检索结果-内蒙古大学图书馆

ONLINE ESTIMATION OF TIME-VARYING FREQUENCY OF A SINUSOIDAL SIGNAL ⁎

IFAC-PapersOnLine 2019年第29期52卷 245-250页

作者： Le Van Tuan Marina Korotina Alexey Bobtsov Stanislav Aranovskiy Anton Pyrkin Faculty of Control Systems and Robotics ITMO University 197101 Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia IETR - CentraleSupélec Avenue de la Boulaie 35576 Cesson-Sévigné France

We consider the problem of estimation of a (linearly) time-varying frequency of a sinusoidal signal with unknown phase and magnitude. Such a problem may arise in control design for optical telescopes that makes it interesting from the practical point of view. The existing methods typically use unbounded functions of time that, being multiplying by the input signal, may yield significant noise amplification and poor estimation performance. In contrast, we present a novel approach to the estimation of the linearly varying frequency based on iterative filtering yielding simple linear regression model with a scalar parameter. Illustrative numerical simulations support the theoretical results. We also present a comparison with other known methods.

关键词： dynamic extension mixing persistence excitation parameter estimation least squares

来源：评论

学校读者我要写书评

暂无评论

Leader-Follower Tracking with Collision Avoidance for Omni-directional Mobile Robots:Linear vs Homogeneous controller

Leader-Follower Tracking with Collision Avoidance for Omni-d...

引用

第43届中国控制会议

作者： Wenbin Yuan Chunyun Dong Xuechao Duan Andrey Polyakov Konstantin Zimenko Xubin Ping School of Electro-Mechanical Engineering Xidian University Inria Lille Univ.LilleCNRS Faculty of Control Systems and Robotics ITMO University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper deals with the leader-follower tracking control for two omni-directional mobile robots,the controller of the leader omni-directional mobile robot is unknown and the safe region is given. A linear controller is firstly designed for the follower omni-directional mobile robot such that the asymptotical stability is guaranteed. Based on the linear controller,a homogeneous controller is obtained,and the error system is guaranteed to be stabilized in finite-time. Compared with the linear controller,the homogeneous controller has the properties of faster convergence and better robustness. Furthermore,the convergence rate of the homogeneous controller can be simply tuned by properly selecting the homogeneity degree. The simulation results are given to illustrate the effectiveness of the designed controllers.

关键词： Homogeneous System Leader-follower Tracking Omni-directional Mobile Robot Finite-Time control

来源：评论

学校读者我要写书评

暂无评论

Optimization of Cylindrical Blades for Wind Turbine Based on Magnus Effect

Optimization of Cylindrical Blades for Wind Turbine Based on...

引用

International Conference on Electromechanical and Power systems (SIELMEN)

作者： Aleksandr Lukin Galina Demidova Dmitry Lukichev Nikolai Poliakov Alecksey Anuchin Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia Electric Drives Department Moscow Power Engineering Institute Moscow Russia

Wind turbines based on the Magnus effect open new prospects in terms of energy generation for areas with low average wind speeds. The main feature of these turbines is rotating cylinders which are used to create lift instead of blades. Due to this unconventional design, different parameters of the cylinder, such as mass and moment of inertia, can greatly affect the dynamic characteristics of such energy systems. The goal of this paper was to present an approach to structural optimization of a cylinder flange of the experimental Magnus effect-based wind turbine. The proposed approach, presented as an algorithm, allows us to determine input data for the preferred structural optimization software and achieve lightweight, low-inertia parts. control simulation has shown that optimized parts ensure a high enough factor of safety while also significantly reducing the moment of inertia.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Regularization Approach to Analyze the Time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle

引用

Procedia Computer Science 2021年 186卷 11-20页

作者： Fernando Lobo Pereira Roman Chertovskih Anna Daryina Askhat Diveev Dmitry Karamzin Elena Sofronova SYSTEC Faculty of Electrical Engineering Porto University and the Institute for Systems and Robotics 4200-465 Porto Portugal Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia

This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem.

关键词： Unicycle model state constraints regularization maximum principle

来源：评论

学校读者我要写书评

暂无评论

Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot

Sensorless force estimation on fingertip with gravitational ...

引用

Engineering Technology International Conference (ETIC 2022)

作者： A. Irawan M. I. Putra Azahar M. A. Hashimi Robotics Intelligent Systems & Control Engineering (RISC) Research Group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Pahang Malaysia

The paper presents the proposed sensorless force estimator design for pneumatic robot fingertip by using gravitational compensation and pressure changed in pneumatic cylinder piston. The approach is done to replace the commercial force sensor that may be expensive for heavy-duty configuration. The formulation was done by considering the torque of robot's finger joint, finger dimension as well as its actuator and the different pressures in cylinder piston. The gravitational force is calculated from the geometry of the robot's finger as dynamic gain for the force of pneumatic cylinder. The proposed method is validated on a heay-duty pneumatic Tri-grasper Robot with the simple basic movement and blocked randomly by human barehand. The results show that the force output by the estimator is almost identical to the loadcell sensor that attached on the fingertip at about 2% error in average. The sensitivity is a bit low for small and fragile material but enough for heavy-duty application that generally with hard and rough surfaces.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

来源：评论

学校读者我要写书评

暂无评论

Bio-inspired visual relative localization for large swarms of UAVs

Bio-inspired visual relative localization for large swarms o...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Martin Křížek Matouš Vrba Antonella Barišić Kulaš Stjepan Bogdan Martin Saska Faculty of Electrical Engineering Czech Technical University in Prague Prague Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We propose a new approach to visual perception for relative localization of agents within large-scale swarms of Unmanned Aerial Vehicles (UAVs). Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals capable of moving in a decentralized yet coherent manner, our method does not rely on detecting individual neighbors by each agent and estimating their relative position, but rather we propose to regress a neighbor density over distance. This allows for a more accurate distance estimation as well as better scalability with respect to the number of neighbors. Additionally, a novel swarm control algorithm is proposed to make it compatible with the new relative localization method. We provide a thorough evaluation of the presented methods and demonstrate that the regressing approach to distance estimation is more robust to varying relative pose of the targets and that it is suitable to be used as the main source of relative localization for swarm stabilization.

关键词： Location awareness Visualization Scalability Estimation Object detection Autonomous aerial vehicles Robustness

来源：评论

学校读者我要写书评

暂无评论

A Search Strategy and Vessel Detection in Maritime Environment Using Fixed-Wing UAVs

A Search Strategy and Vessel Detection in Maritime Environme...

引用

International Symposium on Underwater Technology

作者： Marijana Peti Ana Milas Natko Kraševac Marko Križmančić Ivan Lončar Nikola Mišković Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Underwater Systems and Technologies (LABUST) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and the total number of UAVs and sensors is to implement an appropriate search strategy so that a target vessel can be detected as soon as possible. Thus we present informed and non-informed methods used to search the environment. The informed method relies on an obtained probabilistic map, while the non-informed method navigates the UAVs along predefined paths computed with respect to the environment. The vessel detection method is trained on synthetic data collected in the simulator with data annotation tools. Comparative experiments in simulation have shown that our combination of sensors, search methods and a vessel detection algorithm leads to a successful search for the target vessel in such challenging environments.

关键词： Location awareness Navigation Annotations Computational modeling Search problems Probabilistic logic Sensors

来源：评论

学校读者我要写书评

暂无评论

Web Based GPU Acceleration in Embodied Agent Training Workflow

Web Based GPU Acceleration in Embodied Agent Training Workfl...

引用

IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW)

作者： Artem N. Sisyukov Vyacheslav Dobrynin Olga S. Yulmetova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Concern CSRI Elektropribor ITMO University St. Petersburg Russia

ISBN: (数字)9781665404761

ISBN: (纸本)9781665446426

The deep learning training and generation of virtual scenes, reconstruction or manipulation in the realistic simulation environment are highly compute-intensive tasks. GPU accelerated training of embodied agents inside the realistic 3D scenes in continuous development and improvement process for goal-directed navigation tasks are considered in paper. Web client side computation for reinforcement learning based embodied agent training workflow steps and cloud data delivering are described. Approach with web based GPU interaction technologies (WebGL, WebGPU) along with WebAssembly packed logic (WASM) is proposed. Embodied artificial intelligence (AI) simulation platforms supporting reinforcement learning with realistic assets or powerful logic are tested. The paper presents results that could be used in cases when the training server is deployed in a headless cloud host or in the case when the client machine power utilization is preferable.

关键词： Training Cloud computing Computational modeling Graphics processing units Servers Task analysis Artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

System of geometric parameters monitoring during cutting of steel plates process

引用

Diagnostyka 2013年第3期14卷 23-28页

作者： Kwasniewski, Jerzy Grzybowski, Józef Kordos, Damian AGH University of Science and Technology in Kraków Faculty of Mechanical Engineering and Robotics Department of Rope Transport Poland Rzeszów University of Technology Faculty of Mechanical Engineering and Aeronautics Department of Avionics and Control Systems Poland

The steel plate cutting is performed on a special pro-duction lines to enable longitudinal and lateral cut. Input material is usually a metal ring of weight about 32 tons. The cutting process is preceded by an operation of straightening the cutting section. So far, during this operation parameters such as wave cut off sheets, the thickness of the material were not monitored. This paper presents a system of continuous monitoring of sheets parameters constructed by the authors. It was mounted on the process line-cutting and slitting of one of the companies cutting sheet metal. Such approach allows to improve quality control.

关键词： Metal cutting

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：