检索结果-内蒙古大学图书馆

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Chen, Hao Hu, Kai Hu, Longlong Zhou, Ziqi Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Compared with large robots, micro-robots have the advantages of small size, low power consumption, and high concealment. For complex terrain, the crawling performance of micro-robots will be significantly reduced. In this study, the mesh surface was used as the crawling base of the robot, and a variable stiffness tarsus was designed with the beetle as a reference. This tarsus composed of multiple bending parts achieves a large range of stiffness changes, 0.070.495 N/mm. We have achieved stiffness control of the tarsus in a single actuation by trajectory planning of the claw ends. The proposed robot can achieve a big stiffness of the tarsus to resist the deformation of the tarsus due to external forces, which means that the robot can increase the adhesion ability when crawling at the stance phase. Therefore, even when the load was increased from 10g to 40g, the average crawling speed of the robot was not significantly reduced. This new tarsus can improve the crawling performance of the micro-robot on the mesh. © 2024 IEEE.

关键词： Microrobots

来源：评论

学校读者我要写书评

暂无评论

Evaluating the influence of air pollution on solar radiation observations over the coastal region of Alicante(Southeastern Spain)

引用

Journal of Environmental Sciences 2023年第4期126卷 633-643页

作者： Igor Gómez Sergio Molina Juan JoséGaliana-Merino Department of Applied Physics Faculty of SciencesUniversity of AlicanteSection 99E-03080 AlicanteSpain Multidisciplinary Institute for Environmental Studies(MIES)“Ramón Margalef” University of AlicanteSection 99E-03690 AlicanteSpain Department of Physics Systems Engineering and Signal TheoryUniversity of AlicanteSection 99E-03080 AlicanteSpain University Institute of Physics Applied to Sciences and Technologies University of AlicanteSection 99E-03080 AlicanteSpain

The present study evaluates ground-based downward surface shortwave radiation (Rs) over the coastal region of Alicante (Southeastern Spain).Hourly measurements collected over the eleven-year period 2010-2020 are *** weather stations located over the region capital,Alicante,have been selected as representative of urban and suburban *** additional weather stations far from the city have been selected representing rural *** is significantly reduced over the urban station during the morning hours within the winter season compared to the observations recorded over the suburban and rural stations,with a global mean difference of-81 and-120 W/m^(2)at 10 LT,***,no significant differences are obtained during the midday sun,with a global mean difference of-20 W/m^(2)between the urban and rural *** the aim of explaining these differences,the current paper investigates the relationship between Rsand different air pollutants:NOx,SO_(2),and fine particulate matter (PM_(2.5)and PM_(10)) as well as the wind field measured at the urban and suburban *** results found in this work point towards a close relationship between Rsand NOxconcentrations annual cycles,which are also influenced by the prevailing wind circulations observed over the study area.A global mean NOxconcentration of 107μg/m^(3)is observed over the urban station at 10 LT during the winter *** contrast,these high concentrations are significantly reduced over the suburban station,with global mean value of 40μg/m^(3)at 10 LT,for this period of the year.

关键词： Solar radiation Air pollution Weather-concentration relationship Coastal cities Atmospheric conditions Wind field

来源：评论

学校读者我要写书评

暂无评论

Implementation of Convolutional Neural Network for Artifact Removal from EEG Signals

Implementation of Convolutional Neural Network for Artifact ...

引用

International Conference on Computational Problems of Electrical engineering (CPEE)

作者： Marcin Jurczak Marcin Kołodziej Andrzej Majkowski Institute of Theory of Electrical Engineering Measurements and Information Systems Warsaw University of Technology Warsaw Poland

Artifacts that occur during the registration of electroencephalographic signals (EEG) pose a significant problem, hindering the analysis of these signals for medical diagnosis or brain-computer interfaces (BCIs). While some artifacts can be relatively easily removed, others, such as those related to muscle activity, are more challenging to eliminate. Continuous research is being conducted to discover methods for removing physiological artifacts resulting from the natural activity of the individuals. In this article, the authors propose a method for removing electromyographic (EMG) artifacts from EEG signals using convolutional neural networks (CNNs). To accomplish this, a method for augmenting EMG and EEG signals is proposed. The authors performed artifact removal tests using a trained CNN for both real and simulated signals. The obtained results indicate that the proposed method shows promising outcomes and enables effective removal of demanding artifacts, such as jaw clenching.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Feasibility Condition for the Governor-based Tuning of Explicit MPC: Application to a Hydraulic Plant ⁎

引用

IFAC-PapersOnLine 2024年第14期58卷 538-543页

作者： Raphael Dyrska Sebastian Leonow Miroslav Fikar Martin Mönnigmann Automatic Control and Systems Theory Ruhr-Universität Bochum Bochum Germany Institute of Information Engineering Automation and Mathematics Slovak University of Technology in Bratislava Bratislava Slovakia

We propose a feasibility condition for reference governors that are used to tune the behavior of a reference-tracking explicit model predictive controller. Governors allow for a simple tuning of existing controllers without modifying them. However, since properties like feasibility are often not accounted for by the governors, their applicability may be limited. We prove that feasibility can be guaranteed using information about the explicit solution, and demonstrate the resulting algorithm by controlling the flow rate in a laboratory-scale hydraulic plant.

关键词： controller tuning model predictive control governor feasibility hydraulic plant

来源：评论

学校读者我要写书评

暂无评论

EXPLOITING EQUIVARIANCE IN THE DESIGN OF TRACKING CONTROLLERS FOR EULER-POINCARE systems ON MATRIX LIE GROUPS

arXiv

引用

arXiv 2024年

作者： Hampsey, Matthew Banavar, Ravi van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group Australian National University ACT2601 Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of observer design and recent advances in the study of equivariant systems have provided a template for global error construction that exploits the symmetry structure of a group action if such a structure exists. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system and symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie-group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves "Euler-Poincare like" and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie-group state space. Copyright © 2024, The Authors. All rights reserved.

关键词： Lie groups

来源：评论

学校读者我要写书评

暂无评论

Multi-Object Tracking based on Imaging Radar 3D Object Detection

arXiv

引用

arXiv 2024年

作者： Palmer, Patrick Krüger, Martin Altendorfer, Richard Bertram, Torsten TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF Group Koblenz56070 Germany

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for detecting and tracking surrounding traffic participants is the combination of a learning-based object detector with a classical tracking algorithm. Learning based object detectors have been shown to work adequately on lidar and camera data, while learning based object detectors using standard radar data input have proven to be inferior. Recently, with the improvements to radar sensor technology in the form of imaging radars, the object detection performance on radar was greatly improved but is still limited compared to lidar sensors due to the sparsity of the radar point cloud. This presents a unique challenge for the task of multi-object tracking. The tracking algorithm must overcome the limited detection quality while generating consistent tracks. To this end, a comparison between different multi-object tracking methods on imaging radar data is required to investigate its potential for downstream tasks. The work at hand compares multiple approaches and analyzes their limitations when applied to imaging radar data. Furthermore, enhancements to the presented approaches in the form of probabilistic association algorithms are considered for this task. © 2024, CC BY.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Time-Optimal Nonlinear Model Predictive Control for Radar-based Automated Parking

引用

IFAC-PapersOnLine 2022年第14期55卷 34-39页

作者： Christopher Diehl Artemi Makarow Christoph Rösmann Torsten Bertram TU Dortmund University Institute of Control Theory and Systems Engineering 44227 Dortmund Germany

Motion planning and control are crucial components for automated vehicles. Especially in parking scenarios, high precision is required due to the small distances to obstacles. Common approaches utilize ultrasonic or camera sensors. This paper presents a radar-based system architecture for automated parking, which can operate more robustly under difficult weather conditions. Moreover, this work develops a unified planning and control framework based on nonlinear model predictive control. Real vehicles often exhibit dynamic behavior that the commonly used kinematic bicycle model does not represent. Therefore, the paper at hand proposes an extended model, which rests upon a systematic analysis of the test vehicle's dynamics for the low-velocity range. Experiments in simulation and on real-world data show the efficiency of the approach and the importance of the extended vehicle dynamics modeling for closed-loop control.

关键词： automated driving predictive control trajectory planning obstacle avoidance perception radar

来源：评论

学校读者我要写书评

暂无评论

On the Systematic Construction of Lyapunov Functions for Polynomial systems

On the Systematic Construction of Lyapunov Functions for Pol...

引用

92nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)

作者： Natkowski, Lars Gerbet, Daniel Robenack, Klaus Fraunhofer Institute for Transportation and Infrastructure Systems IVI ZeunerstraBe 38 Dresden01069 Germany Institute of Control Theory Faculty of Electrical and Computer Engineering TU Dresden Georg-Schumann-StraBe 7A Dresden01187 Germany

Lyapunov functions are a widely used tool to evaluate stability properties of nonlinear dynamical systems’ equilibria. In this paper quantifier elimination is used to construct Lyapunov functions for polynomial systems from a parametric ansatz. Because the existing algorithms for quantifier elimination are inherently computationally expensive, a strategy is to simplify the quantifier elimination problem beforehand. A method is presented that may help simplifying the problem of finding suitable Lyapunov functions by deriving easier to evaluate necessary conditions. Finally, the introduced method is applied to an example system to show local asymptotic stability of an equilibrium point by constructing a Lyapunov function. © 2023 The Authors.

关键词： Lyapunov functions

来源：评论

学校读者我要写书评

暂无评论

Identifiability and Solvability in Inverse Linear Quadratic Optimal Control Problems

引用

Journal of systems Science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

来源：评论

学校读者我要写书评

暂无评论

Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hu, Longlong Tang, Lingqi Chen, Hao Li, Yao Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Machine Theory and Intelligent Unmanned Systems of Guangdong Key University Laboratory of Mechanism Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Many insects and miniature robots can traverse through narrow spaces via jumping motion;however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction =18, the velocity magnitude 3.4m/s, the body angle 30). Unlike typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements;this represents significant improvement of motion ability for small-scale mobile robots. © 2024 IEEE.

关键词： Landing

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：