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AIAA Guidance, Navigation, and control Conference, 2016

作者： Perez, Andres E. Moncayo, Hever Prazenica, Richard J. Zacny, Kris Mueller, Robert P. Ebert, Tom Dupuis, Michael Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Aerospace Engineering Department Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Exploration Technology Group Honneybee Robotics Company CA United States Exploration Research and Technology Programs Science and Technology Projects Division NASA Kennedy Space Center FL United States Autonomous Flight Systems Lead Testing and Design Branch NASA Kennedy Space Center FL United States Robotics and Autonomous Systems Testing and Design Branch NASA Kennedy Space Center FL United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

In situ Resource Utilization (ISRU) facilitates planetary exploration by drawing needed resources, such as water, from the local environment. However, the extreme nature of these environments require the development of advanced unmanned space systems integrated with sample-capture devices to achieve the ultimate goal of prospecting these resources. This paper presents the design, development and Hardware-in-the-Loop (HIL) simulation testing of guidance and tracking control laws for an autonomous small marsupial free-flyer prospector system. The control laws are based on an extended non-linear dynamic inversion (NLDI) approach and its implementation is illustrated through HIL simulation using a mathematical model of an autonomous vehicle research platform developed by NASA Kennedy Space Center. This vehicle has been designed to support the development, testing and validation of algorithms for safe, reliable, and scalable control space missions with minimal need for human intervention in complex, unstructured environments. The main objective of the control laws is to minimize 3-axis distances with respect to a desired trajectory and maintain stability and adequate performance in the presence of uncertainties. The performance of the control laws is evaluated during autonomous flight in terms of trajectory tracking errors, real-time execution on board the flight computer, and control activity at nominal and dynamically-changing conditions. The results show that for all mission cases investigated the control laws approach has desirable capabilities and is reliable for in-flight testing operation as a next step towards the validation and verification of this configuration. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hardware-in-the-loop simulation

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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Nadzoru: A Software Tool for Supervisory control of Discrete Event Systems

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IFAC-PapersOnLine 2015年第7期48卷 182-187页

作者： Pinheiro, Lucas Preischadt Lopes, Yuri Kaszubowski Leal, André Bittencourt Rosso Junior, Roberto Silvio Ubertino Department of Computer Science Santa Catarina State University Joinville-SC Brazil Department of Automatic Control and Systems Engineering Sheffield Robotics University of Sheffield Sheffield South Yorkshire United Kingdom Department of Electrical Engineering Santa Catarina State University Joinville-SC Brazil

This article presents a software tool for the synthesis of supervisory control based on untimed finite state automata. The tool has a friendly graphical interface for the creation of models and, among other features, allows: automata simulation;analysis of problems related to the implementation of the control logic;and code generation for multiple devices. The code generation is based on a template system that allows the easy inclusion of support for new devices. Currently the tool is able to generate code for some microcontrollers and programmable logic controllers. Another feature of the tool is the capability of being easily extended with new algorithms and modules. © 2015

关键词： Discrete event simulation

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Individual-phase reactive power control strategy with constant DC-capacitor voltage control for active load balancer on three-phase four-wire distribution feeders 7

Individual-phase reactive power control strategy with consta...

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7th Annual IEEE Energy Conversion Congress and Exposition, ECCE 2015

作者： Hisada, Yoshihiro Wint, Su Hlaing Yamada, Hiroaki Tanaka, Toshihiko Okamoto, Masayuki Lee, Seong Ryong Department of Electrical and Electronic Engineering Yamaguchi University Ube Japan Department of Electrical Engineering National Institute of Technology Ube College Ube Japan Department of Control And Robotics Engineering Kunsan National University Kunsan Korea Republic of

ISBN: (纸本)9781467371506

This paper proposes an individual-phase reactive power control strategy for an active load balancer (ALB) in three-phase four-wire distribution systems. The authors offer the simplest method to control different amounts of individual-phase reactive power for each phase on three-phase four-wire distribution feeders. The basic principle of the proposed power factor adjustable reactive power control strategy is discussed in detail. Simulation and experimental results demonstrate that the amount of individual-phase reactive power can be controlled with the balanced active source-current conditions on three-phase four-wire distribution feeders with the proposed individual-phase reactive power control strategy. © 2015 IEEE.

关键词： Reactive power

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Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements

Pose estimation of a rigid body and its supporting moving pl...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yizhai Zhang Kehao Song Jingang Yi Zhansheng Duan Quan Pan Panfeng Huang Research Center of Intelligent Robotics Northwestern Polytechnical University Xi'an Shaanxi China Department of Control and Information Key Laboratory of Information Fusion Technology (LIFT) Xi'an Shaanxi China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ USA Department of Automation Xi'an Jiaotong University Xi'an Shaanxi China

We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.

关键词： Pose estimation Kinematics Gyroscopes Magnetic sensors Mathematical model

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Remote emergency stop system to improve safety of automated driving vehicle

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Journal of Institute of control, robotics and Systems 2015年第3期21卷 194-198页

作者： Ryoo, Young-Jae Department of Control Engineering and Robotics Mokpo National University Korea Republic of

In this paper, a remote emergency stop system to improve the safety of an automated driving vehicle is proposed. One of the most serious problems of the previous wireless remote emergency system is that it does not work when the wireless channel is damaged in case of an emergency because it is composed of a single communication channel. Therefore, the proposed remote emergency stop system composed of a portable wireless remote system and a stationary wireless remote system is designed and the remote emergency stop system for automated driving vehicles is developed. By applying it to an automated driving vehicle to check it's performance, the wireless remote system is tested. Emergency stops using the portable wireless remote system is tested when the stationary wireless remote system is disconnected. Also, emergency stops using the stationary wireless remote system are tested when the portable wireless remote system is disconnected. The results of the emergency stop test show a satisfactory performance. © ICROS 2015.

关键词： Vehicles

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A continuous second-order sliding mode guidance against highly maneuverable targets 54

A continuous second-order sliding mode guidance against high...

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54th Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2015

作者： Yongkun, Wang Zhongxin, Liu Mingwei, Sun Zengqiang, Chen Department of Automation Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin300071 China

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer (ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target. © 2015 The Society of Instrument and control Engineers-SICE.

关键词： Lyapunov methods

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Propagation of I0-Bessel correlated beams carrying orbital angular momentum in weak atmospheric turbulence

Propagation of I0-Bessel correlated beams carrying orbital a...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2019

作者： Avramov-Zamurovic, Svetlana Nelson, Charles Korotkova, Olga Hyde, Milo Weapons Robotics and Control Engineering Department United States Naval Academy United States Computer Engineering Department United States Naval Academy United States Physics Department University of Miami United States Air Force Institute of Technology Department of Electrical and Computer Engineering United States

ISBN: (纸本)9781943580637

The scintillation index of the I0-Bessel-correlated beams generated as temporally incoherent superposition of Laguerre-Gaussian modes with different coherence states and different values of the Orbital Angular Momentum (OAM) index on propagation in atmospheric turbulence is reported. The scintillation index is shown to decrease with the increase in the OAM index. © 2015 Optics InfoBase Conference Papers. All rights reserved.

关键词： Atmospheric turbulence

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Design and analysis of a rotational leg-type miniature robot with an actuated middle joint and a tail (RoMiRAMT)

Design and analysis of a rotational leg-type miniature robot...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Bokeon Kwak Joonbum Bae Department of Mechanical Engineering Bio-Robotics and Control (BiRC) Laboratory Ulsan Korea

In this paper, a rotational leg-type miniature robot with an actuated middle joint and tail, called RoMiRAMT, is proposed for stable locomotion and improved climbing ability. The robot has four independently actuated rotational legs, giving it advantages of both wheel-type and leg-type locomotion. The design parameters of the rotational legs were determined by 3D simulation within the properly selected candidates. It also has unique characteristics inspired by biological structures: a spine and a tail. An actuated middle joint allows the frontal body to be lifted or lowered, which was inspired by a spine, to climb higher obstacles. Additionally, a multi-functional two degrees of freedom (2-DOF) tail was added;the tail provides instant deceleration, and minimized the likelihood of flipping, while allowing the robot to climb higher obstacles. A microcontroller was embedded in the robot, along with a micro-camera and an inertia measurement unit (IMU) sensor. By controlling the robot using the yaw angle signal measured by the IMU sensor, straight movement was enhanced. The body size of the RoMiRAMT is 155 × 80 mm without the rotational legs, and the weight is 593 g including batteries. The maximum velocity of the robot was 2.58 m/s (16.65 body lengths per second) and the maximum height of an obstacle that the robot can climb was 95 mm, which all were verified by experiments.

关键词： Legged locomotion Wheels Foot Robot sensing systems Vibrations

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