This paper investigates the straight path following control problem for snake robots without any prior model knowledge.A data-driven model predictive control(MPC) scheme is designed based on a data-driven Koopman mode...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
This paper investigates the straight path following control problem for snake robots without any prior model knowledge.A data-driven model predictive control(MPC) scheme is designed based on a data-driven Koopman model and an extended state observer(ESO).Firstly,this paper establishes a data-driven model for heading control of the snake robot based on Koopman operator *** Koopman operator enables global linear representations of nonlinear dynamical systems in a high-dimensional ***,a MPC is designed based on the high-dimensional linear Koopman model,which can solve the optimal control input that satisfies the constraints in ***,the model uncertainty is estimated by ESO and compensated in the controller,which improves the robustness of the ***,the effectiveness and superiority of the proposed controller are verified by simulations.
Electric Vehicle (EV) charging management under the Smart Grid (SG) framework with incorporated Renewable Energy Sources (RESs) functions to advance Energy Management (EM). The operational cost of EV charging varies b...
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Recently, there has been a significant advancement in text-to-image diffusion models, leading to groundbreaking performance in 2D image generation. These advancements have been extended to 3D models, enabling the gene...
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The study investigates hot cracking susceptibility in AA7075 aluminum alloy weldments using the Houldcraft test methodology. The experimental approach involves TIG welding with ER4043 filler material under varying wel...
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The study investigates hot cracking susceptibility in AA7075 aluminum alloy weldments using the Houldcraft test methodology. The experimental approach involves TIG welding with ER4043 filler material under varying welding parameters (current: 105–145 A, voltage: 16–20 V). Liquid penetrant testing, X-ray examination, microstructural analysis, hardness measurements, and corrosion resistance evaluation using potentiodynamic polarization tests in different environments (H2SO4, NaCl and HCl) were carried out. The microhardness evaluation revealed distinct variations across different weld zones, with fusion zone exhibiting the highest hardness value of 158±5 HV, followed by the heat affected zone at 138±4 HV, while the base metal showed a hardness of 118±8 HV. The corrosion behavior analysis through potentiodynamic polarization tests revealed varying corrosion potentials in different media: −0.54 V in H2SO4, −0.62 V in HCl, and −0.90 V in NaCl. Additionally, the corrosion current densities (log icorr) were found to be −5.8 A/cm2 in H2SO4, −6.2 A/cm2 in HCl, and −6.8 A/cm2 in NaCl.
This research covers the implementation of SLAM (Simultaneous Localization and Mapping) with Ouster OS0 LiDAR (Light Detection and Ranging) sensor in the Robot Operating System (ROS1) Noetic. Using the high-frequency ...
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The efficient charging of electric vehicles (EVs) remains essential to create sustainable mobility while EVs transform into crucial elements of upcoming transportation systems. The present EV charging navigation syste...
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A356 composites with alumina and molybdenum disulfide nanoparticles are a distinct category of engineered materials developed for tribological use. This evolution has led to an attempt to investigate the microstructur...
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The dynamic models of parallel robots are more complicated due to the highly coupled kinematic chains compared with those of their counterparts-serial robot. The approximate dynamic models can be considered if the ana...
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The extensive incorporation of machine vision into the fields of robotics and automation in a variety of different ways. The various uses of machine vision and the revolutionary impact it has on the capabilities of ro...
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In this article, the corrosion and tensile strength characteristics of Friction-stir-Welding(FSW) of AA7075 and AA2014 have been investigated. These Aluminium alloy materials have widely been used in making automotive...
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