This paper aims to analyze the motion behavior of an origami robot with a coupled bar-hinge mechanism. By disassembling the planar six-hinge mechanism into two planar four-hinge mechanisms with coupled motion, this pa...
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ISBN:
(数字)9798350373691
ISBN:
(纸本)9798350373707
This paper aims to analyze the motion behavior of an origami robot with a coupled bar-hinge mechanism. By disassembling the planar six-hinge mechanism into two planar four-hinge mechanisms with coupled motion, this paper derives the kinematics of the planar six-hinge mechanism based on the algebraic differential kinematics of the planar four-hinge motions. The rotational angle change and the moving step length of the origami robot are further calculated. Finally, the theoretical motion model is verified with the motion simulation data of the planar six-hinge mechanism origami robot in SolidWorks and the experimental data of the physical model. This verification proves the feasibility of the theoretical analysis, simulation model, and physical model.
This paper is concerned with the analysis of the Lp (p ∈ [1, ∞), p = ∞) induced norms of continuous-time linear systems where input signals are restricted to be nonnegative. This norm is referred to as the Lp+ indu...
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In response to newly found security vulnerabilities, or as part of a moving target defense, a fast and safe control software update scheme for networked controlsystems is highly desirable. We here develop such a sche...
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ISBN:
(数字)9781665467612
ISBN:
(纸本)9781665467629
In response to newly found security vulnerabilities, or as part of a moving target defense, a fast and safe control software update scheme for networked controlsystems is highly desirable. We here develop such a scheme for intelligent electronic devices (IEDs) in power distribution systems, which is a solution to the so-called software update rollout problem. This problem seeks to minimize the makespan of the software rollout, while at the same time guaranteeing acceptable voltage and current levels at all buses despite possible worst-case update failure where malfunctioning IEDs may inject harmful amount of power into the system. Utilizing the nonlinear DistFlow equations, we can rewrite the voltage and current conditions as a set of load and network dependent linear inequalities with respect to the rollout schedule with quantifiable degree of conservatism. Assuming update failure detectors such as out-of-range voltage relays, the optimal software rollout schedule can be time-slotted so that the rollout problem can be reformulated as a variant of the classical combinatorial bin packing problem. Demonstration with a realistic distribution system benchmark is provided to verify the practical significance of our work.
Willems' Fundamental Lemma provides a powerful data-driven parametrization of all trajectories of a controllable linear time-invariant system based on one trajectory with persistently exciting (PE) input. In this ...
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The association of weights in a distributed consensus protocol quantify the trust that an agent has on its neighbors in a network. An important problem in such networked systems is the uncertainty in the estimation of...
Current risk assessment ignores the stochastic nature of energy storage availability itself and thus lead to potential risk during operation. This paper proposes the redefinition of generic energy storage (GES) that i...
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The internal cooling fluid is used to remove adsorption heat and improve dehumidification performance in desiccant coated heat exchangers (DCHEs), its direction configuration not only has a significant impact on the h...
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This paper studies a class of strongly monotone games involving non-cooperative agents that optimize their own time-varying cost functions. We assume that the agents can observe other agents' historical actions an...
This paper studies a class of strongly monotone games involving non-cooperative agents that optimize their own time-varying cost functions. We assume that the agents can observe other agents' historical actions and choose actions that best respond to other agents' previous actions; we call this a best response scheme. We start by analyzing the convergence rate of this best response scheme for standard time-invariant games. Specifically, we provide a sufficient condition on the strong monotonicity parameter of the time-invariant games under which the proposed best response algorithm achieves exponential convergence to the static Nash equilibrium. We further illustrate that this best response algorithm may oscillate when the proposed sufficient condition fails to hold, which indicates that this condition is tight. Next, we analyze this best response algorithm for time-varying games where the cost functions of each agent change over time. Under similar conditions as for time-invariant games, we show that the proposed best response algorithm stays asymptotically close to the evolving equilibrium. We do so by analyzing both the equilibrium tracking error and the dynamic regret. Numerical experiments on economic market problems are presented to validate our analysis.
Understanding how cell fate is determined when exposed to extreme stresses such as heat shock is critical in biomedical systems. It has long been understood that exposure of cells to high temperature typically protect...
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Coordinated optimal dispatch is of utmost importance for the efficient and secure operation of hierarchically structured power systems. Conventional coordinated optimization methods, such as the Lagrangian relaxation ...
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