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17th Chinese Intelligent systems Conference, CISC 2021

作者： Tong, Jiahui Zhang, Qing Ran, Jian Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811663277

In view of the problems such as high cost, low training efficiency and lack of versatility, a design scheme of UAV simulation training system based on dynamic mission construction is proposed, and the reproducing dynamic mission environment simulation technology and UAV training control and result evaluation and method are described in detail. The evaluation system of UAV simulation training results based on multi-factor influence data is constructed, which can effectively guide the simulation training of multi-type UAV and improve the overall training effect of UAV operators by synthesizing historical training data and real-time training data. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Research on Simulation Method of Space-Ground Consistency for UAV Cluster Combat

Research on Simulation Method of Space-Ground Consistency fo...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Qing, Zhang Jing, Li Jiahui, Tong Jian, Han Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811694912

The Space-ground consistency of the unmanned aerial vehicle (UAV) cluster combat distributed interactive simulation system is the fundamental guarantee to simulate and reproduce the authenticity and correctness of UAV cluster combat mission, combat environment and combat process. This paper analyzes the common inconsistency problems of UAV cluster combat distributed simulation system, gives the technical connotation of the space-ground consistency of UAV cluster combat simulation, deeply analyzes all kinds of factors that affect the consistency of UAV cluster combat simulation space and ground, and puts forward the control methods of time-space consistency of UAV cluster combat simulation system, the control strategies and suggestions of model consistency and service consistency. It provides a theoretical basis and technical support for the construction of distributed interactive simulation system for UAV cluster combat. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Study of bipedal locomotion considering property of toe mechanism 12

Study of bipedal locomotion considering property of toe mech...

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12th Asia Conference on Mechanical and Aerospace engineering, ACMAE 2021

作者： Nguyen, Van-Tinh Tao, Ngoc-Linh Nguyen, Thanh-Trung Bui, Ngoc-Tam School of Mechanical Engineering Hanoi University of Science and Technology Viet Nam Department of Machinery and Control System Shibaura Institute of Technology Japan

Walking behaviour of the humanoid robot depends on many parameters of body structure, in which, the foot structure is one of the most important factors since it directly interacts with the environment in the locomotion. In this paper, joint characteristics of the robot's foot have been investigated for our further understanding of biped motion. These properties are stiffness and damping factor of spring of passive toe joints. The subject of this paper is a small humanoid robot named Kondo KHR-3HV belonging to the Kondo Kagaku company. The foot structure of the robot consists of a big toe and a tiptoe with passive joints using torsion spring. The effect of the structure property is collected and evaluated through dynamic simulation on Adams and analysis of variance (ANOVA). © Published under licence by IOP Publishing Ltd.

关键词： Anthropomorphic robots

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Study of convergence speed enhancement for topology optimization 12

Study of convergence speed enhancement for topology optimiza...

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12th Asia Conference on Mechanical and Aerospace engineering, ACMAE 2021

The target of this research is to enhance of convergence speed of proportional topology optimization process since it usually spends much computational cost to reach the achievement. Conventionally, proportional topology optimization (PTO) is a non-sensitivity technique, in which, the material distribution is gradually optimized by certain amount of material at each iteration through the relationship between current maximum stress and allowable stress. This is a reason that PTO method took a long time to reach the optimal layout. This paper deploys an adaptive material amount to improve this point. The cantilever with fixed hole is used to validate the effectiveness of the new method. The result shows that the proposed technique provided a significant improvement on the performance of proportional optimization algorithm. © Published under licence by IOP Publishing Ltd.

关键词： Topology

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On Convergence in Distribution of Stein's Unbiased Risk Hyper-parameter Estimator for Regularized system Identification 41

On Convergence in Distribution of Stein's Unbiased Risk Hype...

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第41届中国控制会议

作者： Yue Ju Tianshi Chen Biqiang Mu Lennart Ljung School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and System ScienceChinese Academy of Sciences Division of Automatic Control Department of Electrical EngineeringLink?ping University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Asymptotic theory for the regularized system identification has received increasing interests in recent *** this paper,for the finite impulse response(FIR) model and filtered white noise inputs,we show the convergence in distribution of the Stein's unbiased risk estimator(SURE) based hyper-parameter estimator and find factors that influence its convergence *** particular,we consider the ridge regression case to obtain closed-form expressions of the limit of the regression matrix and the variance of the limiting distribution of the SURE based hyper-parameter estimator,and then demonstrate their relation numerically.

关键词： Asymptotic theory Stein's unbiased risk estimator Hyper-parameter estimator Regularized system identification

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Open-circuit fault diagnosis method for inverters using deep learning and the evidence reasoning rule

Open-circuit fault diagnosis method for inverters using deep...

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2022 International Conference on Smart Energy and Electrical engineering, SEEE 2022

作者： Yu, Hang Gao, Haibo He, Yelan Lin, Zhiguo Xu, Xiaobin Pan, Zhiqiang School of Marine and Energy Power Engineering Wuhan University of Technology Wuhan China School of Computer Science and Technology Wuhan University of Technology Wuhan China Institute of System Science and Control Engineering Hangzhou Dianzi University Hangzhou China Shanghai Marine Diesel Engine Research Institute Shanghai China

Inverters having high voltage levels, high power density, and high integration are widely used. However, many high-frequency switch units also increase the probability of failure. Therefore, developing an accurate and stable fault diagnosis method is necessary. This paper proposes a fault diagnosis algorithm based on deep learning and the evidence reasoning (ER) rule. It not only ensures high diagnostic accuracy, but also enhances the stability of the diagnostic results. The algorithm takes the three-phase voltage source inverter as the research object and extracts the three-phase current signals with different types of faults as features. First, Convolutional and Deep Neural Network methods were utilized independently to determine a preliminary diagnosis. Second, the softmax functions of the Convolutional and Deep Neural Network outputs provided the probability distribution of the fault category, which was used as the evidence body for the ER rule to construct the fusion diagnosis. In addition, a new method of determining the reliability and the importance factors of the evidence was proposed in which the evaluation index of the deep-learning diagnosis result was applied. Finally, the final classification result was obtained using the ER rule. The proposed method can effectively enhance the accuracy and robustness compared with a single classifier. © Published under licence by IOP Publishing Ltd.

关键词： Deep neural networks

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface 1

Optical Evanescent Field for Direct Observation of Sub-100nm...

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1st International Conference on Robotics, engineering, science, and Technology, RESTCON 2024

作者： Khajornrungruang, Panart Permpatdechakul, Thitipat Suzuki, Keisuke Blattler, Aran Terayama, Yutaka Goto, Daiki Phaisalpanumas, Pipat Bun-Athuek, Natthaphon Phunopas, Amornphun Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Division Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Fukuoka Japan Kyushu Institute of Technology Iizuka-Shi Mechanical Information Science and Technology Division Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Production and Robotics Engineering Bangkok Thailand Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Course Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Industiral Engineering Bangkok Thailand King Mongkut's University of Technology North Bangkok Bangsue College of Industrial Technology Dept. of Mechanical Engineering Technology Bangkok Thailand

ISBN: (纸本)9798350348842

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes. © 2024 IEEE.

关键词： Visualization

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Dynamic modeling and analysis of the looped space tether transportation system based on ANCF

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International Journal of Mechanical system Dynamics 2022年第2期2卷 204-213页

作者： Jie Yang Qingtao Wang Zhiyong Zhang Zhendong Liu Shidong Xu Gangqiang Li School of Science Nanjing University of Science and TechnologyNanjingChina Institute of Launch Dynamics Nanjing University of Science and TechnologyNanjingChina Shanghai Aerospace System Engineering Institute ShanghaiChina State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and AstronauticsNanjingChina Department of Mechanical Engineering York UniversityTorontoCanada

A high‐fidelity multibody‐system dynamic model of the looped tether transportation system(L‐TTS)is proposed in this study to study its large deformation as well as large overall *** absolute nodal coordinate formulation(ANCF)‐based gradient‐deficient beam element is employed to establish the accurate model of the two flexible tethers subject to large *** relative movement of climbers along tethers is described by using the sliding joint model based on *** reduce the collision risks between tethers and climbers,two libration suppression strategies,namely,the decelerated motion of climbers relative to tethers and multiple climbers per tether are investigated in this *** numerical simulations not only validate the effectiveness of the two strategies in reducing the collision risks between climbers and tethers,the overall librations of L‐TTS,and the magnitudes of the longitudinal elastic force of tethers,but also verify the good performance of the high‐fidelity model proposed in this study for dynamic simulation of the L‐TTS in microgravity conditions.

关键词： looped tether transportation system high‐fidelity model absolute nodal coordinate formulation sliding joints libration suppression

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Driving Performance Analysis for Connected Vehicle Platoons: Velocity Perturbation and Fuel Consumption

Driving Performance Analysis for Connected Vehicle Platoons:...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Zhao, Yihan Duan, Xuting Zhou, Jianshan Zhang, Long School of Transportation Science and Engineering Beihang University Beijing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Zhongguancun Laboratory Beijing China National Key Laboratory of Science and Technology on Information System Security Institute of Systems Engineering Beijing China

ISBN: (纸本)9798350316308

Vehicle platoon is one of the concrete manifestations of multi-vehicle cooperative control and intelligent transportation. However, the velocity perturbation in the driving process will bring about stability and safety problems. The connected autonomous vehicles (CAVs) can obtain the motion status of the lead vehicle in real time and respond to it in time, which is of far-reaching significance to platoon control. Based on this, this paper focuses on the longitudinal driving strategy of connected autonomous vehicle platoons. Specifically, we provide a discrete double-integral model controller for each vehicle in a generic scenario, and the controller performs acceleration and deceleration control at each timeslot according to the state of the vehicle in front and its own state. Simulation experiments are designed by varying the size of the platoon and the number of connected autonomous vehicles. The experimental results show that the introduction of connected autonomous vehicles can effectively suppress the platoon velocity perturbation, increase the stability of the platoon driving, and significantly reduce the fuel consumption at the same time. © 2023 IEEE.

关键词： Autonomous vehicles

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An autonomous path planning method considering terrain aided navigation constraints

An autonomous path planning method considering terrain aided...

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2022 Chinese Automation Congress, CAC 2022

作者： Jiang, Min Xu, Cheng Ji, Hua Wang, Yuqi Engineering Institute Beijing Electro-Mechanical Bejing China Beijing Electro-Mechanical Engineering Institute System Control and Intelligent Agent Cooperation Laboratory Science and Technology on Complex Bejing China

ISBN: (纸本)9781665465335

In order to solve the autonomous path planning problem with terrain aided navigation constraints, a navigation-first path planning method was adopted, that is, the distribution of terrain matching regions and the drift of navigation errors were given priority, and the path planning problem was transformed into the shortest path problem of single source directed graph to determine the nodes on the path. Secondly, the path planning between adjacent nodes is transformed into a path planning problem with initial direction constraint and terminal direction freedom/constraint, and the lateral path is smoothed. Finally, for the local path passing through the no-fly zone, the obstacle avoidance path planning with initial and terminal direction constraints is carried out based on convex optimization method. The simulation results show that the autonomous path planning method considering terrain aided navigation constraints can plan the shortest flight path under the constraints of navigation accuracy, maneuverability and no-fly zone. © 2022 IEEE.

关键词： Motion planning

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