检索结果-内蒙古大学图书馆

Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Yuxin Feng Zhiqiang Li Yang Liu Zhaoshui He Hongyi Li School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou China School of Automation and Electronics Engineering Qingdao University of Science and Technology Qingdao China School of Automation Guangdong University of Technology Guangzhou China Key Laboratory for IoT Intelligent Information Processing and System Integration of Ministry of Education Guangzhou China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This article addresses an adaptive tracking control problem for uncertain high-order fully actuated (HOFA) systems with unknown parameters and disturbances. Under the framework of backstepping, the unknown parameter is estimated and the external disturbance is handled by using adaptive control and H ∞ technique, respectively. Moreover, the Levant differentiator is employed to reduce the computation burden. Additionally, the boundedness of signals in the closed-loop system is proven using the Lyapunov theory. Finally, the effectiveness of the proposed scheme is validated through the simulation study.

关键词： Backstepping Manipulators Stability analysis Closed loop systems Adaptive control Lyapunov methods

来源：评论

学校读者我要写书评

暂无评论

Nonlinear Underwater Robot system Environmental Disturbance Suppression Based on Feedback Linearization and EID Method

Nonlinear Underwater Robot System Environmental Disturbance ...

引用

Asian control Conference

作者： Chengyu Li Xin Chen Yang Zhou Wei Tan Wenpeng He School of Future Technology China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Automation China University of Geosciences Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

A disturbance suppression approach combining feedback linearization and equivalent input disturbance (EID) method is proposed to control nonlinear underwater robots' position. Firstly, the complex nonlinear model of the underwater robot is transformed into a linear model by feedback linearization. Then, to enhance the system's ability to reject unknown disturbances in the marine environment, the EID method is utilized for estimation and compensation. This helps improve the system's ability to handle disruptions. Additionally, a linear quadratic regulator (LQR) is employed to ensure system stability and achieve rapid convergence. Finally, the proposed approach is validated by demonstrating its effectiveness through simulation results.

关键词： Autonomous underwater vehicles Regulators Simulation Position control Mathematical models Stability analysis Feedback linearization

来源：评论

学校读者我要写书评

暂无评论

A Robust Rail Positioning Method for Turnout and Non-turnout Sections

A Robust Rail Positioning Method for Turnout and Non-turnout...

引用

第40届中国控制会议

作者： Shixiang Su Shuzhen Tong Xiaobo Lu Yun Wei School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Beijing Mass Transit Railway Operation Corporation Limited

Rail positioning is an essential task for railway track defect detection. The turnout is one of the main components of railway tracks. In order to realize the positioning of rails in turnout sections and non-turnout sections, this paper proposes a robust rail positioning method based on double sliding windows. Firstly, extract lines from the preprocessed image. Secondly,lines are discretized into points, and then all points are projected to the x-axis of the image. Finally, a double sliding window method is used to search for the rail area. The experimental results show that the proposed method can effectively identify the rail’s location in the turnout area, and the detection accuracy can reach 99%. What’s more, it has strong adaptability to complex detection environments such as curved rail or broken rail.

关键词： Rail positioning Turnout Railway Line detection Sliding window

来源：评论

学校读者我要写书评

暂无评论

measurement of non-Abelian gauge fields using multiloop amplification

引用

Physical Review A 2023年第2期108卷 023316-023316页

作者： Qing-Xian Lv Hong-Zhi Liu Yan-Xiong Du Lin-Qing Chen Meng Wang Jia-Hao Liang Zhao-Xin Fu Zi-Yuan Chen Hui Yan Shi-Liang Zhu Key Laboratory of Atomic and Subatomic Structure and Quantum Control (Ministry of Education) School of Physics South China Normal University Guangzhou 510006 China Guangdong Provincial Key Laboratory of Quantum Engineering and Quantum Materials Guangdong-Hong Kong Joint Laboratory of Quantum Matter South China Normal University Guangzhou 510006 China Guangdong Provincial Engineering Technology Research Center for Quantum Precision Measurement Frontier Research Institute for Physics South China Normal University Guangzhou 510006 China

Non-Abelian gauge field plays a central role in understanding the geometrical and topological phenomena in physics. Here we experimentally induce a non-Abelian gauge field in the degenerate eigensubspace of a double-Λ four-level atomic system. The non-Abelian nature of the gauge field is detected through the measurement of the noncommutativity of two successive evolution loops. Then we theoretically propose and experimentally demonstrate a scheme to measure the non-Abelian gauge field through multiloop evolution and robust holonomic quantum gates. The demonstrated scheme offers the advantage of detecting the non-Abelian gauge field with amplification through multiloop evolution. Our results pave the way for an experimentally feasible approach to achieving high-resolution and high-precision measurements of the gauge fields.

关键词： Coherent control Cooling & trapping Geometric & topological phases Light-matter interaction Photocurrent Quantum control Quantum foundations Quantum simulation Synthetic gauge fields

来源：评论

学校读者我要写书评

暂无评论

Predictability of Stochastic Dynamical system: A Probabilistic Perspective

Predictability of Stochastic Dynamical System: A Probabilist...

引用

IEEE Conference on Decision and control

作者： Tao Xu Jianping He Dept. of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, to characterize the predictability of discrete-time continuous-state stochastic dynamical system (SDS) and use predictability to explain the probability of making accurate predictions, we have proposed a new performance metric, i.e., predictability exponent. This metric quantifies the asymptotic exponential decaying rate of the probability that prediction errors never exceed a fixed ϵ. The novelties of this predictability metric lie in that it is proposed from an asymptotic probabilistic perspective, which i) minimizes the exponential decaying rate of prediction probability, ii) holds an approximated expression deeply related with differential entropy within an error of O(ϵ), and iii) possesses a fast converging speed from finite decaying rate of O(e −K ) in the sense of probability. Numerical examples are given to illustrate the efficiency of the obtained results.

关键词： measurement Stochastic processes Predictive models Probabilistic logic Entropy Dynamical systems

来源：评论

学校读者我要写书评

暂无评论

Stress analysis of escalator truss structure based on sub-model method 26

Stress analysis of escalator truss structure based on sub-mo...

引用

26th ISSAT International Conference on Reliability and Quality in Design, RQD 2021

作者： Qian, Wenxue Yin, Xiaowei Song, Shuai He, Xuehong School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China Shenyang Institute of Engineering School of Mechanical Shenyang110136 China Key Laboratory of Vibration and Control of Aero-Propulsion System of Ministry of Education Northeastern University Shenyang110819 China

ISBN: (纸本)9780991057696

The 3D solid model of the escalator truss system was established and imported into the finite element analysis software for detailed analysis, compared and analyzed the effect of the presence or absence of bolts on the stress of the escalator truss structure. The strength and stiffness of the escalator truss structure was calibrated according to the relevant standards. In order to get more accurate results of the stresses at the bolted connections, finite element analysis of the bolted connections was refined using the sub-model method, based on the overall analysis results, a local refinement model was established. The results show that the sub-model approach gives more accurate results. The results show that the strength and stiffness of the escalator truss structure meet the required standard. © 2021 Proceedings - 26th ISSAT International Conference on Reliability and Quality in Design, RQD 2021. All rights reserved.

关键词： Finite element method

来源：评论

学校读者我要写书评

暂无评论

Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot

Design and Development of a Rapidly Deployable Low-Cost Tens...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yixiang Liu Xiaolin Dai Kai Guo Jiang Wu Rui Song Jie Zhao Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Mechanical Transmissions Chongqing University Chongqing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China Engineering Research Center of Intelligent Unmanned System of Ministry of Education School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deformability, and impact resistance. Inspired by this structure, we design a novel worm-like tensegrity robot for different pipe environments, which can be manufactured rapidly at low cost. Firstly, a robotic module based on the tensegrity structure is designed inspired by the motion patterns of worm-like organisms. Then, the design process of the module is presented based on the mathematical analysis of the deformation. Finally, a prototype of the tensegrity robot is developed using simple and low-cost parts in less than an hour. To test the motion performance, load performance, and inspection capability of the tensegrity robot, we designed a series of experiments on horizontal pipes, vertical pipes, elbows, and steel pipes. Experimental results show that the worm-like tensegrity robot is simple in structure, easy to manufacture, low in cost, and good in performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Inferring Topology of Networked Dynamical systems by Active Excitations

Inferring Topology of Networked Dynamical Systems by Active ...

引用

IEEE Conference on Decision and control

作者： Yushan Li Jianping He Cailian Chen Xinping Guan Dept. of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the excitation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results.

关键词： Analytical models Network topology Topology Performance analysis Dynamical systems Testing

来源：评论

学校读者我要写书评

暂无评论

Vibrations Characteristics Analysis of Metal Composite 17-4ph Material Extrusion Additively Manufactured Parts Under Amplitude Dependence Property

SSRN

引用

SSRN 2023年

作者： Siyajeu, Yannick Xu, Zhuo Jiang, Shijie Li, Hui Wen, Bangchun Li, He School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China Key laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Shenyang110819 China School of Mechanical Engineering Northeast Electric Power University Jilin132014 China

In this study, a dynamic linear model of a metal composite filament ultra-fuse 17-4 PH stainless-steel material extrusion (ME) parts has been established considering the amplitude dependence. Material extrusion plates have been built in x and z-direction. Based on the Jones-Nelson model an investigation of the natural frequency and response and damping ratio of ultra-fuse 17-4PH metal composite material extrusion specimens has been completed. Equations of the proposed dynamic model have been solved by the combination of the orthogonal polynomial method and energy method. The Newton-Raphson iteration has been employed to predict the natural frequencies and responses of the ultra-fuse 17-4 PH stainless-steel material extrusion manufactured parts. The results indicate that the predicted damping characteristics of the ultra-fuse 17-4 PH metal composite material extrusion parts have a good consistency with the experimental ones, meanwhile, when amplitude vibration increases from [0.25g…2.00g], the response of the ultra-fuse 17-4 PH metal composite material extrusion parts increase as well both for x and z-direction samples. © 2023, The Authors. All rights reserved.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Multi-Scale Eca Attention Network: A Rotation Mechanical Domain Adaptation Method with Minimal Class Confusion

SSRN

引用

SSRN 2023年

作者： Li, Xueyi Yu, Tianyu Wang, Xiangkai Li, Daiyou Xie, Zhijie Kong, Xiangwei College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150040 China Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Shenyang110819 China School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China

Unsupervised rotation mechanical fault diagnosis methods have become popular, but existing unsupervised methods still have some issues. For example, it is challenging to capture vibration signal features at different scales and to address partial class confusion. To improve the diagnostic performance, this study introduces a multi-scale, Efficient Channel Attention (ECA) attention mechanism, Joint Adaptation Network (JAN), and Minimum Class Confusion (MCC) for addressing the aforementioned issues. Firstly, the authors design a multi-scale fault feature extraction module to capture discriminative information at different scales in vibration signals. Secondly, the authors introduce the ECA attention mechanism to weight the extracted features at the channel level, enhancing useful features and suppressing redundant features. Then, the authors employ the JAN method to establish local maximum mean discrepancy, enabling adaptation between corresponding sub-domains of the source and target domains, avoiding the problem of being too close. Finally, the authors use MCC as the loss function to reduce prediction confusion between correct and ambiguous categories in target samples, thus improving transfer performance. Experimental results demonstrate that the proposed method exhibits excellent performance in unsupervised rotation mechanical fault diagnosis tasks. © 2023, The Authors. All rights reserved.

关键词： Fault detection

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：