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Epidermal radio frequency electronics for wireless power transfer

Microsystems & Nanoengineering 2016年第1期2卷 52-60页

作者： Xian Huang Yuhao Liu Gil Woo Kong Jung Hun Seo Yinji Ma Kyung-In Jang Jonathan A.Fan Shimin Mao Qiwen Chen Daizhen Li Hank Liu Chuxuan Wang Dwipayan Patnaik Limei Tian Giovanni A.Salvatore Xue Feng Zhenqiang Ma Yonggang Huang John A.Rogers Department of Biomedical Engineering School of Precision Instrument and Opto-electronics EngineeringTianjin UniversityTianjin 300072China Department of Materials Science and Engineering University of Illinois at Urbana-ChampaignUrbanaIL 61801USA Department of Electrical and Computer Engineering University of Wisconsin-MadisonMadisonWI 53706USA Department of Civil and Environmental Engineering Northwestern UniversityEvanstonIL 60208USA Department of Engineering Mechanics Center for Mechanics and MaterialsTsinghua UniversityBeijing 100084China Department of Mechanical Engineering Northwestern UniversityEvanstonIL 60208USA Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and TechnologyDaegu 42988Republic of Korea Department of Electrical Engineering Stanford UniversityStanfordCA 94305USA

Epidermal electronic systems feature physical properties that approximate those of the skin,to enable intimate,long-lived skin interfaces for physiological measurements,human–machine interfaces and other applications that cannot be addressed by wearable hardware that is commercially available today.A primary challenge is power supply;the physical bulk,large mass and high mechanical modulus associated with conventional battery technologies can hinder efforts to achieve epidermal characteristics,and near-field power transfer schemes offer only a limited operating *** we introduce an epidermal,farfield radio frequency(RF)power harvester built using a modularized collection of ultrathin antennas,rectifiers and voltage *** components,separately fabricated and tested,can be integrated together via methods involving soft contact *** studies of the individual components and the overall performance in various dielectric environments highlight the key operational features of these systems and strategies for their *** results suggest robust capabilities for battery-free RF power,with relevance to many emerging epidermal technologies.

关键词： antenna design epidermal electronics modularization silicon nanomembrane soft-contact lamination specific absorption rate wireless power

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Histopathology image categorization with discriminative dimension reduction of fisher vectors 1

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computer Vision - ECCV 2016 Workshops, Proceedings

作者： Song, Yang Li, Qing Huang, Heng Feng, Dagan Chen, Mei Cai, Weidong BMIT Research Group School of IT University of Sydney Sydney Australia Department of Computer Science and Engineering University of Texas Arlington United States Computer Engineering Department State University of New York Albany United States Robotics Institute Carnegie Mellon University Pittsburgh United States

ISBN: (数字)9783319466040

ISBN: (纸本)9783319466033

In this paper, we present a histopathology image categorization method based on Fisher vector descriptors. While Fisher vector has been broadly successful for general computer vision and recently applied to microscopy image analysis, its feature dimension is very high and this could affect the classification performance especially when there is small amount of training images available. To address this issue, we design a dimension reduction algorithm in a discriminative learning model with similarity and representation constraints. In addition, to obtain the image-level Fisher vectors, we incorporate two types of local descriptors based on the standard texture feature and unsupervised feature learning. We use three publicly available datasets for experiments. Our evaluation shows that our overall approach achieves consistent performance improvement over existing approaches, our proposed discriminative dimension reduction algorithm outperforms the common dimension reduction techniques, and different local descriptors have varying effects on different datasets. © Springer International Publishing Switzerland 2016.

关键词： Vectors

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Embedding internal model in disturbance observer with robust stability

Embedding internal model in disturbance observer with robust...

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作者： Joo, Youngjun Park, Gyunghoon Back, Juhoon Shim, Hyungbo Department of Electrical Engineering and Computer Science University of Central Florida OrlandoFL31816 United States ASRI Department of Electrical and Computer Engineering Seoul National University Seoul151-747 Korea Republic of School of Robotics Kwangwoon University Kwangwoon425-866 Korea Republic of

The disturbance observer has been widely employed in applications due to its powerful ability for disturbance rejection and robustness under plant uncertainties. However, it rejects the disturbance approximately rather than exactly since it is usually designed without considering structural properties of disturbance. In order to improve the disturbance rejection performance, we propose a design method to embed the internal model of disturbance into the disturbance observer structure. Furthermore, a systematic design procedure is proposed so that one can always design the disturbance observer to guarantee robust stability of the closed-loop system even though uncertain parameters of the plant belong to an arbitrarily large (but bounded) set. © 2015 IEEE.

关键词： Disturbance rejection

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Cooperative control of a nonuniform gantry crane with constrained tension

Cooperative control of a nonuniform gantry crane with constr...

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作者： He, Wei Ge, Shuzhi Sam School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Department of Electrical and Computer Engineering National University of Singapore Singapore117576 Singapore Center for Robotics University of Electronic Science and Technology of China Chengdu611731 China

In this paper, the control problem is addressed for a hybrid PDE-ODE system that describes a nonuniform gantry crane system with constrained tension. A bottom payload hangs from the top gantry by connecting a flexible cable. The flexible cable is nonuniform due to the spatiotemporally varying tension applied to the system. The control objectives are: (i) to position the payload to the desired setpoint, (ii) to regulate the transverse deflection of the flexible cable, and (iii) to keep the tension values remaining in the constrained space. Cooperative control laws are proposed and the integral-barrier Lyapunov functions are employed for stability analysis of the closed-loop system. Adaption laws are developed for handling parametric uncertainties. The bounded stability is guaranteed through rigorous analysis without any simplification of the dynamics. In the end, numerical simulations are displayed to illustrate the performance of the proposed cooperative control. © 2016 Elsevier Ltd. All rights reserved.

关键词： Flexible structures

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Liquid crystal colloids

arXiv

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arXiv 2017年

作者： Smalyukh, Ivan I. Department of Physics Department of Electrical Computer and Energy Engineering Soft Materials Research Center and Materials Science and Engineering Program University of Colorado BoulderCO80309 United States Renewable and Sustainable Energy Institute National Renewable Energy Laboratory University of Colorado BoulderCO80309 United States

Colloids are abundant in nature, science and technology, with examples ranging from milk to quantum dots and the "colloidal atom" paradigm. Similarly, liquid crystal ordering is important in contexts ranging from biological membranes to laboratory models of cosmic strings and liquid crystal displays in consumer devices. Some of the most exciting recent developments in both of these soft matter fields emerge at their interface, in the fast-growing research arena of liquid crystal colloids. Mesoscale self-assembly in such systems may lead to artificial materials and structures with emergent physical behavior arising from patterning of molecular order and nano- or micro-particles into precisely controlled configurations. Liquid crystal colloids show an exceptional promise of new discovery that may impinge on the composite material fabrication, low-dimensional topology, photonics, and so on. Starting from physical underpinnings, I review the state of art in this fast-growing field, with a focus on its scientific and technological potential. Copyright © 2017, The Authors. All rights reserved.

关键词： Self assembly

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Search for non-standard neutrino interactions with the first six detection units of KM3NeT/ORCA

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Journal of Cosmology and Astroparticle Physics 2025年第2期2025卷 073-073页

作者： Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Alves Garre, S. Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Benfenati, F. Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Bertin, V. Biagi, S. Boettcher, M. Bonanno, D. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Martino, B. De Wasseige, G. Decoene, V. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gagliardini, S. Gal, T. García Méndez, J. Garcia Soto, A. Gatius Oliver, C. Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi Ibnsalih, W. Illuminati, G. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. Lamoureux, M. Larosa, G. Lastoria, C. Lazar, J. Lazo, A. Le Stum, S. Lehaut, G. Lemaître, V. Leonora, E. Lessing, N. Levi, G. Lindsey Clark, M. Longhitano, F. Magnani, F. Majumdar, J. Malerba, L. Mamedov, F. Manfreda, A. Marconi, M. Margiotta, A. Marinelli, A. Mar INFN Sezione di Catania INFN-CT Via Santa Sofia 64 Catania 95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 Strasbourg F-67000 France Department of Physics Khalifa University PO Box 127788 Abu Dhabi 0000 United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France IFIC-Instituto de Física Corpuscular CSIC Universitat de València c/Catedrático José Beltrán 2 Paterna Valencia 46980 Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy Dip. Scienze Fisiche “E. Pancini” Università di Napoli “Federico II” Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma 00185 Italy Universitat Politècnica de Catalunya Laboratori d'Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú 08800 Spain Subatech IMT Atlantique IN2P3-CNRS Nantes Université 4 rue Alfred Kastler — La Chantrerie BP Nantes 20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia 46730 Spain Université Paris Cité CNRS Astroparticule et Cosmologie Paris F-75013 France Università di Genova Via Dodecaneso 33 Genova 16146 Italy INFN Sezione di Genova Via Dodecaneso 33 Genova 16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen 14050 France Czech Technical University in Prague Institute of Experimental and Applied Physics Husova 240/5 Prague 110 00 Czech Republic Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava 842 48 Slovakia INFN Sezione di Bologna v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università di Bologna Dipartimento di Fisica e Astronomia v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università degli Studi della Campania “Luigi Vanvitelli” Dipartime

KM3NeT/ORCA is an underwater neutrino telescope under construction in the Mediterranean Sea. Its primary scientific goal is to measure the atmospheric neutrino oscillation parameters and to determine the neutrino mass ordering. ORCA can constrain the oscillation parameters Δm ²₃₁ and θ ₂₃ by reconstructing the arrival direction and energy of multi-GeV neutrinos crossing the Earth. Searches for deviations from the Standard Model of particle physics in the forward scattering of neutrinos inside Earth matter, produced by Non-Standard Interactions, can be conducted by investigating distortions of the standard oscillation pattern of neutrinos of all flavours. This work reports on the results of the search for non-standard neutrino interactions using the first six detection units of ORCA and 433 kton-years of exposure. No significant deviation from standard interactions was found in a sample of 5828 events reconstructed in the 1 GeV-1 TeV energy range. The flavour structure of the non-standard coupling was constrained at 90% confidence level to be |ϵ_μτ | ≤ 5.4 × 10^-3, |ϵ_eτ | ≤ 7.4 × 10^-2, |ϵ_eμ | ≤ 5.6 × 10^-2 and -0.015 ≤ ϵ_ττ - ϵ_μμ ≤ 0.017. The results are comparable to the current most stringent limits placed on the parameters by other experiments. © 2025 The Author(s)

关键词： neutrino experiments neutrino properties solar and atmospheric neutrinos

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HCVMultiscaleDyn: A simulator for the multiscale model of hepatitis C virus dynamics

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AIP Conference Proceedings 2018年第1期1978卷

作者： Alexander Churkin Vladimir Reinharz Harel Dahari Danny Barash 1Department of Software Engineering Shamoon College of Engineering Beer-Sheva Israel 2Department of Computer Science Ben-Gurion Universty Beer-Sheva Israel 3The Program for Experimental and Theoretical Modeling Division of Hepatology Department of Medicine Loyola University Medical Center Maywood Illinois USA

Multiscale mathematical models that incorporate both intracellular and extracellular hepatitis C virus (HCV) dynamics have been developed in recent years to study HCV-host dynamics and antivirals mode of action and efficacy. They were built upon the standard HCV dynamic model that keeps track of uninfected hepatocytes, HCV-infected hepatocytes, and free virus in blood (for each there is a differential equation), along with a fourth equation that considers the intracellular viral RNA (vRNA) dynamics in an infected cell. A multiscale model with vRNA dynamics consideration is substantially more difficult to solve and the governing differential equations are stiff. In one of the derived differential equations there is also an integral involving the vRNA that is more accurately computed by considering previous iterations, impeding the use of canned solvers. To solve this problem we have chosen to implement a stable and efficient numerical method that belongs to the family of adaptive stepsize methods and is implicit, the Rosenbrock method. We provide a user friendly simulator called HCVMultiscaleDyn with a Graphical User Interface that applies this method and is useful to simulate viral dynamics during antiviral treatment.

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First searches for dark matter with the KM3NeT neutrino telescopes

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Journal of Cosmology and Astroparticle Physics 2025年第3期2025卷 058-058页

作者： Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Alves Garre, S. Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Benfenati, F. Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Bertin, V. Biagi, S. Boettcher, M. Bonanno, D. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Martino, B. De Wasseige, G. Decoene, V. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gagliardini, S. Gal, T. García Méndez, J. Garcia Soto, A. Gatius Oliver, C. Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi Ibnsalih, W. Illuminati, G. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. Lamoureux, M. Larosa, G. Lastoria, C. Lazar, J. Lazo, A. Le Stum, S. Lehaut, G. Lemaître, V. Leonora, E. Lessing, N. Levi, G. Lindsey Clark, M. Longhitano, F. Magnani, F. Majumdar, J. Malerba, L. Mamedov, F. Manfreda, A. Marconi, M. Margiotta, A. Marinelli, A. Mar INFN Sezione di Catania (INFN-CT) Via Santa Sofia 64 Catania 95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 Strasbourg F-67000 France Khalifa University Department of Physics PO Box 127788 Abu Dhabi 0000 United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France IFIC Instituto de Física Corpuscular (CSIC — Universitat de València) c/Catedrático José Beltrán 2 Valencia Paterna 46980 Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy Università di Napoli “Federico II” Dip. Scienze Fisiche “E. Pancini” Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma 00185 Italy Universitat Politècnica de Catalunya Laboratori d'Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú 08800 Spain Subatech IMT Atlantique IN2P3 CNRS Nantes Université 4 rue Alfred Kastler — La Chantrerie Nantes BP 20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia 46730 Spain Université Paris Cité CNRS Astroparticule et Cosmologie Paris F-75013 France Università di Genova Via Dodecaneso 33 Genova 16146 Italy INFN Sezione di Genova Via Dodecaneso 33 Genova 16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen 14050 France Czech Technical University in Prague Institute of Experimental and Applied Physics Husova 240/5 Prague 110 00 Czech Republic Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava 842 48 Slovakia INFN Sezione di Bologna v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università di Bologna Dipartimento di Fisica e Astronomia v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università degli Studi della Campania “Luigi Vanvitelli” Dip

Indirect dark matter detection methods are used to observe the products of dark matter annihilations or decays originating from astrophysical objects where large amounts of dark matter are thought to accumulate. With neutrino telescopes, an excess of neutrinos is searched for in nearby dark matter reservoirs, such as the Sun and the Galactic Centre, which could potentially produce a sizeable flux of Standard Model particles. The KM3NeT infrastructure, currently under construction, comprises the ARCA and ORCA undersea Čerenkov neutrino detectors located at two different sites in the Mediterranean Sea, offshore of Italy and France, respectively. The two detector configurations are optimised for the detection of neutrinos of different energies, enabling the search for dark matter particles with masses ranging from a few GeV/c² to hundreds of TeV/c². In this work, searches for dark matter annihilations in the Galactic Centre and the Sun with data samples taken with the first configurations of both detectors are presented. No significant excess over the expected background was found in either of the two analyses. Limits on the velocity-averaged self-annihilation cross section of dark matter particles are computed for five different primary annihilation channels in the Galactic Centre. For the Sun, limits on the spin-dependent and spin-independent scattering cross sections of dark matter with nucleons are given for three annihilation channels. © 2025 The Author(s)

关键词： dark matter detectors neutrino astronomy neutrino detectors

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Author Correction: Observation of an ultra-high-energy cosmic neutrino with KM3NeT

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Nature 2025年第8057期640卷 E3页

作者： S. Aiello R. Bruno G. Ferrara E. Leonora F. Longhitano N. Randazzo A. Sinopoulou I. Tosta e Melo A. Albert D. Drouhin T. Pradier A. R. Alhebsi S. Thoudam A. van Vliet M. Alshamsi V. Bertin M. Breuhaus J. Brunner J. Busto L. Cerisy P. Coyle B. De Martino D. Dornic J.-G. Ducoin A. Enzenhöfer S. Henry D. Joly S. Lancelin S. Le Stum N. Lumb F. Magnani C. Paries M. Perrin-Terrin G. Vannoye S. Alves Garre A. Bariego-Quintana D. Calvo V. Cecchini A. Garcia Soto S. R. Gozzini J. J. Hernández-Rey A. Lazo N. Lessing J. Palacios González E. J. Pastor Gomez J. Prado D. Real A. Šaina F. Salesa Greus A. Sánchez Losa J. D. Zornoza J. Zúñiga A. Ambrosone M. Bendahman M. Benhassi C. Bozza R. M. Bozza R. Buompane A. Condorelli A. De Benedittis L. A. Fusco L. Gialanella W. Idrissi Ibnsalih A. Manfreda A. Marinelli F. Marzaioli S. Mastroianni G. Miele P. Migliozzi M. L. Mitsou C. M. Mollo L. Morales-Gallegos M. R. Musone V. Oliviero C. Poirè I. C. Rea A. Simonelli B. Spisso D. Vivolo F. Ameli A. Capone S. Celli I. Di Palma S. Gagliardini M. Mastrodicasa C. A. Nicolau A. Tudorache A. Veutro A. Zegarelli M. Andre M. Anghinolfi F. Badaracco B. Caiffi V. Ellajosyula C. Guidi V. Kulikovskiy L. Malerba M. Marconi B. Ó Fearraigh V. Parisi A. Romanov M. Sanguineti M. Taiuti S. Zavatarelli L. Aphecetche F. Bretaudeau R. Dallier V. Decoene L. Martin M. Ardid S. Ardid J. García Méndez C. A. Quiroz-Rangel C. Argüelles N. Kamp A. Y. Wen H. Atmani J. Boumaaza A. Eddymaoui Y. Tayalati J. Aublin B. Baret Y. Becherini T. Cartraud J. A. B. Coelho A. Coleiro S. Colonges A. Creusot C. Donzaud M. Eff S. El Hedri I. Goos P. Goswami A. Ilioni A. Kouchner M. Lindsey Clark E. Oukacha S. Peña Martínez R. Pestes A. Sharma B. Trocmé V. Van Elewyck C. Verilhac I. Lhenry-Yvon L. Bailly-Salins M. Bennani B. Guillon M. Labalme C. Lastoria G. Lehaut I. Mozun Mateo V. Pestel A. Vacheret Z. Bardačová E. Eckerová F. Mamedov Y. Shitov I. Štekl R. Dvornický F. Šimkovic F. Benfenati Gualandi F. Carenini P. Castaldi T. Chiarusi I. Del Rosso G. Levi A. Margiotta R. Muller INFN Sezione di Catania (INFN-CT) Catania Italy INFN Laboratori Nazionali del Sud (LNS) Catania Italy Dipartimento di Fisica e Astronomia “Ettore Majorana” Università di Catania (INFN-CT) Catania Italy Université de Strasbourg CNRS IPHC UMR 7178 Strasbourg France Université de Haute Alsace Mulhouse France Department of Physics Khalifa University Abu Dhabi United Arab Emirates Aix Marseille Université CNRS/IN2P3 CPPM Marseille France IFIC - Instituto de Física Corpuscular (CSIC - Universitat de València) Paterna Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Napoli Italy Università di Napoli “Federico II” Dip. Scienze Fisiche “E. Pancini” Complesso Universitario di Monte S. Angelo Napoli Italy Dipartimento di Matematica e Fisica Università degli Studi della Campania “Luigi Vanvitelli” Caserta Italy Dipartimento di Fisica Università di Salerno e INFN Gruppo Collegato di Salerno Fisciano Italy INFN Sezione di Roma Roma Italy Dipartimento di Fisica Università La Sapienza Roma Italy Laboratori d’Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Universitat Politècnica de Catalunya Vilanova i la Geltrú Spain INFN Sezione di Genova Genova Italy Università di Genova Genova Italy LPC CAEN Normandie Université ENSICAEN UNICAEN CNRS/IN2P3 Caen France Subatech IMT Atlantique IN2P3-CNRS Nantes Université Nantes France Instituto de Investigación para la Gestión Integrada de las Zonas Costeras Universitat Politècnica de València Gandia Spain Department of Physics Harvard University Cambridge MA USA Laboratory for Particle Physics and Cosmology Lyman Laboratory Harvard University Cambridge MA USA Faculty of Sciences University Mohammed V in Rabat Rabat Morocco Institute of Applied Physics Mohammed VI Polytechnic University Ben Guerir Morocco Astroparticule et Cosmologie Université Paris Cité CNRS Paris France Institut Universitaire de France Paris France Institute of Experimental and Applied Physics

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A novel extended potential field controller for use on aerial robots

A novel extended potential field controller for use on aeria...

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2016 IEEE International Conference on Automation science and engineering, CASE 2016

作者： Woods, Alexander C. Lay, Hung M. Ha, Quang P. Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada RenoNV89557 United States School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024094

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller. © 2016 IEEE.

关键词： Controllers

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