This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structure...
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This paper concerns the motion trajectory design for an underactuated three-link robot (UTGR). First, we design a controller for the UTGR system based on the system's dynamic structure characteristics. And then, t...
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ISBN:
(纸本)9781509015740;9781509015733
This paper concerns the motion trajectory design for an underactuated three-link robot (UTGR). First, we design a controller for the UTGR system based on the system's dynamic structure characteristics. And then, the properties of closed-loop system are analyzed. After that, a motion trajectory of the UTGR is designed based on the analyzed properties and an inverted trajectory idea. The designed trajectory starts from the downward position and ends at the upward position. Tracking of this trajectory can enable the stabilization control objective of UTGR from the downward position to the upward position to be achieved. A numerical example demonstrates the effectiveness of our proposed theoretical results.
Traffic sign recognition is an important topic in driver assistant system and intelligent autonomous vehicles. Traffic sign detection is a critical step, whose performance greatly affect the performance and computatio...
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Traffic sign recognition is an important topic in driver assistant system and intelligent autonomous vehicles. Traffic sign detection is a critical step, whose performance greatly affect the performance and computation cost of traffic sign recognition. In this paper, we propose a traffic sign detection method based on a scoring SVM model. First, traffic sign color and color gradient are extracted according to their color characteristics. Then, the shape of traffic sign is computed by a voting scheme, yielding shape score maps. After that, the score maps of traffic signs are used to train a SVM model. Compared with single traffic sign score value, the score map is more efficient to verify the existence of a traffic sign. Finally, the trained SVM model is used to detect traffic signs. Experiments show that the proposed method is more effective than the voting based method to detect traffic signs.
Multi-input multi-output (MIMO) has been a promising technique for wireless communication areas, such as intelligent transportation systems. In this paper, we present performance evaluation of a multi-antenna transcei...
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ISBN:
(纸本)9781467385800
Multi-input multi-output (MIMO) has been a promising technique for wireless communication areas, such as intelligent transportation systems. In this paper, we present performance evaluation of a multi-antenna transceiver for Wireless Access in Vehicular Environments (WAVE) according to IEEE 802.11p standard. Herein, MIMO WAVE is performed by employing three MIMO schemes, namely, Alamouti, vertical BLAST (V-BLAST) and space shift keying (SSK) scheme. The above three MIMO schemes are discussed and compared, considering the influence of different driving velocity and with/without line of sight (LOS) on the system performance. Based on the analysis and simulation results, it can be found that compared with single antenna systems, V-BLAST scheme would significantly increase the transmission data rate, while Alamouti and SSK scheme could improve the reliability and robustness even under poor receive conditions.
The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor exp...
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ISBN:
(纸本)9781467383196
The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix,which will affect the accuracy and numerical stability of the system *** in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation *** simulation results show that the position,velocity and attitude errors are reduced effectively compared with the EKF *** SCKF method is more suitable for the state estimation problems in integrated navigation system.
Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles(MAUVs).In this work,in order to solve the invalidation of location due to the time delayed ...
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ISBN:
(纸本)9781467383196
Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles(MAUVs).In this work,in order to solve the invalidation of location due to the time delayed measurements,an algorithm which based on the augmented extended Kalman filter(AEKF) is *** algorithm expands the variable dimension of slave AUV according to the time delayed measurements,and infers the fundamental equations of *** to the traditional EKF method,simulation results prove that AEKF has higher positioning accuracy.
The origin of artificial intelligence is investigated, based on which the concepts of hybrid intelligence and parallel intelligence are presented. The paradigm shift in Intelligence indicates the ''new normal&...
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Virtual Reality(VR) is a three-dimensional computergenerated virtual world. It is essential to introduced VR technology to education area to develop new teaching mode to improve the efficiency and quality of teaching ...
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Virtual Reality(VR) is a three-dimensional computergenerated virtual world. It is essential to introduced VR technology to education area to develop new teaching mode to improve the efficiency and quality of teaching and learning. Among them, VR classroom has quickly become most dazzling star with its subversive advantage. This paper proposes an overall integration solution of VR classroom, including its composition, its scene design of various disciplines and its main advantage. Finally, a case study of a geography lesson is provided to show its advantages and strong potentiality.
In this article, I would like to share my daughter's experience on self-STEAM education. In our daily life, she can always find problems and then dream them with her imagination, finally narrows down her solutions...
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In this article, I would like to share my daughter's experience on self-STEAM education. In our daily life, she can always find problems and then dream them with her imagination, finally narrows down her solutions to solve problems in her own way. During these problem-solving processes, I noticed that she went through sciences, technology, engineering, arts and mathematics in a very natural way. So I would like to say, STEAM is the way we learn and grow ever since we were born. But later at school, we are trained in a way that subjects are completely disconnected. It might take time to change this situation at school, but at home, as parents, we need to realize that children can discover new things by themselves even from young ages, and provide rich learning environment for them and let them "STEAM " themselves in their own way.
Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear p...
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