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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

The Rayleigh-Bénard physical model generates well-defined optical turbulence. We demonstrate its characterization and use in various experimental studies, including phase retrieval, structured light, and optical ...

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Machine Learning-Based Underwater Communication System Using Light Carrying Orbital Angular Momentum

Machine Learning-Based Underwater Communication System Using...

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Conference on Lasers and Electro-Optics (CLEO)

作者： William A. Jarrett Svetlana Avramov-Zamurovic Joel M. Esposito Charles Nelson Weapons Robotics and Control Engineering Department United States Naval Academy Electrical and Computer Engineering Department United States Naval Academy Annapolis Maryland USA

An underwater communication system using light carrying orbital angular momentum is evaluated using a convolutional neural network through simulated and experimental thermally-generated underwater optical turbulence. ... 详细信息

ISBN: (数字)9781957171050

ISBN: (纸本)9781665466660

关键词： Underwater communication Optical computing Optical fiber networks Lasers and electrooptics Orbits Convolutional neural networks Electrooptical waveguides

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Performance Evaluation of Beams Carrying Orbital Angular Momentum in Optical Turbulence in Rayleigh-Bénard Underwater Convection

Performance Evaluation of Beams Carrying Orbital Angular Mom...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. O’Malley, Owen Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We compare the propagation of a Gaussian beam to the beams that carry OAM in moderate and strong underwater optical turbulence created by Rayleigh Bénard convection. Analysis focuses on scintillation index and fr... 详细信息

关键词： Gaussian beams

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Comparative Analysis of Different Sliding Mode control Approaches for Load Frequency control in Edge of the Grid System

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IET Generation, Transmission and Distribution 2025年第1期19卷

作者： Aich, Pritom Ahmed, Anis Shah, Rakibuzzaman Islam, Md Rabiul Roy, Naruttam Kumar Nasir, Ali Department of Electrical and Electronic Engineering Daffodil International University Dhaka Bangladesh Department of Electrical and Electronic Engineering Khulna University of Engineering & Technology Khulna Bangladesh Federation University Australia Mt HelenVIC Australia School of Electrical Computer and Telecommunications Engineering University of Wollongong WollongongNSW Australia Control and Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

The integration of renewable energy sources (RESs) at the edge of the grid plays a contributory role in advancing the transition to a sustainable energy future. However, this transition introduces significant variability, which challenges the maintenance of frequency stability in power systems. To address the impacts of RES variability, various robust control strategies have been developed. This paper compares the performance of different advanced sliding mode control (SMC) approaches, i.e., super twisting (ST) algorithm-based second order sliding mode control (STSOSMC), second order sliding mode control (SOSMC), double integral sliding mode control (DISMC) and integral sliding mode control (ISMC) with conventional sliding mode control (SMC) for load frequency control with stochastic RESs such as biogas generators (BG) and wind-based doubly fed induction generators (DFIG). The impact of the advanced sliding mode controllers on the voltage and rotor angle stability of the system is also explored. The efficacy of the controllers is tested under different load disturbances, considering nonlinearities such as communication delay (CD), sensor inaccuracy (SI), governor dead band (GDB), and generation rate constraint (GRC). The results demonstrate that STSOSMC achieves superior frequency regulation with minimal chattering and outperforms other controllers in terms of settling time, overshooting, and undershooting in frequency deviation. The result also demonstrates the effectiveness of STSOSMC in managing the variability and disturbances of RESs. Therefore, it could be considered the most robust control mechanism from the edge of the grid system with high penetration of RESs. © 2025 The Author(s). IET Generation, Transmission & Distribution published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Robust control

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xie, Yuhui Zhao, Wentao Wang, Jiahao Wang, Jingchuan Chen, Weidong Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy. © 2022 IEEE.

关键词： Optical radar

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Enhancing Human-Drone Interaction with Human-Meaningful Visual Feedback and Shared-control Strategies

Enhancing Human-Drone Interaction with Human-Meaningful Visu...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Riccardo Franceschini Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Barcelona Spain Department of Electrical Engineering Automation and Control Group Danish Technical University Lyngby Denmark

Recent developments in the capabilities of unmanned aerial vehicles (UAVs) have made them suitable for use in various industrial settings. Their ability to access difficult and remote locations, as well as providing remote manipulation and visual inspection capabilities, make them valuable for various industrial applications. However, operating UAVs can be challenging, particularly in cluttered environments. This research aims to enhance the teleoperation experience by providing human-meaningful information on the remote user interface, thereby improving the operator’s situational awareness. Shared autonomy routines utilizing the previously collected information are also developed to further assist the operator with challenging control tasks. The proposed system has been tested in simulated environments and on actual hardware.

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Enhanced Obstacle Detection in Autonomous Vehicles using 3D LiDAR Mapping Techniques

Enhanced Obstacle Detection in Autonomous Vehicles using 3D ...

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Muhammed Enes Tokgöz Abdullah Yusefi İbrahim Toy Akif Durdu Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

In this study, a method utilizing a 3D LiDAR(Light Detection and Ranging) sensor for mapping and obstacle detection in autonomous vehicles has been developed. The LiDAR sensor employs laser beams to detect the positions and distances of surrounding objects. Data from the LiDAR were processed to generate 2D maps from the 3D point cloud. During this process, obstacles within the vehicle's navigable height range, as well as those that wouldn't impede its movement were identified. Using a filtering method, points outside of these obstacles were removed to create a map. In experimental studies, it was observed that the developed method can accurately detect challenging obstacles such as fences made of thin wires. Consequently, it is evident that this method holds the potential to offer more reliable and safe obstacle detection for autonomous vehicles.

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Mechanical Characterization Analysis of Kirigami Structure for Soft Robotic Design

Mechanical Characterization Analysis of Kirigami Structure f...

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Automation, control and robotics engineering (CACRE), International Conference on

作者： Muhammad Niaz Khan Amin Lotfiani Umair Javaid Zhufeng Shao Department of Mechanical Engineering State Key Laboratory of Tribology Institute of Manufacturing Engineering Tsinghua University Department of Mechanical Engineering Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing China Faculty of Engineering Technology University of Twente Enschede Netherland Robotics Institute Ningbo University of Technology Ningbo China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

This paper provides a detailed mechanical characterization and stress analysis of kirigami sheets across various structural configurations, highlighting their potential applications in soft robotics. The study examines linear, circular, triangular, and trapezoidal kirigami patterns through finite element simulations, complemented by experimental validation. Deformation parameters are systematically applied to both single and multiple units of kirigami sheets to assess their capacity for mechanical elongation and load sustainability. Additionally, friction analyses are discussed via simulation to explore the anchoring effects of these kirigami structures when applied to soft robots. The results of this study enhance our understanding of the mechanical properties of kirigami structures and their practical implications for soft robotics design.

关键词： Automation Deformation Friction Soft robotics Finite element analysis Sustainable development Stress

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Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Fethi Ouerdane Muhammad Faizan Mysorewala Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This study presents a novel approach for testing visual servoing on 3 DOF UAVs (Unmanned aerial vehicles) in an indoor environment with no GPS by employing a combination of a physical 3 DOF and simulating the rest of degrees, 2 D markers are used to store instructions to previously known coordinates in the environment. Low-cost UAV hardware with an onboard camera can extract the task information from such markers without needing a ground station computer and continuous marker detection to follow a particular desired trajectory. Such a goal is achieved through the presence of markers, such as QR (Quick Response) codes, at selected locations, controlling the UAV motion to read and extract the stored information in the code, and controlling various states of UAV to fulfill the desired motion of moving through the site. This solution combines simulation and physical testing such that final algorithm can be applied on 6 DOF UAVs for asset monitoring and inspection in indoor environments, and non-experts can modify the vehicle’s path by providing the QR codes. Experimental results for the centering of UAV for accurate QR code reading using PID (Proportional-Integral-Derivative) controller and LQR (Linear Quadratic Regulator) algorithm for attitude control are tested on Quanser’s 3DOF hover quadcopter in LabVIEW environment. Furthermore, hardware-in-the-loop simulation tests are performed to simulate the control of the linear motion of the UAV. The results achieved so far are promising and give ample encouragement to test and evaluate the technique on a 6-DOF UAV.

关键词： Tracking 3-DOF QR codes Autonomous aerial vehicles Cameras Visual servoing 6-DOF

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Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gaussian Beams that Carry OAM

Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gau...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： O’Malley, Owen Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We estimate the phase of laser beams using the Gerchberg-Saxton algorithm after propagation through experimental and simulated optical turbulence. Synchronous pupil-plane and focal-plane intensities of Gaussian and La... 详细信息

关键词： Laser beams

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