Using the method of finite element simulation, we study the cylindrical shell filled with new lattice with vibration in the working environment. The effect of the radius of the rod and the thickness of the ring on the...
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Aiming at the problem of mobile robot positioning, IMU information is used to improve the performance of visual SLAM. Firstly, instead of the calculation of feature descriptor, LK optical flow is used in the processin...
Aiming at the problem of mobile robot positioning, IMU information is used to improve the performance of visual SLAM. Firstly, instead of the calculation of feature descriptor, LK optical flow is used in the processing of visual information, to increase the speed of feature extraction. And detectors are used to remove outliers. Secondly, the visual information and IMU information are initialized separately to obtain the camera pose and IMU pose. And then Visual-inertia joint initialization is conducted by tightly coupling of the IMU information and the visual information, to improve the calculation. Finally, the pose state estimation is achieved through back-end optimization. The validity of the proposed algorithm is verified by the experiments.
This paper presents a fault-tolerant cooperative control (FTCC) design approach with application to multiple unmanned aerial vehicles (UAVs), where the outer-loop control and the inner-loop control are designed. By vi...
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This paper introduces a new type of soft robotic fish driven by a biomimetic propulsor. The propulsor is composed of a soft tail made of silica gel and two controlling wires. The soft tail can complete oscillatory mot...
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This paper introduces a new type of soft robotic fish driven by a biomimetic propulsor. The propulsor is composed of a soft tail made of silica gel and two controlling wires. The soft tail can complete oscillatory motion by controlling the two wires. The barycenter control mechanism enables the soft robotic fish to float and sink. The kinematics model is built based on Lighthill's elongated body theory. The biomimetic wire-driven soft robotic fish is simple in structure and easy to manipulate. The simulation results show that this soft robotic fish well resembles the real fish swimming body curve and validate the performance of the wire-driven design.
A novel retractable suspension structure is proposed for amphibious equipment. Based on this structure, the closed-loop vector method is used to establish the kinematic model of the mechanism. Then, based on this mode...
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In this paper, a distributed robust energy management scheme for multiple interconnected microgrids (MGs) is developed. It aims to optimize the total operational cost of the MGs through energy trading with neighboring...
In this paper, a distributed robust energy management scheme for multiple interconnected microgrids (MGs) is developed. It aims to optimize the total operational cost of the MGs through energy trading with neighboring MGs and the main grid in the real-time energy market. Various uncertainties including renewable generation, load consumption, and buying/selling prices of the main grid are handled using an adjustable robust optimization technique. To keep consistent with the distributed nature of the multiple MGs, we propose a distributed adjustable robust optimal scheduling algorithm (DAROSA). Within the framework, each MG energy management system determines its own selling price and operation schedule via distributed communication of non-critical information with its neighboring MGs. Robust optimal scheduling and fair energy trading can be collectively achieved. A case study of a 4-MG system is conducted to validate the effectiveness of the proposed approach.
Due to the relative movement between the crosshead and the guide of reciprocating compressor, there must be friction, wear and movement clearance between them. When the clearance reaches a certain value, the performan...
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Considering trajectory optimization and local extremum problems, a 2D batch process optimization method with initial state optimization is proposed in this paper. It integrates the information of time axis and batch a...
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Considering trajectory optimization and local extremum problems, a 2D batch process optimization method with initial state optimization is proposed in this paper. It integrates the information of time axis and batch axis unique to batch process. Particle swarm optimization (PSO), which is used to optimize the initial value so that it has good tracking performance and the ability to avoid falling into local optimum. At the same time, model identification and dynamic R parameter compensation are used to compensate the mismatch between the model and the controlled object, so that it has zero error tracking ability. By solving MPC optimization problem with time-varying predictive horizon, the control law is obtained, which has good tracking performance and robustness against disturbance and uncertainty. In addition, model identification and dynamic R parameters are used to compensate model mismatch, which makes zero error tracking possible. Secondly, the convergence analysis and tracking performance of the proposed integrated model predictive learning control system are strictly proved. Finally, the effectiveness of this method is verified by simulation.
This paper proposes a new Active Disturbance Rejection (ADR) based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state ...
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A novel quantum memory scheme is proposed for quantum data buses in scalable quantum computers by using adjustable interaction. Our investigation focuses on a hybrid quantum system including coupled flux qubits and a ...
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A novel quantum memory scheme is proposed for quantum data buses in scalable quantum computers by using adjustable interaction. Our investigation focuses on a hybrid quantum system including coupled flux qubits and a nitrogen–vacancy center ensemble. In our scheme, the transmission and storage（retrieval） of quantum state are performed in two separated steps, which can be controlled by adjusting the coupling strength between the computing unit and the quantum memory. The scheme can be used not only to reduce the time of quantum state transmission, but also to increase the robustness of the system with respect to detuning caused by magnetic noises. In comparison with the previous memory scheme, about 80% of the transmission time is saved. Moreover, it is exemplified that in our scheme the fidelity could achieve 0.99 even when there exists detuning, while the one in the previous scheme is 0.75.
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