Technological advances have led to the development of smaller and more efficient satellites, which have gained popularity in various fields including education, research, and communications. However, disturbances such...
Technological advances have led to the development of smaller and more efficient satellites, which have gained popularity in various fields including education, research, and communications. However, disturbances such as gravitational forces, atmospheric drag, and space debris may affect their orbits. This article proposes a two-stage Active Disturbance Rejection control (ADRC) approach for the orbit transfer of small satellites. The paper presents the control design procedure and showcases numerical simulations, demonstrating the technique’s effectiveness in the particular case of study.
This study investigates the relationship between the diameter of a D-shaped plastic optical fiber (POF) sensor and its optical response as a function of varying salt concentrations. A simple and efficient dry etching ...
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The present article deals with a two-stage cascade ADRC control scheme applied to an actuated single manipulator mechanical system driven by a DC motor controlled by a double bridge DC-DC Buck converter. The proposal ...
The present article deals with a two-stage cascade ADRC control scheme applied to an actuated single manipulator mechanical system driven by a DC motor controlled by a double bridge DC-DC Buck converter. The proposal illustrates the advantages of the cascade schemes for SISO-coupled subsystems, where interconnected electrical and mechanical stages with different time constants are naturally separated. Experimental validations are shown where a trajectory-tracking task is proposed as a control objective. A simple but effective Exponential Moving Average filter proposal for the measurement noise management is included due to the noisy electrical signals used to control the internal cascade ADRC scheme.
This study considers automatic scallop harvesting using the drone with the robot arm as the new scallop fishery. The fishery needs the dedicated gripper attaching the robot arm. This study judges the adsorption grippe...
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In recent years, vision-based gesture adaptation has attracted great attention from many experts in the field of human-robot interaction, and many methods have been proposed and successfully applied, such as particle ...
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In recent years, vision-based gesture adaptation has attracted great attention from many experts in the field of human-robot interaction, and many methods have been proposed and successfully applied, such as particle swarm optimization and genetic algorithm. However, the reduction of the error and energy consumption of a robot while paying attention to more subtle attitude changes is very important and *** view of these problems, we propose a population randomization-based multi-objective genetic *** gesture signal is processed with a slight change by imitating the biological evolution mechanisms. In the proposed algorithm, a random out-of-order matrix is added in the process of population evolution synthesis to prevent the premature grouping convergence of the new population. The weights of the objective function and the elite retention strategy are adopted, and the most adaptable individuals in each generation are inherited directly in the next generation without any recombination or mutation. To verify the effectiveness of the algorithm, preliminary application experiments are performed on the gesture adaptation of a robotic arm. The results are compared with the original signal, and the comparison shows that by using the proposed method, the energy consumption is reduced, and the end error is decreased to less than 3 mm while ensuring the tracking effect of the robotic arm. These obtained results meet the communication requirements for human-robot interactions such as handshakes. Moreover, the proposed method has better performance, uses less energy, and has a smaller tracking error than the particle swarm optimization, the single-objective genetic algorithm, and the traditional multi-objective genetic algorithm. A preliminary application experiment indicates that the robotic arm can adapt to human gestures in real time.
Scientists of the Ivanovo State Power engineering University (ISPEU) together with industrial partners developed and researched digital instrument current and voltage transformers (DIT). The devices already have opera...
Scientists of the Ivanovo State Power engineering University (ISPEU) together with industrial partners developed and researched digital instrument current and voltage transformers (DIT). The devices already have operational experience in existing electrical power installations. However, some applications of DIT require additional research. The article presents combined DIT of 6(10) kV experimental investigation method in the conditions of arc intermittent single-phase earth faults (SPEF), as well as a simulation model of a 10 kV grid developed in RSCAD RTDS for modeling transients during SPEF. The model parameters and its verification with a similar grid model developed in Matlab Simulink are given.
In this paper we consider a nonconvex optimization problem with nonlinear equality constraints. We assume that both, the objective function and the functional constraints, are locally smooth. For solving this problem,...
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This paper presents a method for calculating the Region of Attraction (ROA) of nonlinear dynamical systems, both with and without control. The ROA is determined by solving a hierarchy of semidefinite programs (SDPs) d...
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In this paper, using tools from graph theory we provide verifiable necessary and sufficient conditions for the existence of a unique hydraulic equilibrium in district heating systems of meshed topology and containing ...
In this paper, using tools from graph theory we provide verifiable necessary and sufficient conditions for the existence of a unique hydraulic equilibrium in district heating systems of meshed topology and containing multiple heat sources. Even though numerous publications have addressed the design of efficient algorithms for numerically finding hydraulic equilibria in the general context of water distribution networks, this is not the case for the analysis of existence and uniqueness. Moreover, most of the existing work dealing with these aspects exploit the equivalence between the nonlinear algebraic equations describing the hydraulic equilibria and the KKT conditions of a suitably defined nonlinear convex optimization problem. Differently, this paper proposes necessary and sufficient graph-theoretic conditions on the actuator placement for the existence and uniqueness of a hydraulic equilibrium, independent of the actuators' control objective. An example based on a representative district heating network is considered to illustrate the key aspects of our contribution, and an explicit formulation of the steady state solution is given for the case in which pressure drops through pipes are linear with respect to the flow rate.
This paper proposes an online path planning method for multi-robot collision avoidance that accounts for uncertainties in robot positioning. Firstly, the online path plan-ning problem for multiple robots is transforme...
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ISBN:
(数字)9798331518493
ISBN:
(纸本)9798331518509
This paper proposes an online path planning method for multi-robot collision avoidance that accounts for uncertainties in robot positioning. Firstly, the online path plan-ning problem for multiple robots is transformed into a multi-objective optimization problem by considering some necessary factors that affect task efficiency and safety. Notably, the paper considers the uncertainty in robot positions, in which the position follows a Gaussian distribution. Then, by converting probabilistic collision conditions into deterministic constraints, the fitness function ensuring probabilistic collision avoidance is constructed. Next, an improved sine-cosine algorithm is proposed to solve the ideal position. Finally, simulation experiments demonstrate that the proposed method effectively resolves collision issues under probabilistic uncertainty conditions.
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