Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the er...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.
At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length ...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.
In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotar...
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In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.
This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked controlsystems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, a...
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Hepatocellular carcinoma (HCC) is one of the most difficult diseases to be treated fundamentally in the medical field in today's world, and the recurrence rate of HCC has been increasing year by year in recent yea...
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作者：
Jiao, RanranLi, BoChen, XiangyongJiang, XiaoweiSchool of Automation
China University of Geosciences Hubei Key Laboratory of Advanced Control Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Finance
Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China
This paper addresses the problem of leader-following consensus in heterogeneous multi-agent systems (HMAS) with input saturation and communication delay. Given the practical differences between leader and follower dim...
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Accurately and promptly detecting the pipeline anomaly is crucial to the safe operation of pipeline systems, while a difficulty lies in that many existing methods require massive data for training models. However, pip...
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Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power sy...
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Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.
The evaluation of regional geological hazard susceptibility is of great significance to the prevention and control of geological hazard. In this paper, the "4-20"Lushan earthquake disaster area as the resear...
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Lithology identification serves as a crucial foundation for the precise exploration and safe exploitation of geological resources. However, challenges arise from the inherent imbalance and overlap present in logging d...
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