检索结果-内蒙古大学图书馆

Chinese Automation Congress (CAC)

作者： Liu, Fuchun He, Yun Zhao, Junhong South China Univ Technol Key Lab Autonomous Syst & Networked Control ASNC Minist Educ Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781728113128

Automated and coordinated vehicle technology has becoming increasingly prevalent. In this paper, in terms of the fuel consumption and pollutant emissions, we proposed an S-velocity curve regulation, combined with a sinusoidal scenario to evaluate four classic vehicle platoon autopilot control algorithms. The simulation studies of different scenarios are implemented in an integrated simulation platform PLEXE, which is developed based on SUMO and OMNeT++. For emission model in SUMO, we utilize PHEMlight, which is a simplified version of the Passenger car and Heavy duty vehicle Emission Model (PHEM) to replace the default one. Numerical simulations demonstrate that, when the leader driving with S-velocity curve, Cooperative Adaptive Cruise control (CACC) proposed by PATH project has higher fuel efficiency and lower CO2 emission than other three control laws. Moreover, this CACC algorithm can maintain string stability and more consistent operations (in terms of velocities and inter-vehicle gaps) even under sinusoidal scenario changed frequently.

关键词： CACC S-curve emission model fuel consumption pollutant emission

来源：评论

学校读者我要写书评

暂无评论

DSP Accelerated Interpolation Using Zero-Padding FFT Algorithm for High Speed Numerical control of Robots 11th

DSP Accelerated Interpolation Using Zero-Padding FFT Algorit...

引用

11th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Luo, Fei Liao, Weihao South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Sch Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9783319975894;9783319975887

In numerical control system of robots, the generation of path points and inverse kinematics occupy most of computing resources. For applications that require high path update rate, or have to deal with complex trajectory and kinematics, a microprocessor with limited computing power may not be sufficient for the task. This paper proposes a method of interpolating in the joint space using zero-padding FFT algorithm to transfer part of the computation load from central computing unit to digital signal processor, so that the whole computing process can be accelerated. In this paper, an overview of the control system of SCARA is introduced at first, followed by a detailed description of the DFT interpolation theorem. Next, the method of interpolating in the joint space using zero-padding FFT algorithm is proposed. Finally, the SCARA model is applied for experiment to compare the computation time spent with different methods. The result shows that the proposed method can efficiently accelerate the computation if a relatively high path update rate is required.

关键词： Path point generation FFT interpolation Digital signal processor Numerical control

来源：评论

学校读者我要写书评

暂无评论

Simultaneous dynamic controller and anti-windup synthesis for systems with sector-bounded and slope restrictions

Simultaneous dynamic controller and anti-windup synthesis fo...

引用

Chinese control Conference (CCC)

作者： Naizhou Wang Hailong Pei Lianwen Jin Tiancai Liang School of Electronic and Information Engineering South China University of Technology Guangzhou P. R. China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou P. R. China GRG Banking Intelligent Security Research Institute Guangzhou P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

This paper presents new techniques for construction of dynamic output feedback controllers with a static anti-windup compensator for a class of saturated systems with sector-bounded and slope-restricted nonlinearities. To handle the slope restriction, a so-called differential compensator is incorporated into the traditional nonlinear controller. Considering its sector-bounded property and convex-hull representation, respectively, two LMI-based synthesis methods are proposed to address the problems of the estimates of the region of attraction (ROA) and £ 2 performance analysis of the closed-loop system. A numerical example illustrates the effectiveness of the proposed approaches.

关键词： Linear matrix inequalities Closed loop systems Electronic mail Output feedback Actuators Nonlinear systems Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Quasi-fixed Frequency and Phase Modulation Synchronous control Based LCC Resonant Converter

Quasi-fixed Frequency and Phase Modulation Synchronous Contr...

引用

Chinese Automation Congress (CAC)

作者： Dejun Kong Ying Feng School of Automation Science and Engineering South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China

This paper presents a novel quasi-fixed frequency based synchronous control scheme for the LCC resonant converter to suit the high frequency, low voltage and high current operating condition. Utilizing ZVS technique, the proposed method can guarantee the reliable load control ability and ensure the stable zero voltage by adjusting the frequency and the phase in the limited range. To show the effectiveness of the control algorithm, a LCC resonant converter with quasi fixed frequency (QFC) and phase modulation synchronous control is addressed in this paper. The LCC converter works in a continuous conduction mode near 700 kHz and implementing zero-voltage switching (ZVS) with 200-425 V input and 48 V/42 A output simultaneously, and it can suit the wide input/output range with high efficiency using the designed control scheme through the PSIM simulation results.

关键词： Resonant converters Resonant frequency Zero voltage switching Switching frequency Frequency control Frequency modulation Frequency conversion

来源：评论

学校读者我要写书评

暂无评论

Long-Duration Fully autonomous Operation of Rotorcraft UAS for Remote-Sensing Data Acquisition

arXiv

引用

arXiv 2019年

作者： Malyuta, Danylo Brommer, Christian Hentzen, Daniel Stastny, Thomas Siegwart, Roland Brockers, Roland Autonomous Control Lab University of Washington SeattleWA98195 Control of Networked Systems Group Alpen-Adria-Universität Klagenfurt Klagenfurt9020 Austria Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109-8099 Autonomous Systems Lab ETH Zürich Zürich8092 Switzerland

Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long periods of time, e.g. days or weeks. This has so far been impractical due to the limited flight times of such platforms and the requirement of humans in the loop for operation. To overcome these limitations, we propose a fully autonomous rotorcraft UAS that is capable of performing repeated flights for long-term observation missions without any human intervention. We address two key technologies that are critical for such a system: full platform autonomy to enable mission execution independently from human operators and the ability of vision-based precision landing on a recharging station for automated energy replenishment. High-level autonomous decision making is implemented as a hierarchy of master and slave state machines. Vision-based precision landing is enabled by estimating the landing pad’s pose using a bundle of AprilTag fiducials configured for detection from a wide range of altitudes. We provide an extensive evaluation of the landing pad pose estimation accuracy as a function of the bundle’s geometry. The functionality of the complete system is demonstrated through two indoor experiments with a duration of 11 and 10.6 hours, and one outdoor experiment with a duration of 4 hours. The UAS executed 16, 48 and 22 flights respectively during these experiments. In the outdoor experiment, the ratio between flying to collect data and charging was 1 to 10, which is similar to past work in this domain. All flights were fully autonomous with no human in the loop. To our best knowledge this is the first research publication about the long-term outdoor operation of a quadrotor system with no human interaction. Copyright © 2019, The Authors. All rights reserved.

关键词： Data acquisition

来源：评论

学校读者我要写书评

暂无评论

Generalized Iterative Closet Point Algorithm Based on Lie Algebra Parameterization

Generalized Iterative Closet Point Algorithm Based on Lie Al...

引用

Chinese Automation Congress (CAC)

作者： Liu, Fuchun He, Yun Wang, Yuyu Su, Xuan Zhao, Junhong South China Univ Technol Key Lab Autonomous Syst & Networked Control ASNC Minist Educ Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781728113128

The Generalized Iterative Closest Point(G-ICP) algorithm is a high-precision point cloud registration algorithm, which uses Euler angles to parameterize a rotation matrix. However. Euler angle parameterization has singularity at a specific angle, which leads to application limitations. In this paper, a new G-ICP algorithm has been proposed, in which the Lie algebra on so(3) is used to parameterize a rotation matrix and the Gauss-Newton method is employed to optimize the objective function of the G-ICP algorithm. The experimental results have demonstrated that our method performs well compared with the state-of-the-art G-ICP alorithm [1] and simultaneously holds better estimation accuracy of pose with fast convergence speed in the open RGB-D TUM datasets.

关键词： G-ICP RGB-D Point cloud registration so(3) Guass-Netwon Method

来源：评论

学校读者我要写书评

暂无评论

Active Disturbance Rejection Based Iterative Learning control for Variable Air Volume Central Air-Conditioning System 7

Active Disturbance Rejection Based Iterative Learning Contro...

引用

IEEE 7th Data Driven control and Learning systems Conference (DDCLS)

作者： Lu, Shiying Ai, Wei Li, Xiangyang South China Univ Technol Sch Automat Sci & Engn Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Guangdong Peoples R China

ISBN: (纸本)9781538626184

The Variable Air Volume (VAV) Central Air-Conditioning system is a complicated system with non-linearity, large-time delay and strong inertia, thus it is difficult to design an effective controller. Iterative Learning control (ILC) takes good effect in controlled process with repeatability and periodicity, but it cannot cope with uncertain disturbance explicitly. A creative algorithm, Active Disturbance Rejection based Iterative Learning control (ADR-Based ILC), is proposed to improve ILC's performance in VAV control system. ADR-Based ILC compensates the disturbance explicitly caused by ambient temperature, heat from people and machines, and makes it higher control precision and higher energy-efficiency. An accurate model of VAV system is built in TRNSYS platform, and ADR-Based ILC is proved to be more effective than fuzzy PID and ILC.

关键词： Variable Air Volume Central Air-Conditioning system Active Disturbance Rejection based Iterative Learning control TRNSYS

来源：评论

学校读者我要写书评

暂无评论

Position tracking for continuum robots with joint limit constraints

Position tracking for continuum robots with joint limit cons...

引用

2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Lin, Dengliang Dong, Xin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Nottingham University Department of Mechanical Materials and Manufacturing Engineering NottinghamNG7 2RD United Kingdom Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

This paper presents a novel tip-following approach for real-time position tracking and avoiding obstacle of continuum robots with joint limit constraints. This type of hyper-redundant robot, which is more flexible and compliant to explore in complex and constrained environments, such as in pipeline or narrow entrance. However, tradictional method based on inverse kinematic model is difficult to control the end-effector of continuum robot to avoid abstcales in the constrained circumstance. Therefore a new tip-following method based on forward kinematic model is proposed to control the robot and make it inspect the environment. For the method, we use nonliner progamming approach to solve the optimization problem, which is used to find minimum of constrained nonlinear objective function to ensure that the end-effector of the robot follow the desired position with minimal error. In this paper, we employ a 24 DoF continuum robot with continuous backbone and compliant joint to the simulation, and it is testified that the proposed approch can ensure joint limit avoidance, track the end postion in real time and minimize the tracking errors. © 2019 IEEE.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

IMU Preintegration for Visual-Inertial Odometry Pose Estimation 37

IMU Preintegration for Visual-Inertial Odometry Pose Estimat...

引用

37th Chinese control Conference (CCC)

作者： Liu, Fuchun Su, Xuan He, Yun Luo, Fei Gao, Huanli South China Univ Technol Minist Educ Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control ASNC Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9789881563958

In this paper, based on Inertial Measurement Unit (IMU) preintegration, a pose estimation algorithm for Visual-Inertial Odometry (VIO) system has been investigated. Firstly, we developed the kinematic equation of acceleration and angular velocity of IMU. To avoid the re-integration caused by the change of the system states, the IMU measurements are preintegrated on the Riemannian manifold of rotation. Furthermore, we studied the propagation characteristic of noise and derived the state transition equation of the noise. So the influence of noise on pose estimation can be dramatically reduced. Compared with the famous Okvis algorithm, experimental results on two public datasets of EuRoC show that the proposed IMU preintegration algorithm achieves good estimation median of translation error with 0.14 m, which is better than Okvis with 0.24 m.

关键词： IMU Preintegration Manifold Kinematic Equation VIO Noise Propagation

来源：评论

学校读者我要写书评

暂无评论

Design of a control Platform for Mobile Robot with SSVEP-BCI System 9

Design of a Control Platform for Mobile Robot with SSVEP-BCI...

引用

9th IEEE International Conference on Cybernetics and Intelligent systems (CIS) / IEEE Conference on Robotics, Automation and Mechatronics (RAM)

作者： Liu, Yang Li, Xinyang Yang, Chenguang South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China Impelial Coll London Natl Heart & Lung Inst Hammersmith Campus72 Du Cane Rd London W12 0UQ England Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England

ISBN: (纸本)9781728134581

This paper introduces a control platform based on brain-computer interface(BCI) for the mobile robot. The proposed platform consists of three parts: Path Planning, SSVEP-BCI and Mobile Robot control. The path planning part aims to seek an optimal path out from the starting point to the target point, which is denoted as A* algorithm in this work. The found path is shown to the user who determines the actual movement direction using SSVEP-BCI. The signal is sent to the mobile robot to control the movement of the robot. In the BCI part, the collected EEC signals are analyzed with the CCA method to obtain the homologous control signals. The mobile robot is required to complete the movement from the initial point to the destination without collision. The platform is evaluated with an off-line experiment with 4 subjects and the off-line analysis shows the feasibility of the proposed platform.

关键词： mobile robot A* algorithm SSVEP BCI CCA

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：