To further enhance emergency management skills of an organisation's emergency response personnel, emergency response training,especially 3D emergency drill, is currently becoming more and more important in the pet...
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In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic...
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In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition, we utilize genetic algorithm (GA) to optimize the controller parameters for obtaining better stabilization performance. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.
Currently, unmanned aerial vehicles (UAVs) are applied to routine inspection tasks of electric distribution networks. As an important information source, machine vision attracts much attention in the area of the UAV...
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ISBN:
(纸本)9781467316439
Currently, unmanned aerial vehicles (UAVs) are applied to routine inspection tasks of electric distribution networks. As an important information source, machine vision attracts much attention in the area of the UAV's autonomous control. To this end, real-time algorithms are studied-in this paper to detect the power lines in the UAV video images. First, video images are converted into binary images through an adaptive thresholding approach. Then, Hough Transform is used to detect line candidates in the binary images. Finally, a fuzzy C- means (FCM) clustering algorithm is used to discriminate the power lines from the detected line candidates. The properties of power lines are used to remove the spurious lines, and the length and slope of the detected lines are used as features to establish the clustering data set. Experimental results show that the algorithms proposed are effective and able to tolerate noises from complicated terrain background and various illuminations.
The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equ...
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The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction.
With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in...
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With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in global marketplace. This paper presents the development of profit optimization solution with an integration of profit model and model-based genetic algorithm (GA) optimization, and its industrial case study on an ethanolamine (EA) production line. The proposed methodology and solution may also be applied to other chemical manufacturing enterprises.
This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H ∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed com...
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This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H ∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks.
In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolati...
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A point stabilization scheme of a wheeled mobile robot (WMR) which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is...
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A point stabilization scheme of a wheeled mobile robot (WMR) which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm (GA) is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.
In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based...
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This paper is concerned with the stabilization problem of wireless networkedcontrolsystems with network-induced delays of time-varying Markovian characterization. The effects of the sample rate changing on the netwo...
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