检索结果-内蒙古大学图书馆

Design and Implementation of a Real-Time Autonomous Navigation System Applied to Lego Robots

IFAC-PapersOnLine 2018年第4期51卷 340-345页

作者： Mac, Thi Thoa Copot, Cosmin Ionescu, Clara M. Dynamical Systems and Control Research Group Department of Electrical Energy Metals Mechanical Constructions Systems Ghent University GhentB-9052 Belgium School of Mechanical Engineering Hanoi University of Science and Technology No.1 Dai Co Viet Viet Nam Department of Electromechanics Op3Mech University of Antwerp Groenenborgerlaan 171 2020 Antwerp Belgium

Teaching theoretical concepts of a real-time autonomous robot system may be a challenging task without real hardware support. The paper discusses the application of the Lego Robot for teaching multi interdisciplinary subjects to Mechatronics students. A real-time mobile robot system with perception using sensors, path planning algorithm, PID controller is used as the case to demonstrate the teaching methodology. The novelties are introduced compared to classical robotic classes: (i) the adoption of a project-based learning approach as teaching methodology; (ii) an effective real-time autonomous navigation approach for the mobile robot. However, the extendibility and applicability of the presented approach are not limited to only the educational purpose. © 2018

关键词： Mobile robots Air navigation Education Embedded systems Machine design Motion planning Navigation Navigation systems Robot programming Three term control systems Autonomous navigation Autonomous navigation systems Design and implementations LEGO mindstorms Mobile robot systems Path planning algorithm Project based learning approach Teaching methodologies

来源：评论

学校读者我要写书评

暂无评论

Reverse Average Dwell-Times for Networked control systems

Reverse Average Dwell-Times for Networked Control Systems

引用

IEEE Annual Conference on Decision and control

作者： Stefan H.J. Heijmans Romain Postoyan Dragan Nesic W.P. Maurice H. Heemels Control Systems Technology Group of the Department of Mechanical Engineering Eindhoven University of Technology The Netherlands CNRS CRAN Université de Lorraine Nancy France MIDAS Laboratory the Department of Electrical and Electronic Engineering the University of Melbourne Australia

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Most emulation-based results in networked control systems rely on a bound on the maximal allowable transmission interval (MATI) under which stability is preserved. However, having only such a MATI condition can lead to conservative results, as large values of transmission intervals may only occur sporadically, while the typical transmission interval is much smaller. In this paper, we therefore propose, in addition to the existence of a MATI, to also impose a bound on the average allowable transmission interval, expressed in terms of a reverse average dwell-time (RADT) condition on the transmission intervals. We provide joint conditions on the RADT and the MATI such that stability of the NCS can still be guaranteed, which can, in addition, lead to significant higher values of the MATI itself. The strengths of these new results are illustrated on a numerical example, showing a 484% improvement of the MATI, while still guaranteeing stability.

关键词： Stability analysis Numerical stability Time-domain analysis Sensors Actuators Networked control systems

来源：评论

学校读者我要写书评

暂无评论

Set-theoretic model reference adaptive control of a generic transport model

Set-theoretic model reference adaptive control of a generic ...

引用

AIAA Guidance, Navigation, and control Conference, 2018

作者： Arabi, Ehsan Yucelen, Tansel Nguyen, Nhan T. University of South Florida Department of Mechanical Engineering Laboratory for Autonomy Control Information and Systems TampaFL33620 United States Department of Mechanical and Aerospace Engineering Missouri University of Science and Technology University of South Florida RollaMO65409 United States National Aeronautics and Space Administration Technical Group Lead of Advanced Control and Evolvable Systems Group United States

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

This paper illustrates an application of a recently developed set-theoretic model reference adaptive control architecture on a generic transport model developed by NASA. The set- theoretic model reference adaptive control allows the system error bound between the state of an uncertain dynamical system and the state of a given reference model to be less than a-priori, user-defined worst-case performance bound. Thus, it has the capability to enforce strict performance guarantees to the adaptively controlled uncertain dynamical systems. specifically, after designing set-theoretic adaptive controllers for both longitudinal and lateral-directional dynamics here, the effcacy of this architecture is illustrated on the NASA generic transport model. © 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All right reserved.

关键词： Model reference adaptive control

来源：评论

学校读者我要写书评

暂无评论

Detection and Estimation of Moving obstacles for a UAV

引用

IFAC-PapersOnLine 2019年第1期52卷 22-27页

作者： Thi Thoa Mac Cosmin Copot Clara M. Ionescu School of Mechanical Engineering Hanoi University of Science and Technology No.1 Dai Co Viet Vietnam Department of Electromechanics Op3Mech University of Antwerp Groenenborgerlaan 171 2020 Antwerp Belgium Dynamical Systems and Control Research Group Department of Electrical Energy Metals Mechanical Constructions and Systems Ghent University Ghent B-9052 Belgium

In recent years, research interest in Unmanned Aerial Vehicles (UAVs) has been grown rapidly because of their potential use for a wide range of applications. In this paper, we proposed a vision-based detection and position/velocity estimation of moving obstacle for a UAV. The knowledge of a moving obstacle’s state, i.e., position, velocity, is essential to achieve better performance for an intelligent UAV system specially in autonomous navigation and landing tasks. The novelties are: (1) the design and implementation of a localization method using sensor fusion methodology which fuses Inertial Measurement Unit (IMU) signals and Pozyx signals; (2) The development of detection and estimation of moving obstacles method based on on-board vision system. Experimental results validate the effectiveness of the proposed approach.

关键词： UAV obstacle detection OpenCV position/velocity estimation autonomous navigation sensor fusion

来源：评论

学校读者我要写书评

暂无评论

Nonlinear optimal control for autonomous hypersonic vehicles

引用

Aerospace systems 2019年第2期2卷 197-213页

作者： Rigatos, G. Wira, P. Abbaszadeh, M. Busawon, K. Dala, L. Unit of Industrial Automation Industrial Systems Institute Rion Patras 26504 Greece IRIMAS Université d’ Haute Alsace Mulhouse 68093 France GE Global Research General Electric Niskayuna 12309 NY United States Nonlinear Control Group University of Northumbria Newcastle NE1 8ST United Kingdom Department of Mechanical Engineering University of Northumbria Newcastle NE1 8ST United Kingdom

The article proposes a nonlinear optimal (H-infinity) control method for a hypersonic aerial vehicle (HSV). The dynamic model of the hypersonic vehicle undergoes approximate linearization around a temporary operating point which is recomputed at each iteration of the control method. This operating point consists of the present value of the system’s state vector and of the last value of the control inputs vector that was applied on the HSV. The linearization relies on Taylor series expansion and on the computation of the associated Jacobian matrices. For the approximately linearized model of the hypersonic aerial vehicle, an optimal (H-infinity) feedback controller was designed. To compute the controller’s feedback gains, an algebraic Riccati equation had to be repetitively solved at each iteration of the control algorithm. The global asymptotic stability of the control method is proven through Lyapunov analysis. The control scheme remains robust against model uncertainties an external perturbations. © 2019, Shanghai Jiao Tong University.

关键词： Approximate linearization Asymptotic stability Autonomous hypersonic vehicle Jacobian matrices Nonlinear H-infinity control Riccati equation Robust control Taylor series expansion

来源：评论

学校读者我要写书评

暂无评论

Correction to: Sensitivity enriched multi-criterion decision making process for novel railway switches and crossings − a case study

引用

European Transport Research Review 2021年第1期13卷 1-1页

作者： Boghani, Hitesh C. Ambur, Ramakrishnan Blumenfeld, Marcelo Saade, Louis Goodall, Roger M. Ward, Christopher P. Plášek, Otto Gofton, Neil Morata, Miquel Roberts, Clive Dixon, Roger Transport Safety Research Centre School of Design and Creative Arts Loughborough University Loughborough UK Birmingham Centre for Railway Research and Education Department of Electronic Electrical and Systems Engineering University of Birmingham Birmingham UK Control Systems Group Wolfson School of Mechanical Electrical and Manufacturing Engineering Loughborough University Loughborough UK Faculty of Civil Engineering Institute of Railway Structures and Constructions Brno University of Technology Brno Czech Republic RSSB The Helicon London UK COMSA Barcelona Spain

An amendment to this paper has been published and can be accessed via the original article.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The 2024 Active Metamaterials Roadmap

arXiv

引用

arXiv 2024年

作者： Pope, Simon A. Roth, Diane J. Bansal, Aakash Mousa, Mostafa Rezanejad, Ashkan Forte, Antonio E. Nash, Geoff.R. Singleton, Lawrence Langfeldt, Felix Cheer, Jordan Henthorn, Stephen Hooper, Ian R. Hendry, Euan Powell, Alex W. Souslov, Anton Plum, Eric Sun, Kai de Groot, C.H. Muskens, Otto L. Shields, Joe De Galarreta, Carlota Ruiz Wright, C. David Kocabas, Coskun Ergoktas, M. Said Xiao, Jianling Schulz, Sebastian A. Di Falco, Andrea Krasavin, Alexey V. Zayats, Anatoly V. Galiffi, Emanuele Department of Automatic Control and Systems Engineering The University of Sheffield Amy Johnson Building Portobello Street SheffieldS1 3JD United Kingdom Department of Physics London Centre for Nanotechnology King’s College London Strand WC2R 2LS United Kingdom Wolfson School of Mechanical Electrical and Manufacturing Engineering Loughborough University United Kingdom Department of Engineering King’s College London LondonWC2R 2LS United Kingdom Natural Sciences University of Exeter Harrison Building North Park Road Exeter United Kingdom Institute of Sound & Vibration Research University of Southampton University Road Southampton United Kingdom Department of Electronic and Electrical Engineering University of Sheffield Sheffield United Kingdom Centre for Metamaterial Research and Innovation University of Exeter Stoker Road ExeterEX4 4QL United Kingdom T.C.M. Group Cavendish Laboratory University of Cambridge CambridgeCB3 0HE United Kingdom Optoelectronics Research Centre Centre for Photonic Metamaterials University of Southampton Highfield SouthamptonSO17 1BJ United Kingdom School of Physics and Astronomy University of Southampton Southampton United Kingdom Electronics and Computer Science University of Southampton Southampton United Kingdom Institute of Materials Science of Barcelona Universitat Autònoma de Barcelona Bellaterra Barcelona08193 Spain Department of Materials National Graphene Institute University of Manchester United Kingdom Schoolof Physics and Astronomy University of St Andrews North Haugh Fife St. AndrewsKY16 9SS United Kingdom Department of Electrical and Computer Engineering University of Waterloo 200 University Avenue West WaterlooONN2L 3G1 Canada Photonics Initiative Advanced Science Research Centre City University of New York 85 St. Nicholas Terrace New YorkNY10027 United States

Active metamaterials are engineered structures that possess novel properties that can be changed after the point of manufacture. Their novel properties arise predominantly from their physical structure, as opposed to their chemical composition and can be changed through means such as direct energy addition into wave paths, or physically changing/morphing the structure in response to both a user or environmental input. Active metamaterials are currently of wide interest to the physics community and encompass a range of sub-domains in applied physics (e.g. photonic, microwave, acoustic, mechanical, etc.). They possess the potential to provide solutions that are more suitable to specific applications, or which allow novel properties to be produced which cannot be achieved with passive metamaterials, such as time-varying or gain enhancement effects. They have the potential to help solve some of the important current and future problems faced by the advancement of modern society, such as achieving net-zero, sustainability, healthcare and equality goals. Despite their huge potential, the added complexity of their design and operation, compared to passive metamaterials creates challenges to the advancement of the field, particularly beyond theoretical and lab -based experiments. This roadmap brings together experts in all types of active metamaterials and across a wide range of areas of applied physics. The objective is to provide an overview of the current state of the art and the associated current/future challenges, with the hope that the required advances identified create a roadmap for the future advancement and application of this field. Copyright © 2024, The Authors. All rights reserved.

关键词： Microwave acoustics

来源：评论

学校读者我要写书评

暂无评论

Decentralized LQ-consistent event-triggered control over a shared contention-based network

arXiv

引用

arXiv 2019年

作者： Hadi Balaghi I., M. Antunes, Duarte J. Mamduhi, Mohammad H. Hirche, Sandra Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 EindhovenNL-5600 MB Netherlands Technical University of Munich Ar-cisstraße 21 MunichD-80290 Germany Department of Automatic Control KTH Royal Institute of Technology StockholmSE-100 44 Sweden

Consider a network of multiple independent stochastic linear systems where a scheduler collocated with the output sensors of each system arbitrates data transmissions to a corresponding remote controller through a shared contention-based communication network. While the systems are independent, their optimal controller design problem may generally become coupled, due to network contention, if the schedulers trigger transmissions based on state-dependent events. In this article we propose a class of probabilistic admissible schedulers for which the optimal controllers with respect to local standard LQG costs have the certainty equivalence property and can still be designed decentrally. Then, two scheduling policies within this class are introduced;a non-event-based and an event-based, where they both have an easily adjustable triggering probability at every time-step. The main contributions of this work are as follows: i) proving that for each system, the control loop with the event-based scheduler and its optimal controller outperforms the control loop with the non-event-based scheduler and its associated optimal controller;ii) showing that for each system, the local optimal state estimator for both scheduling policies follows a linear iteration;i) regulation of triggering probabilities of the schedulers by maximizing a network utility function. Copyright © 2019, The Authors. All rights reserved.

关键词： Linear systems

来源：评论

学校读者我要写书评

暂无评论

Self-triggered and event-driven control for linear systems with stochastic delays

Self-triggered and event-driven control for linear systems w...

引用

2017 American control Conference, ACC 2017

作者： Prakash, S. Van Horssen, E.P. Antunes, D. Heemels, W.P.M.H. Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

ISBN: (纸本)9781509059928

Delays are often present in embedded and networked control loops and represent one of the main sources of performance limitations. In this paper, we propose two aperiodic control strategies to optimize closed-loop performance in the presence of stochastic delays: (i) a self-triggered strategy, in which the deadline to drop data is decided on-line based on the current state;(ii) an event-driven strategy, whereby the control input is updated immediately after the delayed data becomes available, leading in general to faster but time-varying control loops. These schemes are designed and analyzed using a standard LQG framework, which allows for assessing and comparing closed-loop performance. We establish that our self-triggered strategy always achieves a better closed-loop performance than periodic control with an optimal sampling period. Moreover, we provide examples where the event-driven strategy outperforms the self-triggered strategy and examples where the opposite is observed. © 2017 American Automatic control Council (AACC).

关键词： Linear systems

来源：评论

学校读者我要写书评

暂无评论

Analysis of linear quadratic control loops with decentralized event-triggered sensing: Rate and performance guarantees 56

Analysis of linear quadratic control loops with decentralize...

引用

56th IEEE Annual Conference on Decision and control, CDC 2017

作者： Balaghi, I.M. Hadi Antunes, Duarte J. Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

ISBN: (纸本)9781509028733

We consider a control loop with several distributed sensor agents. Each sensor measures a subset of the states and broadcasts data to a remote controller and the other sensors according to a threshold-based event-triggered policy. This policy specifies that each sensor transmits data when the norm of the error between the actual measurement and an estimate of this measurement exceeds a threshold. The controller incorporates a state estimator relying on the data received from the sensors and enforces a linear feedback control policy. Considering an average quadratic performance index, we provide: (i) upper bounds on the performance of such a decentralized event-triggered policy with respect to the optimal policy when all the agents transmit at maximum rate;and (ii) lower bounds on the average inter-transmission time for the overall networked control system. Moreover, we discuss the conservativeness of the bounds considering some simple cases. The usefulness of the results is highlighted via a numerical example. © 2017 IEEE.

关键词： Networked control systems

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：