检索结果-内蒙古大学图书馆

A Robust Observer with Gyroscopic Bias Correction for Rotational Dynamics

IFAC-PapersOnLine 2023年第2期56卷 1641-1648页

作者： Erjen Lefeber Marcus Greiff Anders Robertsson Dept. of Mech. Engineering Eindhoven University of Technology Eindhoven The Netherlands Department of Automatic Control Lund University Lund Sweden Mitsubishi Electric Research Laboratories Cambridge MA U.S.A.

We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential stability of the resulting error dynamics, implying robustness against bounded disturbances. This robustness is quantified with respect to a popular nonlinear complementary filter in quantitative simulation studies, and we explore how the measurement noise propagates to the asymptotic errors as a function of tuning.

关键词： Nonlinear observers and filter design Lyapunov methods UAVs

来源：评论

学校读者我要写书评

暂无评论

The Goldilocks Framework: Towards Selecting the Optimal Approach to Conducting AI Projects 22

The Goldilocks Framework: Towards Selecting the Optimal Appr...

引用

1st International Conference on AI engineering - Software engineering for AI, CAIN 2022

作者： Dzhusupova, Rimman Bosch, Jan Olsson, Helena Holmstrom Control & Safety Systems McDermott Dept. of Electrical & Instrumentation The Hague Netherlands Chalmers University of Technology Department of Computer Science and Engineering Gothenburg Sweden Malmö University Department of Computer Science and Media Technology Malmö Sweden

ISBN: (纸本)9781450392754

Artificial intelligence is increasingly becoming important to businesses since many companies have realized the benefits of applying Machine Learning (ML) and Deep Learning (DL) into their operations. Nevertheless, ML/DL technologies' industrial development and deployment examples are still rare and generally confined within a small cluster of large international companies who are struggling to apply ML more broadly and deploy their use cases at a large scale. Meanwhile, current AI market has started offering various solutions and services. Thus, organizations must understand how to acquire AI technology based on their business strategy and available resources. This paper discusses the industrial experience of developing and deploying ML/DL use cases to support organizations in their transformation towards AI. We identify how various factors, like cost, schedule, and intellectual property, can be affected by the choice of approach towards ML/DL project development and deployment within large international engineering corporations. As a research result, we present a framework that covers the trade-offs between those various factors and can support engineering companies to choose the best approach based on their long-term business strategies and, therefore, would help to accomplish their ML/DL project deployment successfully. © 2022 ACM.

关键词： Commerce

来源：评论

学校读者我要写书评

暂无评论

Trust Region Policy Optimization with Optimal Transport Discrepancies: Duality and Algorithm for Continuous Actions

arXiv

引用

arXiv 2022年

作者： Terpin, Antonio Lanzetti, Nicolas Yardim, Batuhan Dörfler, Florian Ramponi, Giorgia Automatic Control Laboratory ETH Zürich Switzerland Dept. of Computer Science ETH Zürich Switzerland Dept. of Computer Science ETH AI Center Switzerland

Policy Optimization (PO) algorithms have been proven particularly suited to handle the high-dimensionality of real-world continuous control tasks. In this context, Trust Region Policy Optimization methods represent a popular approach to stabilize the policy updates. These usually rely on the Kullback-Leibler (KL) divergence to limit the change in the policy. The Wasserstein distance represents a natural alternative, in place of the KL divergence, to define trust regions or to regularize the objective function. However, state-of-the-art works either resort to its approximations or do not provide an algorithm for continuous state-action spaces, reducing the applicability of the method. In this paper, we explore optimal transport discrepancies (which include the Wasserstein distance) to define trust regions, and we propose a novel algorithm – Optimal Transport Trust Region Policy Optimization (OT-TRPO) – for continuous state-action spaces. We circumvent the infinite-dimensional optimization problem for PO by providing a one-dimensional dual reformulation for which strong duality holds. We then analytically derive the optimal policy update given the solution of the dual problem. This way, we bypass the computation of optimal transport costs and of optimal transport maps, which we implicitly characterize by solving the dual formulation. Finally, we provide an experimental evaluation of our approach across various control tasks. Our results show that optimal transport discrepancies can offer an advantage over state-of-the-art approaches. Copyright © 2022, The Authors. All rights reserved.

关键词： Approximation algorithms

来源：评论

学校读者我要写书评

暂无评论

Physics-Informed Neural Networks: A Step Towards Data-Driven Optimization of Additive Manufacturing

Physics-Informed Neural Networks: A Step Towards Data-Driven...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Fabio Depaoli Stefano Felicioni Francesco Ponzio Alessandro Aliberti Enrico Macii Federica Bondioli Elisa Padovano Santa Di Cataldo Dept. of Control and Computer Engineering Politecnico di Torino Italy Dept. of Applied Science and Technology Politecnico di Torino Italy Interuniv. Dept. of Reg. and Urban Studies and Planning Politecnico di Torino Italy

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

Laser powder bed fusion (L-PBF) is the most popular Additive Manufacturing (AM) process for metals. It builds a 3D object layer-by-layer, by spreading metal powder on top of the previous layer and selectively melting it with a laser. Despite its many advantages, large-scale production may be hampered by the large number of process parameters and the challenges associated with their optimization. We propose an automated parameter selection approach based on process signatures extracted from a parameterized simulation of the process. Specifically, we outline a rapid data-driven simulation method based on Physics-Informed Neural Network (PINN). This approach involves training a neural network to solve the partial differential equation describing the process at varying values of a parameter of interest (for example, the laser power), thus eliminating the need for repeated Finite Elements Method (FEM) simulations. Our preliminary experiments demonstrate the feasibility of our approach.

关键词： Training Powders Three-dimensional displays Neural networks Metals Production Three-dimensional printing Finite element analysis Laser fusion Optimization

来源：评论

学校读者我要写书评

暂无评论

Towards More Human-like AI Communication: A Review of Emergent Communication Research

arXiv

引用

arXiv 2023年

作者： Brandizzi, Nicolo' Dept. of Computer Control and Management Engineering Sapienza University of Rome via Ariosto 25 Rome00185 Italy

In the recent shift towards human-centric AI, the need for machines to accurately use natural language has become increasingly important. While a common approach to achieve this is to train large language models, this method presents a form of learning misalignment where the model may not capture the underlying structure and reasoning humans employ in using natural language, potentially leading to unexpected or unreliable behavior. Emergent communication (EmCom) is a field of research that has seen a growing number of publications in recent years, aiming to develop artificial agents capable of using natural language in a way that goes beyond simple discriminative tasks and can effectively communicate and learn new concepts. In this review, we present EmCom under two aspects. Firstly, we delineate all the common proprieties we find across the literature and how they relate to human interactions. Secondly, we identify two subcategories and highlight their characteristics and open challenges. We encourage researchers to work together by demonstrating that different methods can be viewed as diverse solutions to a common problem and emphasize the importance of including diverse perspectives and expertise in the field. We believe a deeper understanding of human communication is crucial to developing machines that can accurately use natural language in human-machine interactions. © 2023, CC BY.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Targeting different defect-oriented fault models in IC testing: an experimental approach

Targeting different defect-oriented fault models in IC testi...

引用

Euromicro Symposium on Digital System Design

作者： N. Mirabella A. Floridia R. Cantoro M. Grosso M. Sonza Reorda STMicroelearonics s.r.l. Italy Dept. of Control and Computer Engineering Politecnico di Torino Italy

In the field of integrated circuit (IC) testing, the detection of defects is crucial to ensure the reliability and functionality of the final product. Among the variety of fault models that can be used to target the many possible defects in a circuit, delay faults (transition and path delay) have been used for many years. Lately, cell-aware testing (CAT) has been introduced as a different approach that aims to improve the detection of internal defects of standard cells: it involves using specific patterns to detect faults that could not be detected by common fault models (e.g., stuck-at and transition delay fault models). Both delay and cell-aware faults can be caused by several factors, such as manufacturing defects, environmental conditions, and aging effects. In this paper, we investigate the application of test patterns generated with the transition and path delay fault models in comparison with others developed with the cell-aware approach, in terms of fault coverage, pattern count and test generation time. Overall, the study shows that the combination of the path delay fault model and cell-aware testing can lead to improved fault coverage and lower test. The experimental results are presented over a wide range of open-source benchmarks and on a RISC-V design using a proprietary industrial technology library.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Precise Orbit Determination on LEO Satellite using Pseudorange and Pseudorange-Rate Measurements

Precise Orbit Determination on LEO Satellite using Pseudoran...

引用

Mediterranean Conference on control and Automation (MED)

作者： Andrea Tantucci Andrea Wrona Antonio Pietrabissa Dept. of Computer Control and Management Engineering “Antonio Ruberti” - (DIAG) University of Rome “La Sapienza” Rome Italy

Nowadays, along with the trend of developing highly autonomous satellites, there is a strong motivation to improve real-time Precise Orbit Determination (POD), in particular for Low Earth Orbit (LEO) satellites. The development of Global Navigation Satellite System (GNSS) sensors allows to obtain low-noise measurements and provide a satellite with autonomous continuous tracking onboard. Following the deactivation of Selective Availability, a representative real-time positioning accuracy of 10 m is presently achieved by means of Global Positioning System (GPS) receivers on LEO satellites. The introduction of dynamical filtering methods has opened a new way to improve this accuracy by making use of measurements such as pseudorange or carrier-phase. This paper presents a Kalman filtering approach using pseudorange and pseudorange-rate measurements instead of pseudorange and carrier-phase ones, with advantages in terms of storage and processing requirements. An error of around 0.2 m and 1e-3 m/s for position and velocity is obtained, which is in line if not better w.r.t. other approaches.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The Continuous-Time Weighted-Median Opinion Dynamics

arXiv

引用

arXiv 2024年

作者： Han, Yi Chen, Ge Dörfler, Florian Mei, Wenjun Dept. of Mechanics and Engineering Science Peking University Beijing China Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China Automatic Control Laboratory ETH Zurich Zurich Switzerland

Opinion dynamics models are important in understanding and predicting opinion formation processes within social groups. Although the weighted-averaging opinion-update mechanism is widely adopted as the micro-foundation of opinion dynamics, it bears a non-negligibly unrealistic implication: opinion attractiveness increases with opinion distance. Recently, the weighted-median mechanism has been proposed as a new microscopic mechanism of opinion exchange. Numerous advancements have been achieved regarding this new micro-foundation, from theoretical analysis to empirical validation, in a discretetime asynchronous setup. However, the original discrete-time weighted-median model does not allow for "compromise behavior" in opinion exchanges, i.e., no intermediate opinions are created between disagreeing agents. To resolve this problem, this paper propose a novel continuous-time weighted-median opinion dynamics model, in which agents' opinions move towards the weighted-medians of their out-neighbors' opinions. It turns out that the proof methods for the original discrete-time asynchronous model are no longer applicable to the analysis of the continuous-time model. In this paper, we first establish the existence and uniqueness of the solution to the continuoustime weighted-median opinion dynamics by showing that the weighted-median mapping is contractive on any graph. We also characterize the set of all the equilibria. Then, by leveraging a new LaSalle invariance principle argument, we prove the convergence of the continuous-time weighted-median model for any initial condition and derive a necessary and sufficient condition for the convergence to *** Codes 91D30(Primary) 93A16(Secondary) Copyright © 2024, The Authors. All rights reserved.

关键词： Dynamics

来源：评论

学校读者我要写书评

暂无评论

Lightweight Direct Memory Access on FPGA Using AXI Protocol

Lightweight Direct Memory Access on FPGA Using AXI Protocol

引用

computer Science, computer engineering, & Applied Computing (CSCE), Congress in

作者： Adam Kidwell Matthew P. Horvath Darrin Hanna Bryant Jones Dept. of Electrical and Computer Engineering Oakland University Rochester Hills MI Intrepid Control Systems Troy MI

This paper presents a lightweight AXI DMA controller architecture useful for embedded systems that do not require fully featured DMA controllers. Simulation is accomplished with VUnit, and implementation results are obtained on a Xilinx XC7Z010CLG400-1 FPGA. When compared with Xilinx's AXI DMA controller with the same configuration, the presented controller utilizes between 16 and 82% fewer resources with comparable speed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Methods of Pulse Width Modulation in Cascaded High Voltage Frequency Converters 3

Methods of Pulse Width Modulation in Cascaded High Voltage F...

引用

3rd IEEE KhPI Week on Advanced Technology, KhPI Week 2022

作者： Busher, Victor Chornyi, Oleksii Tytiuk, Valerii Glazeva, Oksana Rozlutskyi, Oleksandr Kuznetsov, Vitaliy National University 'Odessa Maritime Academy' Dept. of Electrical Engineering and Electronics Odessa Ukraine Institute of Electromechanics National University Energy Saving and Automatic Control Systems Kremenchuk Mykhailo Ostrohradskyi Kremenchuk Ukraine Kryvyi Rih National University Kryvyi Rih Ukraine Ukrainian State University of Science and Technologies Dept. of the Electrical Engineering Dnipro Ukraine

ISBN: (数字)9798350399202

ISBN: (纸本)9798350399202

Purpose. The aim of this work is to compare the effectiveness of various methods for correcting cell failures in cascade high voltage frequency converters. These methods provide the smallest voltage drop on the motor, the least loads and oscillation of electromagnetic torque in an accident modes, and evaluate the effectiveness of pulse width modulation (PWM) methods with the injection of third harmonic and space-vector PWM in normal and emergency modes. Methodology. We use mathematical and geometrical interpretation of all analysed methods - Sinusoidal PWM (SPWM), Balanced sinusoidal PWM (BSPWM), Balanced PWM with injected 3rd harmonic (THPWM) and Balanced Space Vector PWM (SVPWM). Results. The method of balancing the phase-to-phase voltages by to such a shift of the zero point and rotation of the phase vectors, in which the amplitude of the phase-to-phase voltage decreases to the minimum possible value. Injection of the 3rd harmonic allows you to further increase the utilisation factor of power supplies in terms of voltage. But the violation of the symmetry of the phase voltages leads to the need to reduce the voltage amplitude to exclude saturation of the power supplies, which reduces this coefficient compared to the theoretically possible 15.6%. A distinctive feature of the method of balanced Space Vector PWM is that the amplitude of the 1st harmonic is always greater than the radius of the circle by 15.6%. Comparison of methods of space vector PWM (SVPWM), balancing of phase-to-phase voltage with the injection of the 3rd harmonic (THPWM) with sinusoidal PWM shows that SVPWM is the best method. Despite the more complex mathematical software for the implementation of this method, it provides the best performance in all considered emergency modes of 3...6 cascade converters. The Table of indicators for all methods are presented in the article. The use of a balanced SVPWM in combination with field oriented control makes it possible to obtain an electric drive in whi

关键词： Pulse width modulation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：