Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane *** road boundary detection in structural environments,obstacle occlusions and lar...
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Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane *** road boundary detection in structural environments,obstacle occlusions and large road curvature are two significant ***,an effective and fast solution for these problems has remained *** solve these problems,a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is *** proposed method consists of three main stages:1)a multi-feature based method is applied to extract feature points;2)a road-segmentation-line-based method is proposed for classifying left and right feature points;3)an iterative Gaussian Process Regression(GPR)is employed for filtering out false points and extracting boundary *** demonstrate the effectiveness of the proposed method,KITTI datasets is used for comprehensive experiments,and the performance of our approach is tested under different road *** experiments show the roadsegmentation-line-based method can classify left,and right feature points on structured curved roads,and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic ***,the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.
The distributed nonconvex constrained optimization problem with equality and inequality constraints is researched in this paper, where the objective function and the function for constraints are all nonconvex. To solv...
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As the basic construction of flexible mechanical systems, the flexible beam and its control problem have attracted widespread attention in recent years. This paper takes a flexible beam with pneumatic soft actuators (...
As the basic construction of flexible mechanical systems, the flexible beam and its control problem have attracted widespread attention in recent years. This paper takes a flexible beam with pneumatic soft actuators (FBPSA) as the research object and studies its phenomenological modeling and end-point trajectory tracking control strategy. Firstly, we develop an experimental platform for the FBPSA and perform tests on it, gathering its input and output data. Using these collected data, we analyzed the motion characteristics of the FBPSA. Subsequently, a phenomenological model is established to describe the motion characteristics of the system, and the parameters of this model are identified through a large amount of the collected experimental data. Then, a combined feedforward-feedback control strategy is proposed to achieve the end-point trajectory tracking control of the system. Finally, three sets of experiments are carried out to verify the accuracy of the established model and the effectiveness and superiority of the control strategy.
Dielectric elastomer sensor (DES) is a flexible sensor that can perform free bending deformation, thus it has broad application prospects in the fields of medical electronics, wearable devices, soft robots, etc. Previ...
Dielectric elastomer sensor (DES) is a flexible sensor that can perform free bending deformation, thus it has broad application prospects in the fields of medical electronics, wearable devices, soft robots, etc. Previous studies have mostly focused on exploring the static sensing characteristics of the DES. Considering that the DES may be used in dynamic conditions, it is very meaningful to study its dynamic sensing characteristics to broaden its application ranges. In this paper, a dynamic sensing model of the DES is established based on the gate recurrent unit (GRU) neural network. Firstly, the structure of the DES and the construction of the experimental system are introduced. In addition, the dynamic sensing characteristics of the DES are analyzed by conducting several sets of experiments, which shows that the DES has significant rate-dependent hysteresis nonlinearities, multivalued mapping and memory characteristics. After that, the dynamic sensing model of the DES is built based on the GRU neural network to describe the above dynamic sensing characteristics. Next, the dynamic displacement and force sensing models of the DES are trained according to the dynamic displacement-capacitance and dynamic force-capacitance experimental data, respectively. Finally, several experiments are performed to verify the effectiveness and generalization ability of the established dynamic sensing model.
With the outbreak of environmental problems and energy crisis, human beings are exploring new energy sources more and more deeply. As the installed capacity of energy storage devices increases and the coverage of dist...
With the outbreak of environmental problems and energy crisis, human beings are exploring new energy sources more and more deeply. As the installed capacity of energy storage devices increases and the coverage of distributed energy storage systems becomes more and more extensive, the power grid puts forward higher requirements on its fault ride-through capability. To address this problem, this paper investigates the short-circuit fault ride-through technology of grid-forming inverter systems and proposes a control scheme for switching between grid-forming and grid-following systems. The scheme can switch to grid-following control model when a fault occurs in the grid, and then switch back to grid-forming system when the short-circuit fault is repaired, thus ensuring the stable operation of the power system and controlling the current value during the short-circuit fault to prevent over-current situation. Finally, the effectiveness of the proposed control strategy is further verified by combining MATLAB/Simulink simulations and experiments.
Given the dual robots play a key role for collaborative work. In this paper, an improved method is proposed to find the kinematic positive solution based on its D-H parameters, model the dual SCARA robot in MATLAB env...
Given the dual robots play a key role for collaborative work. In this paper, an improved method is proposed to find the kinematic positive solution based on its D-H parameters, model the dual SCARA robot in MATLAB environment, and solve the collaborative workspace point cloud map by Monte Carlo method. The proposed method extracts and plots the boundary curves of the collaboration space by improved the α-Shapes algorithm, and obtains the shape of the common region of the collaboration space of the dual SCARA robots and the limit position parameters in the collaboration space. It provides a theoretical basis for the research of path planning, trajectory planning, dynamics analysis, mechanism parameter optimization, self-avoidance, and anti-collision problems of the dual-robot collaborative system.
Grid-forming inverter is widely used in grid-connected systems of distributed generation because of its frequency and voltage support capacity and good stability in microgrid, but its large inertia will affect the dyn...
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Rotation Object Detection in Remote Sensing Image is a big challenge, as it has different sizes and orientations. In this paper, we proposed an AFPN and YOLOX based Rotation Object Detection method, named AFPN-RYOLOX....
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In the long-Term observation of geomagnetic field, the levelness of coil vector magnetometer will affect the measurement of magnetic direction. Therefore, we propose an electrical detection method of instrument non-le...
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The control objective of Pendubot is to stabilise the system in a vertically upward position by swinging up from a vertically downward position. Facing various physical constraints in practical applications, this pape...
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