检索结果-内蒙古大学图书馆

2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018

作者： Zhang, Hailong Tinghui, Zhang Shuyu, Shen Wang, Enrong Yan, Wei Rakheja, Subhash Su, Chun-Yi School of Electric and Automation Engineering Nanjing Normal University Nanjing Jiangsu China South China University of Technology Guangzhou510640 China Concordia University MontrealQCH3G M18 Canada Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781538618547

Due to energy and environment demands, as well as a developing trend of magneto-rheological (MR) semi-active suspension, the study on key technologies of the novel MR power regenerative suspension system, in which a tubular linear permanent-magnet synchronous motor (TPMLM) is equipped in parallel with MR damper (MRD), has important theoretical and engineering significances. In this paper, the dynamical model of the MR suspension and finite element model of TPMLM are established, respectively, so as to set up the combination simulation platform of the regenerative suspension system. The frequency response is observed to reveal the influence of the installed TPMLM on vehicle suspension characteristics. Further, the semi-active suspension performance and regenerated power are analyzed under the harmonic and random road surface excitations to verify and improve the proposed design method. The proposed MR regenerative suspension is potentially valuable in application of new energy automobiles especially electric vehicle. © 2018 IEEE.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

RF chain reduction for MIMO systems: A hardware prototype

arXiv

引用

arXiv 2019年

作者： Gong, Tierui Shlezinger, Nir Ioushua, Shahar Stein Namer, Moshe Yang, Zhijia Eldar, Yonina C. State Key Lab of Robotics Key Lab of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Mathematics and Computer Science Weizmann Institute of Science Rehovot Israel School of Electrical Engineering Tel Aviv University Tel Aviv Israel Faculty of Electrical Engineering Technion Haifa Israel

RF chain circuits play a major role in digital receiver architectures, allowing passband communication signals to be processed in baseband. When operating at high frequencies, these circuits tend to be costly. This increased cost imposes a major limitation on future multiple-input multiple-output (MIMO) communication technologies. A common approach to mitigate the increased cost is to utilize hybrid architectures, in which the received signal is combined in analog into a lower dimension, thus reducing the number of RF chains. In this work we present a hardware prototype implementing analog combining for RF chain reduction. The prototype consists of a specially designed configurable combining board as well as a dedicated experimental setup. Our hardware prototype allows to evaluate the effect of analog combining in MIMO systems using actual communication signals. The experimental study, which focuses on channel estimation accuracy in MIMO channels, demonstrates that using the proposed prototype, the achievable channel estimation performance is within a small gap in a statistical sense from that obtained using a costly receiver in which each antenna is connected to a dedicated RF chain. Furthermore, in the considered scenarios, this gap becomes negligible when the reduction rate, i.e., the ratio of the number of RF chains to the number of antennas, is above 62.5%. Copyright © 2019, The Authors. All rights reserved.

关键词： Channel estimation

来源：评论

学校读者我要写书评

暂无评论

Three-State Space Reformulation and control of MD-Included One-Link Robot System Using Direct-Derivative and Zhang-Dynamics Methods 29

Three-State Space Reformulation and Control of MD-Included O...

引用

第29届中国控制与决策会议

作者： Yunong Zhang Wan Li Binbin Qiu Yaqiong Ding Deyang Zhang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Tracking control of nonlinear systems is a hot topic in various fields, especially in robotics. In this paper,a nonlinear one-link(1L) robot system with motor dynamics(MD) included is investigated, and a novel method, i.e.,Zhang-dynamics(ZD) method, is applied to solve the tracking control problem of this nonlinear system. A ZD controller of the nonlinear MD-included 1L robot system is designed. The simpleness and effectiveness of ZD method are proved through theoretical analysis. Moreover, computer-simulation results substantiate the high performance of the ZD controller. It is worth pointing out that our research provides the feasibility of applying ZD method in more and more practical fields.

关键词： Tracking control Nonlinear System One-Link Robot System Motor Dynamics Zhang-Dynamics Method

来源：评论

学校读者我要写书评

暂无评论

New ZFD（Zhang Finite Difference） Formula 4IgSFDL for Time-Varying Reciprocal and Inverse Computation 29

New ZFD（Zhang Finite Difference） Formula 4IgSFDL for Time-...

引用

第29届中国控制与决策会议

作者： Yunong Zhang Chumin Li Penghao He Min Yang Xuyun Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Time-varying reciprocal and inverse computation are considered as fundamental problems in scientific and engineering fields,which are more complicated than static ***-time Zhang dynamics（CTZD）model is a powerful method for such complicated *** obtain a discrete-time Zhang dynamics（DTZD） model,a new formula of 4-instant g-square finite difference（4IgSFD） is proposed in this *** that the formula has a truncation error of O（g）,where g denotes the sampling *** the aid of the formula 4IgSFD,the 4IgSFD-type DTZD model is *** 4IgSFD-type DTZD model has a high calculative precision with truncation error of O（g）.Through numerical experiments,the convergence and stability of 4IgSFD-type DTZD model are illustrated via time-varying reciprocal and inverse computation.

关键词： Finite Difference Time-Varying Reciprocal and Inverse Computation 4IgSFDL-Type DTZD Model Numerical Experiments Residual Error

来源：评论

学校读者我要写书评

暂无评论

Online Robot Reference Trajectory Adaptation for Haptic Identification of Unknown Force Field

引用

INTERNATIONAL JOURNAL OF control AUTOMATION AND systems 2018年第1期16卷 318-326页

作者： Huang, Dianye Yang, Chenguang Wang, Ning Annamalai, Andy Su, Chun-Yi South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Plymouth Univ Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England Chinese Univ Hong Kong Dept Comp Sci & Engn Hong Kong Hong Kong Peoples R China Univ Highlands & Isl Moray Coll Inverness Scotland Guangdong Univ Technol Sch Automat Guangzhou 510006 Guangdong Peoples R China

In this paper, a novel online reference trajectory adaptation algorithm is developed, which aims to balance the interactive force and the deviation when the robots interact with an unknown environment. The algorithm first estimates the online parameters of the environmental dynamic model using the Lyapunov-based method. The desired trajectory is then derived by obtaining a tradeoff between the cost of strictly tracking the reference trajectory and the cost of tracking deviation. Simulation studies are carried out to verify the validity of the proposed algorithm. Simulations show that the desired trajectory tends to go around the contour of the force field when more weight is placed on the cost of interaction force, which can be used for haptic identification;identifying contours of the force field.

关键词： Haptic identification interaction control online adaptation trajectory adaptation unknown forcefield

来源：评论

学校读者我要写书评

暂无评论

Exponential input-to-state stability of stochastic fuzzy delayed Cohen-Grossberg neural networks under impulsive perturbations

Exponential input-to-state stability of stochastic fuzzy del...

引用

第37届中国控制会议

作者： Weisong Zhou Hao Zeng Donghai Wu Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Networked Control Ministry of EducationChongqing University of Posts and Telecommunications

In this paper,we study a class of stochastic fuzzy delayed Cohen-Grossberg neural networks under impulsive *** Razumikhin method and iteration technique,some sufficient conditions ensuring the mean-square exponential input-to-state stability of the designed delayed neural networks are *** results can generalize and improve some earlier publications.A numerical example is demonstrated to verify the theoretical results.

关键词： Impulsive Stochastic Cohen-Grossberg neural networks Exponential input-to-state stability

来源：评论

学校读者我要写书评

暂无评论

From Euclid Division of Constant Integers to Zhang Division of Time-Varying Variables 2

From Euclid Division of Constant Integers to Zhang Division ...

引用

2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Yunong Zhang Min Yang Maotai Zou Sheng Wu Binbin Qiu School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

Static Euclid division has been studied for many decades. In this paper, we focus on time-varying division(or termed, Zhang division). As Zhang dynamics(ZD) and gradient dynamics(GD) have shown powerf

ISBN: (纸本)9781467389808

关键词： Mathematical model Trajectory Solid modeling Computational modeling Solids Numerical models Hardware

来源：评论

学校读者我要写书评

暂无评论

Visual Semantic Navigation Based on Deep Learning for Indoor Mobile Robots

引用

COMPLEXITY 2018年第1期2018卷

作者： Wang, Li Zhao, Lijun Huo, Guanglei Li, Ruifeng Hou, Zhenghua Luo, Pan Sun, Zhenye Wang, Ke Yang, Chenguang Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Heilongjiang Peoples R China HNA Technol Grp Shanghai 200122 Peoples R China South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China

In order to improve the environmental perception ability of mobile robots during semantic navigation, a three-layer perception framework based on transfer learning is proposed, including a place recognition model, a rotation region recognition model, and a "side" recognition model. The first model is used to recognize different regions in rooms and corridors, the second one is used to determine where the robot should be rotated, and the third one is used to decide the walking side of corridors or aisles in the room. Furthermore, the "side" recognition model can also correct the motion of robots in real time, according to which accurate arrival to the specific target is guaranteed. Moreover, semantic navigation is accomplished using only one sensor (a camera). Several experiments are conducted in a real indoor environment, demonstrating the effectiveness and robustness of the proposed perception framework.

关键词： Deep learning

来源：评论

学校读者我要写书评

暂无评论

Soft-Sensing Modeling Based on GK-LSSVM Method for Online Predictions of BOD in Activated Sludge Process

Soft-Sensing Modeling Based on GK-LSSVM Method for Online Pr...

引用

International Conference on Robotics and Automation Sciences (ICRAS)

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

ISBN: (纸本)9781538639955

Five-day biochemical oxygen demand (BOD5) is one of the key parameters which is widely used to evaluate the biological and chemical evaluation of effluents from wastewater treatment plants. This paper proposes a novel method that can predict online using BOD5 by synthesizing an online version of Gustafson-Kessel (GK) algorithm and least squares support vector machines (LS-SVM). The clustering algorithm can reduce required number of clusters, form more complex shape clusters, and get better modeling performance. Moreover, an online sparse LSSVM with time window is proposed to reduce the computation time and storage space. The GK-LSSVM of the method of the soft-sensor model was proposed to predict BOD5 concentration. The results indicate that the proposed method can not only improve prediction accuracy but also efficiently decrease model's update frequency, comparing to the cases using with that of different methods.

关键词： biochemical oxygen demand least square support vector machine soft sensor gustafson-kessel algorithm

来源：评论

学校读者我要写书评

暂无评论

Improved Model Predictive control for Cooperative Adaptive Cruise control Subject to Actuator Delay

Improved Model Predictive Control for Cooperative Adaptive C...

引用

Chinese Automation Congress (CAC)

作者： Liu, Fuchun Chen, Yifeng South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control ASNC Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China

ISBN: (数字)9781538635247

ISBN: (纸本)9781538635247

In this paper, an improved distributed model predictive control (MPG) algorithm subject to actuator delay of vehicles in cooperative adaptive cruise control (CACC) system is proposed. Firstly the traditional model predictive control approach is analyzed, which solves the incremental control input by transforming the MPG problem with constraints into a standard quadratic programming (QP) problem and introduces a slack variable to soften constraints. However, the traditional MPG controller cannot meet the requirement of tracking performance and safety when the actuator delay is taken into account. Therefore, an improved MPG algorithm using the method of dynamic matrix control (DMC) is proposed. Numerical simulations show that the tracking performance of the improved MPG algorithm can be maintained in different actuator delay while the performance of traditional one becomes poor or even unstable, which demonstrates the effectiveness of the proposed algorithm.

关键词： MPC CACC QP actuator delay DMC

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：