检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Automation (ICRA)

作者： Zehao Wang Han Zhang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University and 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)9798350384574

ISBN: (纸本)9798350384581

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC.

关键词： Trajectory tracking Computational modeling Estimation Predictive models control systems Data models Nonlinear dynamical systems

来源：评论

学校读者我要写书评

暂无评论

Biochar application in remediating salt-affected soil to achieve carbon neutrality and abate climate change

引用

Biochar 2023年第1期5卷 778-802页

作者： Qiang Liu Kudakwashe Meki Hao Zheng Yanfei Yuan Mengying Shao Xianxiang Luo Xiaoyun Li Zhixiang Jiang Fengmin Li Baoshan Xing Institute of Coastal Environmental Pollution Control College of Environmental Science and EngineeringSanya Oceanographic InstitutionMinistry of Education Key Laboratory of Marine Environment and EcologyFrontiers Science Center for Deep Ocean Multispheres and Earth SystemOcean University of ChinaQingdao 266100China Marine Ecology and Environmental Science Laboratory Pilot National Laboratory for Marine Science and TechnologyQingdao 266071China Department of Environmental Science School of Geography and TourismShaanxi Normal UniversityXi’an 710119China College of Environmental Science and Engineering Qingdao UniversityQingdao 266071China Stockbridge School of Agriculture University of MassachusettsAmherstMA 01003USA

Salt-affected soils urgently need to be remediated to achieve the goals of carbon neutrality and food *** reviews are available on biochar performance in remediating salt-affected soils in the context of carbon neutrality and climate change *** work summarized the two pathways to achieve carbon neutrality during remediating salt-affected soils using biochars,i.e.,biochar production from sustainable feedstock using thermal technologies,application for promoting plant productivity and mitigating greenhouse gas(GHG)*** biomass wastes into biochars can reduce GHG emission and promote carbon dioxide removal(CDR),and collection of halophyte biomass as biochar feedstocks,development of biochar poly-generation production systems with carbon neutrality or negativity could be promising *** can effectively improve plant growth in salt-affected soils,showing that the grand mean of plant productivity response was 29.3%,via improving physicochemical characteristics,shifting microbial communities,and enhancing plant ***,biochar can mitigate GHG emission via inducing negative priming effect,improving soil properties,changing microbial communities associated with carbon and nitrogen cycle,direct adsorption of ***,biochar also may pose negative effects on plant growth because of stress of toxic compounds and free radicals,and deterioration of soil *** promoted GHG emission is mainly ascribed to positive priming effect,and provision of labile carbon and inorganic nitrogen fractions as microbial ***,this review pointed out the gaps in the current studies and the future ***,the development of“carbon neutral”or“carbon negative”biochar production system,balancing the relationship of biochar effectiveness and functionality with its environmental risks and costs,and designing biochar-based GHG adsorbents would be important directions for remediating salt-affecte

关键词： Carbon neutrality Salinization Greenhouse gas emission Soil remediation Carbon sequestration

来源：评论

学校读者我要写书评

暂无评论

Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

引用

IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

来源：评论

学校读者我要写书评

暂无评论

Securing Mobile Robotic Networks Against Replacement Attack

引用

IEEE Transactions on Automatic control 2025年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Cai, Lin Shanghai Jiao Tong University Dept. of Automation China Ministry of Education of China The Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Victoria Dept. of Electrical and Computer Engineering BC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external robot can replace a formation robot by compromising the communication and physically interfering with the victim simultaneously. To counter this advanced attack, the novel idea of this work is to leverage the physical proximity of the formation shape and the interaction topology among robots for defense design. First, from the physical proximity perspective, we propose the convex neighbor polygon (CNP) to capture the geometric characteristic of the formation robots, and design a CNP-based security mechanism for the robots during the replacement attack. Then, from the interaction perspective, we introduce the indirect controllability to characterize the possibility that the attacker leverages the interaction between robots to deactivate the CNP mechanism, and establish the conditions regarding the topology structure and the attack input to counter the replacement. Finally, based on the obtained conditions, we demonstrate how to design the initiatory topology among the formation robots to enhance the defense performance. Comparative simulations verify the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Topology

来源：评论

学校读者我要写书评

暂无评论

Dynamic Aggregation of Multiple Flexible Resources in Virtual Power Plants to Meet Diverse Frequency control Requirements

引用

IET Generation, Transmission and Distribution 2025年第1期19卷

作者： Teng, Xianliang Zheng, Tao Cao, Jing Jin, Yulong Mo, Qianlian Ding, Zhetong Wang, Ying NARI Technology Co. Ltd Jiangsu Province Nanjing China NARI Technology Nanjing Control System Co. Ltd Jiangsu Province Nanjing China School of Automation Southeast University Jiangsu Nanjing China Key Laboratory of Measurement and Control of CSE Ministry of Education Southeast University Jiangsu Nanjing China

To fulfill the frequency control requirements of the power system, virtual power plants (VPPs) need to aggregate and coordinate a large number of flexible resources. Traditional static aggregation methods, which fixed the composition and coordination strategy of flexible resources, face significant challenges with the diverse frequency control requirements. To address this issue, this paper proposes a dynamic aggregation of multiple flexible resources in VPPs to meet the evolving performance requirements of frequency control. First, a dynamic K-medoids clustering method is applied to reduce the dimension of large-scale resources, thereby reducing the complexity and difficulty of controlling a large number of resources. Then, considering that the intra-hour performance requirements of the frequency control as well as the resource pool of the VPPs are usually minor changing, this paper proposes a two-stage optimization model based on submodular optimization theory for dynamical aggregation, which enables rapid selection and allocation of flexible resources in VPPs. The effectiveness of the proposed method is validated on the IEEE 10-generator 39-bus system with 10,000 flexible resources. The results show that compared to existing techniques, the proposed method enhances the flexibility of large-scale resource aggregation and reduces the calculation time by almost 22 times while guaranteeing the aggregation performance. © 2025 The Author(s). IET Generation, Transmission & Distribution published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Resource allocation

来源：评论

学校读者我要写书评

暂无评论

An Effective Nuclear Magnetic Resonance Gyroscope control Method Based on ESOPI-PLL

An Effective Nuclear Magnetic Resonance Gyroscope Control Me...

引用

Chinese Automation Congress (CAC)

作者： Pengjie Hu Dan Niu Yanlan Yang Yuansheng Liu Xiaoiie Sun Qi Fu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing China Beijing Institute of Aerospace Control Devices Beijing China Quantum Engineering Research Center of CASC Beijing China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

In the design of nuclear magnetic resonance gyroscopes, the closed-loop control of the excitation magnetic field is crucial. Among various control methods, the phase-locked loop (PLL) is widely used to enhance the dynamic characteristics and stability of the gyroscope. This research employs the Second-Order Generalized Integrator (SOGI) as the phase detector, with the loop filter utilizing PI control. However, the system, being of type 2, cannot track acceleration signals without a static error. To address this limitation, we propose a loop filter design based on an Extended State Observer (ESO) integrated with PI control, effectively transforming the system into ESOPI-PLL, which is a type of Type3-PLL. Compared to the traditional SOGI-PLL system, simulation results demonstrate that our proposed scheme extends the gyroscope range to 2000 °/s, with a bandwidth of 30Hz, and achieves zero static error tracking. This advancement presents significant application potential for nuclear magnetic resonance gyroscopes.

关键词： Dynamic response Magnetic separation Bandwidth Stability analysis Gyroscopes Nuclear magnetic resonance systems simulation Phase locked loops State estimation Testing

来源：评论

学校读者我要写书评

暂无评论

Data selection strategy in data-driven model predictive control of uncertain systems

Data selection strategy in data-driven model predictive cont...

引用

第34届中国过程控制会议

作者： Lingyi Yang dewei Li Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai Engineering Research Center of Intelligent Control and Management

In this paper,a novel data-driven methodology for MPC with data selection strategies is *** novel selection strategy involves two ***,we check the similarity between the current data and the past data items already existing in the data *** enables the controller to pick a set of informative data items which contain sufficient information on each direction of the signal ***,for the data items within the data oracle,we integrate multiple similar data vectors into a single vector to cut down amount of *** simulation examples displays the upgraded performance and smaller amount of calculation of selection strategies.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Solid-phase sintering and vapor-liquid-solid growth of BP@MgO quantum dot crystals with a high piezoelectric response

引用

Journal of Advanced Ceramics 2022年第11期11卷 1725-1734页

作者： Qingwei LIAO Wei HOU Kexuan LIAO Liyin CHEN Yujun SONG Guowei GAO Lei QIN Key Laboratory of Sensors Beijing Information Science&Technology UniversityBeijing 100192China Key Laboratory of Modern Measurement&Control Technology Ministry of EducationBeijing Information Science&Technology UniversityBeijing 100192China Key Laboratory of Photoelectric Testing Technology Beijing Information Science&Technology UniversityBeijing 100192China School of Chemical Science and Engineering Tongji UniversityShanghai 200092China Harvard John A.Paulson School of Engineering and Applied Sciences Harvard UniversityCambridge 02138USA Center of Modern Physics Technology School of Mathematics and PhysicsUniversity of Science and Technology BeijingBeijing 100083China

Low-dimensional piezoelectric and quantum piezotronics are two important branches of low-dimensional materials,playing a significant role in the advancement of low-dimensional devices,circuits,and ***,we firstly propose a solid-phase sintering and vapor–liquid–solid growth(SS–VLS-like)method of preparing a quantum-sized oxide material,i.e.,black phosphorus(BP)@MgO quantum dot(QD)crystal with a strong piezoelectric ***-sized MgO was obtained by Mg slowly released from MgB_(2) within the confinement of a nanoflake BP *** the slow release of Mg only grows nanometer-sized MgO to hinder the further growth of MgO,we added a heterostructure matrix constraint:nanoflake *** the BP as the matrix confinement,MgO QDs embedded in the BP@MgO QD crystals were *** crystals have a layered two-dimensional(2D)structure with a thickness of 11 nm and are stable in the *** addition,piezoresponse force microscopy(PFM)images show that they have extremely strong *** strong polarity can also be proved by polarization reversal and a simple pressure sensor.

关键词： quantum dots(QDs) piezoelectric black phosphorus(BP) MgO

来源：评论

学校读者我要写书评

暂无评论

弹流润滑下考虑切片耦合的直齿轮啮合刚度的迭代模型

引用

Journal of Central South University 2023年第10期30卷 3414-3434页

作者：黄文康马辉赵志芳王鹏飞彭志科张晓旭赵松涛 School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion System of Ministry of Education Northeastern UniversityShenyang 110819China Institute of Vibration Shock&Noise State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai 200240China Harbin Marine Boiler and Turbine Research Institute Harbin 150078China School of Mechanical Engineering Tongji UniversityShanghai 201804China

弹流润滑在减少齿轮表面的变形和摩擦方面起着关键作用,可提高齿轮传动的稳定性和可靠性。本文提出了一个模型来研究直齿轮中弹流润滑与时变啮合刚度之间的复杂关系,旨在求解弹流润滑下的直齿轮时变啮合刚度。本模型考虑了弹流润滑、切... 详细信息

弹流润滑在减少齿轮表面的变形和摩擦方面起着关键作用,可提高齿轮传动的稳定性和可靠性。本文提出了一个模型来研究直齿轮中弹流润滑与时变啮合刚度之间的复杂关系,旨在求解弹流润滑下的直齿轮时变啮合刚度。本模型考虑了弹流润滑、切片耦合、延长啮合、齿轮体柔性耦合和修正的轮齿刚度的影响。为提高准确性,通过去除能量的重复计算来修正轮齿刚度。此外,还推导了切片耦合与变形协调方程之间的迭代关系。提出的模型通过MASTA软件和参考文献进行验证。分析了弹流润滑和切片耦合对直齿轮啮合特性的影响。研究结果显示,考虑切片耦合后,带有鼓向修形的直齿轮的时变啮合刚度显著增大,并且导致边缘的集中载荷转移到齿面的中间部位。

关键词：弹流润滑时变啮合刚度切片耦合变形协调方程

来源：评论

学校读者我要写书评

暂无评论

DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation

arXiv

引用

arXiv 2024年

作者： Zhang, Huixin Wang, Guangming Wu, Xinrui Xu, Chenfeng Ding, Mingyu Tomizuka, Masayoshi Zhan, Wei Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom UC Berkeley BerkeleyCA94720 United States

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential pose initialization module, a gated hierarchical pose refinement module, and a temporal feature propagation module. First, spatial features are encoded using a point feature pyramid, with features reused in successive pose estimations to reduce computational overhead. Second, a sequential pose initialization method is introduced, leveraging the high-frequency sampling characteristic of LiDAR to initialize the LiDAR pose. Then, a gated hierarchical pose refinement mechanism refines poses from coarse to fine by selectively retaining or discarding motion information from different layers based on gate estimations. Finally, temporal feature propagation is proposed to incorporate the historical motion information from point cloud sequences, and address the spatial inconsistency issue when transmitting motion information embedded in point clouds between frames. Experimental results on the KITTI odometry dataset and Argoverse dataset demonstrate that DSLO outperforms state-of-the-art methods, achieving at least a 15.67% improvement on RTE and a 12.64% improvement on RRE, while also achieving a 34.69% reduction in runtime compared to baseline methods. Our implementation will be available at https://***/IRMVLab/DSLO. © 2024, CC BY-NC-ND.

关键词：

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：