Negotiating a roundabout with long articulated vehicles without any specialized control strategy may be dangerous or even impossible due to an excessively large off-track caused by the towed trailers. The paper provid...
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Negotiating a roundabout with long articulated vehicles without any specialized control strategy may be dangerous or even impossible due to an excessively large off-track caused by the towed trailers. The paper provides a generic kinematic steering strategy for this type of maneuver executed with articulated vehicles towing an arbitrary number of trailers equipped with steerable wheels, and attached through an arbitrary hitching type (on- or off-axle one). The control strategy requires a feedback from the internal (easily measurable) configuration variables of a vehicle, guarantees zero off-tracking in steady motion conditions, and improves a transient response of a vehicle chain by delaying the reference steering signals with the dynamically (online) scheduled time-delays. A resultant control performance is illustrated by simulation results.
This article addresses the design of a discrete-time flatness-based tracking control for a gantry crane and demonstrates the practical applicability of the approach by measurement results. The required sampled-data mo...
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The deep crate grasping problem is a major challenge for manipulator in industrial applications. In order to solve the issue of deep crate grasping and ensure the path quality of the algorithm, this paper proposes a n...
The deep crate grasping problem is a major challenge for manipulator in industrial applications. In order to solve the issue of deep crate grasping and ensure the path quality of the algorithm, this paper proposes a new hybrid obstacle avoidance planning algorithm based on goal-biased rapidly exploring random tree and improved artificial potential field (RRT-APF). Initially, the algorithm strategizes an efficient trajectory for the working element within the operational area. Subsequently, it dissects this trajectory through sampling, creating a sequence of sub-target points. These points serve as the basis for obstacle avoidance planning within the manipulator's configuration space, mitigating planning complexities. Moreover, the RRT algorithm is employed to address the challenge of local optima within the artificial potential field method. The stochastic nature of the RRT algorithm plays a crucial role in enabling the APF algorithm to break free from local optima. Ultimately, the efficacy of the algorithm is demonstrated through the planning of a path for obstacle avoidance on the DOBOT CR5 manipulator using MATLAB.
This paper studies the formation control problem for a group of non-holonomic agents modeled as LPV systems with heterogeneous scheduling. Here we use an approach based on an information flow filter that makes it poss...
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ISBN:
(纸本)9781665436601
This paper studies the formation control problem for a group of non-holonomic agents modeled as LPV systems with heterogeneous scheduling. Here we use an approach based on an information flow filter that makes it possible to design the dynamics of the information flow in the network. We propose a synthesis condition in the form of a linear matrix inequality for a distributed control scheme that guarantees stability and a level of ${\mathcal{L}_2}$ performance. Moreover, by using the framework of decomposable systems, the complexity of the synthesis problem can be made independent of the network size; it corresponds to the size of the synthesis problem for a single agent. The work presented here extends earlier work where a similar scheme was proposed, however restricted by the assumption that the LPV agents are scheduled homogeneously. Whereas in that work the agents were modeled as polytopic LPV models, here the extension to heterogeneously scheduled agents is achieved by using LFT representations of the agents and employing the full-block S-procedure for synthesis. The proposed method is illustrated in simulation by applying it to a formation control problem for a group of dynamic unicycles.
作者：
Ghoul, YamnaNaifar, OmarUniversity of Tunis El Manar
National Engineering School of Tunis LR11ES20 Analysis Conception and Control of Systems Laboratory BP 37 Le Belvédère 1002 Tunis Tunisia University of Sfax
National Engineering School of Sfax Control and Energy Manamgment laboratory Tunisia University of Kairouan
Higher Institute of Applied Sciences and Technology Kairouan Tunisia
The home automation system is becoming increasingly popular due to its many benefits, which involve remotely monitoring and controlling household appliances. As the internet and its applications continue to grow, ther...
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The home automation system is becoming increasingly popular due to its many benefits, which involve remotely monitoring and controlling household appliances. As the internet and its applications continue to grow, there is enormous potential for remotely accessing and controlling and monitoring network-enabled devices. This article examines various smart home systems and automation technologies from different functional angles. The article focuses on the home automation concept, which uses smart devices to accelerate control and monitoring operations. The article also provides a review of versatile home systems and automation technologies, which can be controller-based (using Arduino or Raspberry pi), cloud-based, Bluetooth-based, SMS-based, ZigBee-based, mobile-based, RF module-based, web-based, and internet-based. The objective of this project is to create a home automation application using IoT technology. The system proposed includes multiple sensors that gather temperature and humidity data, which is then processed using an Arduino and Raspberry microcontroller that are connected to an Android mobile application. The data is transmitted to the mobile app via Zigbee protocol and updated in real-time. To measure temperature and humidity, a DHT11 sensor is utilized. To monitor gas leaks in the kitchen, an MQ2 sensor is incorporated. Lastly, a HC-SR04 Ultrasonic sensor is utilized to manage the garage door's opening and closing. The proposed system involves testing the air conditioning by using the DHT11 sensor to monitor the humidity and temperature of our smart home, along with a fan as an actuator in case of an increase in temperature or a decrease in humidity. For the home automation application, the Xbee module (of the Zigbee protocol) was chosen, which can be configured as a coordinator, router, or even an endpoint. However, we need to communicate between two cards, one as the master and the other as the application, so we will start by configuring the modules
Modulation classification (MC) is a critical task in wireless communication systems, enabling the identification of the modulation class in the received signals. In this paper, we analyzed a novel multi-layer convolut...
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— This paper studies a class of strongly monotone games involving non-cooperative agents that optimize their own time-varying cost functions. We assume that the agents can observe other agents’ historical actions an...
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We propose a method to perform set-based state estimation of an unknown dynamical linear system using a data-driven set propagation function. Our method comes with set-containment guarantees, making it applicable to s...
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The paper is devoted to preservation of dynamic control accuracy of working tools of multilink manipulators when they move along arbitrary spatial trajectories, taking into account the design limits in all degrees of ...
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In this paper, the developed system for detecting problematic areas of agricultural fields by using computer vision in unmanned aerial vehicle (UAV) photography was investigated. The structures of the neural networks ...
In this paper, the developed system for detecting problematic areas of agricultural fields by using computer vision in unmanned aerial vehicle (UAV) photography was investigated. The structures of the neural networks of the YOLOv5 and YOLOv8 family were considered to find a solution to the task of detecting problem areas. The application of the developed software will reduce labour and time spent on image analysis, which in turn will reduce the response time in detecting problem areas in agricultural fields to achieve higher yields.
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