Generating realistic and diverse road scenarios is essential for autonomous vehicle testing and validation. Nevertheless, owing to the complexity and variability of real-world road environments, creating authentic and...
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In this paper, an intelligent position control method based on independent load control is designed for digital electro-hydraulic actuator of rocket nozzle, which can achieve smooth position control of digital electro...
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With the advantages of high fault tolerance, high reliability, high dynamic response and high power-to-weight ratio, the propfan engine is one of the most promising aircraft propulsion systems. In this paper, the mode...
With the advantages of high fault tolerance, high reliability, high dynamic response and high power-to-weight ratio, the propfan engine is one of the most promising aircraft propulsion systems. In this paper, the model and control method of controlling the thrust of the propfan engine by controlling the blade pitch angle through the dual redundant electro-hydrostatic actuator (EHA) are constructed. The variable pitch propfan engine model is constructed by physical mathematical analysis, interpolation fitting and so on. The thrust control of variable pitch engine by dual redundancy EHA is completed by two-phase current control, fuzzy control and other control methods. The reliability of the constructed model and the better response characteristics of the design control method are verified by comparing the simulation experiment with the public data set. This paper provides a reference for thrust control of variable pitch propfan engine.
Visual-Inertial Odometry(VIO) fuses measurements from camera and Inertial Measurement Unit(IMU) to achieve accumulative performance that is better than using individual *** VIO is an extended Kalman filter-based solut...
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Visual-Inertial Odometry(VIO) fuses measurements from camera and Inertial Measurement Unit(IMU) to achieve accumulative performance that is better than using individual *** VIO is an extended Kalman filter-based solution which augments features with long tracking length into the state vector of Multi-State Constraint Kalman Filter(MSCKF). In this paper, a novel hybrid VIO is proposed, which focuses on utilizing low-cost sensors while also considering both the computational efficiency and positioning precision. The proposed algorithm introduces several novel contributions. Firstly, by deducing an analytical error transition equation, onedimensional inverse depth parametrization is utilized to parametrize the augmented feature *** modification is shown to significantly improve the computational efficiency and numerical robustness, as a result achieving higher precision. Secondly, for better handling of the static scene,a novel closed-form Zero velocity UPda Te(ZUPT) method is proposed. ZUPT is modeled as a measurement update for the filter rather than forbidding propagation roughly, which has the advantage of correcting the overall state through correlation in the filter covariance matrix. Furthermore, online spatial and temporal calibration is also incorporated. Experiments are conducted on both public dataset and real data. The results demonstrate the effectiveness of the proposed solution by showing that its performance is better than the baseline and the state-of-the-art algorithms in terms of both efficiency and precision. A related software is open-sourced to benefit the community.
The growing need for automation of factories and their processes determines a constant increase in the use of robots to carry out various tasks. Multiple robots can do different tasks simultaneously, speeding up proce...
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ISBN:
(数字)9798350340266
ISBN:
(纸本)9798350340273
The growing need for automation of factories and their processes determines a constant increase in the use of robots to carry out various tasks. Multiple robots can do different tasks simultaneously, speeding up processes. This practice raises the question of how many robots are needed to service the entire process, given all the limitations of the operation. One of these limitations is due to the navigation systems used by the several robots in the environment. Line-followers robots, for example, can only meet some tasks but are cheaper than free-movement ones. In this work, we develop an optimization model for task allocation among the available robots to minimize execution delays using mixed integer linear programming, considering their navigation systems. With the model, it is possible to obtain the best task allocation for each robot and the order to perform such tasks, thus avoiding delays as much as possible and getting zero delays for the presented case, that emulates the process of a vehicle assembler factory line.
Modular multilevel converter (MMC) has complex topology, control architecture and broadband harmonic spectrum. For this, linear-time-periodic (LTP) theory, covering multi-harmonic coupling relations, has been adopted ...
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This paper presents an extremely reliable and easy to implement approach to a temperature monitoring system in a particular location. The entire system is built around a National Instrument myRIO-1900 equipment. NI my...
This paper presents an extremely reliable and easy to implement approach to a temperature monitoring system in a particular location. The entire system is built around a National Instrument myRIO-1900 equipment. NI myRIO-1900 is a portable I/O device that is designed for the academic environment and not only and is much more reliable than any Arduino development board and is much easier to program than any Raspberry PI board - the main competitors in terms of regarding the development of monitoring and control devices for civil use. For this application the programming of this equipment is done in the programming language LabView. The acquisition of ambient temperature data is done using Pmod TMP3 modules which are built around the TCN75A microchip sensor. The communication that allows the data acquisition is made through the I 2 C communication protocol.
Centralized delivery has become the main operation mode under the scaled development of wind *** channels are usually the guarantee of out-delivered wind power for large-scale wind *** configuration of transmission ca...
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Centralized delivery has become the main operation mode under the scaled development of wind *** channels are usually the guarantee of out-delivered wind power for large-scale wind *** configuration of transmission capacity,which has the features of low utilization and poor economy,is hardly matching correctly due to the volatility and low energy density of *** usage of energy storage can mitigate wind power fluctuations and reduce the requirement of out-delivery transmission capacity,but facing the issue of energy storage cost ***,it is necessary to optimize the allocation of energy storage while considering the problem of wind power *** paper studies the joint optimization of large-scale wind power transmission capacity and energy storage,reveals the mechanism of energy storage in order to reduce the power fluctuation of wind power base and slow down the demand of ***,analyze the multi-functional cost-sharing mode of energy storage,improve the efficiency of energy storage cost *** the coordination optimization configuration model to deal with the problem of large-scale wind power transmission capacity and energy storage,and realizes the transmission capacity optimization coordination and optimization with energy *** proposed method is verified by a wind base located in Northeast China.
Enhancing the electrical performance of silicone rubber (SiR) for cable accessories is noteworthy as they are almost the weakest parts of the cable system. Two types of voltage stabilizers were grafted onto the surfac...
Enhancing the electrical performance of silicone rubber (SiR) for cable accessories is noteworthy as they are almost the weakest parts of the cable system. Two types of voltage stabilizers were grafted onto the surface of nano-zirconia (ZrO 2 ) particles, and the grafted nanoparticles were added to the SiR. Measurements such as breakdown strength, and conductivity were carried out to evaluate the electrical performance of SiR nanocomposites. The electrical performance measurement results indicated that the breakdown strength of the nanocomposite SiR improved while the conductance current was reduced. The trap distribution showed that the improvement of the electrical performance of the nanocomposite SiR is mainly due to the decrease of the shallow trap density or the increase of the deep trap density.
Using electric motors instead of diesel engines as the driving system for mining excavators can reduce the energy consumption and operating costs. However, pure electric-driven mining excavators are prone to unexpecte...
Using electric motors instead of diesel engines as the driving system for mining excavators can reduce the energy consumption and operating costs. However, pure electric-driven mining excavators are prone to unexpected power outages in mines because of drastic changes in load power, leading to significant fluctuations in the power demand of the grid, which in turn affects production. To solve the above problem, a pure electric-driven mining hydraulic excavator based on electric-motor-driven swing platform and hydraulic pumps was used as the research object. Moreover, supercapacitors and DC/DC converter, as the energy storage system(ESS) adjust the output power of the grid and recover the braking kinetic energy of the swing platform. Subsequently, a novel integrated energy management strategy for a DC bus voltage predictive controller based on the power feedforward of fuzzy rules is proposed to run mining excavators efficiently and reliably. Specifically, the working modes of the ESS are determined by the DC bus voltage and state of charge(SOC) of the supercapacitor. Next, the output power of the supercapacitor and the DC bus voltage were controlled by adjusting the charging and discharging currents of the DC/DC converter using a predictive controller and fuzzy rules. In addition, a digital prototype of the excavator was verified using an original machine test. The performance of the different strategies and driven systems were analyzed using digital prototypes. The results showed that, compared with traditional excavators with diesel engines, the operational cost of the developed excavators was reduced by 54.02%. Compared to pure electric-driven excavators without an ESS, the peak power of the grid for the developed excavators was reduced by 10%. This study designed an integrated energy management strategy for a pure electric mining excavator that can regulate the power output of the grid and maintain the stability of the bus voltage and SOC of the ESS.
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