This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance ru...
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This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.
In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential re...
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The mining sector historically drove the global economy but at the expense of severe environmental and health repercussions,posing sustainability challenges[1]-[3].Recent advancements on artificial intelligence(AI)are...
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The mining sector historically drove the global economy but at the expense of severe environmental and health repercussions,posing sustainability challenges[1]-[3].Recent advancements on artificial intelligence(AI)are revolutionizing mining through robotic and data-driven innovations[4]-[7].While AI offers mining industry advantages,it is crucial to acknowledge the potential risks associated with its widespread ***-reliance on AI may lead to a loss of humancontrol over mining operations in the future,resulting in unpredictable consequences.
There has been a growing interest in recent years in correctly predicting the Length of Stay (LoS) in a hospital setting. Estimating the LoS on patient' admission helps hospitals in planning, controlling costs and...
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The ongoing advancement of advanced driver assistance systems (ADAS) has led to notable improvements in vehicle safety and efficiency within the automotive industry (Kala, 2016). Nevertheless, these systems also prese...
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The ongoing advancement of advanced driver assistance systems (ADAS) has led to notable improvements in vehicle safety and efficiency within the automotive industry (Kala, 2016). Nevertheless, these systems also present new challenges and demands for developers, especially concerning driver trust and acceptance, which are vital for the safety and efficiency of collaborative human-machine driving. In response to these problems, the CoCoVéIA project proposes an innovative approach in which the driver assistance system (ADAS) integrates continuous learning of individual driving preferences, to boost driver confidence and acceptance. At the core of this method is the use of autonomous learning algorithms, particularly long short-term memory (LSTM) networks, which are adept at learning and adjusting to different driving preferences in real-time. This paper confirms the efficacy of LSTM algorithms in precisely learning and predicting driving preferences through experimental data, showcasing their ability to accommodate a variety of driver behaviors and preferences.
In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a tw...
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In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.
To achieve low joint-angle drift and avoid mutual collision between dual redundant manipulators (DRMs) when they are doing collaboration works, a recurrent neural network based bicriteria repetitive motion collision a...
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The development and widespread use of advanced driver assistance systems (ADAS) has made considerable progress;however, in order for drivers to be confident in delegating driving tasks to these systems, there is a nee...
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作者:
Shang, JunZhang, HanwenZhou, JingChen, TongwenTongji University
Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing
Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta
Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada
This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measureme...
In recent years,there are numerous studies on chaotic systems with special equilibrium curves having various shapes such as circle,butterfly,heart and *** paper describes a new 3-D chaotic dynamical system with a caps...
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In recent years,there are numerous studies on chaotic systems with special equilibrium curves having various shapes such as circle,butterfly,heart and *** paper describes a new 3-D chaotic dynamical system with a capsule-shaped equilibrium *** proposed chaotic system has two quadratic,two cubic and two quartic nonlinear *** is noted that the proposed chaotic system has a hidden attractor since it has an infinite number of equilibrium *** is also established that the proposed chaotic system exhibits multi-stability with two coexisting chaotic attractors for the same parameter values but differential initial states.A detailed bifurcation analysis with respect to variations in the system parameters is portrayed for the new chaotic system with capsule equilibrium *** have shown MATLAB plots to illustrate the capsule equilibrium curve,phase orbits of the new chaotic system,bifurcation diagrams and *** an engineering application,we have proposed a speech cryptosystem with a numerical algorithm,which is based on our novel 3-D chaotic system with a capsule-shaped equilibrium *** proposed speech cryptosystem follows its security evolution and implementation on Field Programmable Gate Array(FPGA)*** results show that the proposed encryption system utilizes 33%of the FPGA,while the maximum clock frequency is 178.28 MHz.
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