Joining processes play a critical role across several industries and manufacturing activities. One such activity is narrow gap TIG arc welding, present in a number of high value manufacturing domains the quality and o...
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This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements ...
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THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to pos...
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THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].
The article is focused on design of specific electromagnetic coil system using numerical modelling and simulation methods. The proposed solution would be capable of delivering magnetic field of desired strength/ flux ...
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In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The meth...
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ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures the uncertainty of surrounding vehicles by online estimation of their acceleration bounds, enabling a reactive but rapid understanding of the uncertainty characteristics of the surrounding vehicles. By leveraging these estimated bounds, a non-conservative forward occupancy of surrounding vehicles is predicted over a horizon, which is incorporated in both the decision-making process and the motion-planning strategy, to enhance the resilience and safety of the planned reference trajectory. The method successfully fulfills the tasks in challenging forced merging scenarios, and the properties are illustrated by comparison with several alternative approaches.
This paper presents a novel event-triggered control (ETC) design framework based on measured $\mathcal{L}_{p}$ norms. We consider a class of systems with finite $\mathcal{L}_{p}$ gain from the network-induced erro...
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ISBN:
(数字)9783907144107
ISBN:
(纸本)9798331540920
This paper presents a novel event-triggered control (ETC) design framework based on measured
$\mathcal{L}_{p}$
norms. We consider a class of systems with finite
$\mathcal{L}_{p}$
gain from the network-induced error to a chosen output. The
$\mathcal{L}_{p}$
norms of the network-induced error and the chosen output since the last sampling time are used to formulate a class of triggering rules. Based on a small-gain condition, we derive an explicit expression for the
$\mathcal{L}_{p}$
gain of the resulting closed-loop systems and present a time-regularization, which can be used to guarantee a lower bound on the inter-sampling times. The proposed framework is based on a different stability- and triggering concept compared to ETC approaches from the literature, and thus may yield new types of dynamical properties for the closed-loop system. However, for specific output choices it can lead to similar triggering rules as “standard” static and dynamic ETC approaches based on input-to-state stability and yields therefore a novel interpretation for some of the existing triggering rules. We illustrate the proposed framework with a numerical example from the literature.
In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The meth...
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This paper provides a combinatorial interpretation for the explicit solution of the quadratic cost, linear-constrained MPC (model predictive control) problem. We link the Hasse diagram of the lifted feasible domain wi...
This paper provides a combinatorial interpretation for the explicit solution of the quadratic cost, linear-constrained MPC (model predictive control) problem. We link the Hasse diagram of the lifted feasible domain with the critical regions which partition the parameter space and serve as polyhedral support for the piecewise affine explicit MPC solution.
In laser powder bed fusion additive manufacturing, using fixed values for the process parameters (beam power, velocity, and other parameters) may not lead to homogeneously distributed heat in all locations in the buil...
In laser powder bed fusion additive manufacturing, using fixed values for the process parameters (beam power, velocity, and other parameters) may not lead to homogeneously distributed heat in all locations in the build, especially around complex design features. This could lead to builds with defects, leading to poor mechanical and micro-structure properties. To guarantee heat homogeneity, the process parameters need to be actively controlled to adapt to different locations in the build. Builds with varying geometrical features would need different control strategies. In this work, we propose to use reinforcement learning (RL) to control, for the first time, simultaneously multiple AM process parameters to achieve consistent melting properties. Our results show that using RL as a multiple-input multiple-output control system achieves a more consistent meltpool geometry.
A function of grid-connected VSGs is facilitating the recovery of sagging voltages to nominal levels, achieved by supplying reactive power (Q) to the grid. During normal operation, however, a VSG is required to supply...
A function of grid-connected VSGs is facilitating the recovery of sagging voltages to nominal levels, achieved by supplying reactive power (Q) to the grid. During normal operation, however, a VSG is required to supply active power (P) at unity power factor and, therefore, in order to supply the Q required in the event of a sagging voltage, the VSG must change its control mode from P-supply to PQ- or Q-supply. Such transitions may induce high current flows—caused by the sudden reduction of the voltage during the sag—which are potentially damaging to the power semiconductor devices of the VSG; if these effects are to be avoided, the supplied current must be limited to its rated value, but this may result in a low power transfer from the VSG to the grid. To circumvent these problems, in this paper we propose a LVRT strategy using an active SFCL. We show that the proposed strategy, which combines a PQ decoupling scheme with an active SFCL, ensures maximum power transfer with an improved transient response during LVRT.
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