem instances reveal that the choice of communication strategy between colonies significantly impacts the adaptability and efficiency of multi-colony ACO algorithms in tracking moving optimum. © 2024 IEEE.

关键词： Ant colony optimization

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：