With the increasing popularity of electric vehicles (EV s), the research field of planning efficient routes for these vehicles is gaining growing attention. As there are a limited number of charging stations for EVs c...
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ISBN:
(数字)9798350361070
ISBN:
(纸本)9798350361087
With the increasing popularity of electric vehicles (EV s), the research field of planning efficient routes for these vehicles is gaining growing attention. As there are a limited number of charging stations for EVs compared to gas stations for fossil fuel vehicles, EV routing requires careful consideration of energy constraints and replenishment. The classical traveling salesperson problem (TSP) and vehicle routing problem (VRP) are known to be NP-hard, which means that the electric vehicle routing problem (EVRP), a similar problem with added energy constraints, is computationally even more challenging. Recently, reinforcement learning (RL) is being suggested as an effective tool that can alleviate the computational burden of challenging problems. This paper presents a RL-based method for solving routing problems with energy constraints. Multi-head attention mechanisms are employed for both the encoder and decoder, and a masking scheme is applied at the decoding phase in order to compute a feasible solution and minimize the energy constraint violation. This method generates an efficient route in which all task nodes are visited while meeting the energy requirements by visiting the charging stations when needed. The performance of the methodology is demonstrated through a Monte Carlo simulation, and the results are discussed and analyzed.
This paper introduces a UAV-based wheat rust detection system employing deep learning techniques. To address the limitations of traditional wheat rust disease detection methods, such as time and labor-intensive proces...
This paper introduces a UAV-based wheat rust detection system employing deep learning techniques. To address the limitations of traditional wheat rust disease detection methods, such as time and labor-intensive processes, lack of real-time monitoring, and excessive pesticide usage, In this paper, the YOLOv8 algorithm, representing the forefront of object detection methods is chosen for UAV wheat rust detection. We train the model on a prepared dataset. Subsequently, we evaluated 5 models, including YOLOv5, and YOLOv8, at two different scales (n, s) based on average precision (mAP@.5), precision, recall, and FPS. The experimental outcomes establish the superiority of the enhanced FasterNet-YOLOv8 model over YOLOv8 and YOLOv5 across all metrics, encompassing detection accuracy and processing speed. These findings affirm the viability of our suggested model within the UAV wheat rust monitoring system and underscore the efficacy of the model enhancements.
This paper is about the PIV experimental study on aerodynamics of a coaxial counter-rotating rotors aircraft. The main purpose is to observe and record the flow field distribution of the coaxial counter-rotating rotor...
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This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a passivity-based controller, which requires calculating the prod...
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ISBN:
(数字)9798331516857
ISBN:
(纸本)9798331516864
This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a passivity-based controller, which requires calculating the product term of the Coriolis matrix $C(q,\dot q)$ and the reference velocity ${\dot q^{{\text{ref}}}}$, that is, $C(q,\dot q){\dot q^{{\text{ref}}}}$. Two major parts are modified compared to the standard RNE algorithm: 1) matrix-vector factorization in single rigid body dynamics satisfying the skew-symmetric property, and 2) propagation for reference velocity and acceleration in recursive computation. Through simulation, the proposed pRNE algorithm combined with the passivity-based inverse dynamic controller (P-IDC) validates an accurate tracking performance under model uncertainty and disturbance compared to the standard inverse dynamic controller (IDC).
This paper uses the transmission mechanism of a coaxial counter-rotating rotorcraft equipped with blade designs of different airfoils. The blades are all made of aluminum alloy 6061T6. To study the deformation of the ...
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Space-based solar power has recently gained significant traction within government and industry as a potential source of renewable energy. Many of the proposed concepts for space-based solar power missions have outlin...
Space-based solar power has recently gained significant traction within government and industry as a potential source of renewable energy. Many of the proposed concepts for space-based solar power missions have outlined a need for robotic on-orbit assembly of the large structures required for power collection and beaming. Various advances have been made in space-based solar power system architectures, and some approaches for assembly have recently been outlined. However, frameworks for systematic evaluation of the various methods to deploy and transport components on-orbit, as well as for the traversal and maintenance of the large structure during assembly, have not been proposed to date. Hence, in this paper, a novel framework for the evaluation of design alternatives for component movement and structure maintenance in the assembly of space-based solar power structures is proposed. The framework provides a set of criteria, attribute evaluation strategies, and a multi-criteria decision-making methodology to narrow the design space for on-orbit assembly designs. Finally, the framework was successfully demonstrated on a case study, which featured six design alternatives for the on-orbit assembly of a flat satellite array.
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact fri...
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The pneumatic artificial muscle (PAM) is considered one of the most preferred actuators in a variety of robotic and industrial applications. However, due to their inherent nonlinearities and hysteretic properties, the...
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This study proposes a direct teaching method for the task of pressing an end effector attached to a robot manipulator against a workpiece with a constant force. When performing contact tasks, such as deburring or poli...
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