检索结果-内蒙古大学图书馆

Data-driven linear parameter-varying modelling of the steering dynamics of an autonomous car

IFAC-PapersOnLine 2021年第8期54卷 20-26页

作者： G. Rödönyi R. Tóth D. Pup Á. Kisari Zs. Vígh P. Kőrös J. Bokor Research Center of Vehicle Industry Széchenyi István University Egyetem tér 1 H-9026 Győr Hungary Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 H-1111 Budapest Hungary Control Systems Group Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands

Developing automatic driving solutions and driver support systems requires accurate vehicle specific models to describe and predict the associated motion dynamics of the vehicle. Despite of the mature understanding of ideal vehicle dynamics, which are inherently nonlinear, modern cars are equipped with a wide array of digital and mechatronic components that are difficult to model. Furthermore, due to manufacturing, each car has its personal motion characteristics which change over time. Hence, it is important to develop data-driven modelling methods that are capable to capture from data all relevant aspects of vehicle dynamics in a model that is directly utilisable for control. In this paper, we show how Linear Parameter-Varying (LPV) modelling and system identification can be applied to reliably capture personalised model of the steering system of an autonomous car based on measured data. Compared to other nonlinear identification techniques, the obtained LPV model is directly utilisable for powerful controller synthesis methods of the LPV framework.

关键词： Vehicle dynamics system identification linear parameter-varying systems

来源：评论

学校读者我要写书评

暂无评论

Manipulator motion planning based on task-space constraint guidance

Manipulator motion planning based on task-space constraint g...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Wei Chen Jiangping Wang Chenhao Wang Jun Lv Weapon Equipment Information & Control Technology Innovation Center Automation Research Institute Co. Ltd. of China South Industries Group Mianyang China Intelligent Robot Research Center Zhejiang Lab Hangzhou China School of Mechatronics & IT Yiwu Industrial & Commercial College Yiwu China

ISBN: (纸本)9781665405362

Sampling-based motion planning algorithms with task-space guidance have been proved to work efficiently in solving task-constrained manipulator planning problem as the planned end-effector path can satisfy the task constraints directly. However, planning in task-space rather than in configuration space (C-space) may lead to discontinuous motion in joint space, especially the connection of the bidirectional tree. In this paper, a Progressive Constraint Extension Bi-direction Rapidly Exploring Random Trees (PCE-BiRRT) algorithm is presented, which adopts a progressive constraint expansion strategy to make sure that the sampling configurations can satisfy the task constraint directly. For the smoothness of the bidirectional-tree connection, the proposed algorithm deals with the "connection failure problem" of the bidirectional exploring tree by limiting the connecting range and choosing a property redundancy resolution. The effectiveness of the PCE-BiRRT algorithm is tested on the robot operating system (ROS) platform by an orientation-constrained case.

关键词： Limiting Operating systems Conferences Biomimetics Redundancy Bidirectional control End effectors

来源：评论

学校读者我要写书评

暂无评论

Fuzzy PID control for suppressing stick-slip vibration of drill-string system

Fuzzy PID control for suppressing stick-slip vibration of dr...

引用

Chinese Automation Congress (CAC)

作者： Shuaikang Hu Chengda Lu Min Wu Zhaoqing He Haitao Song Wangnian Li School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China China Coal Technology and Engineering Group Xi'an Research Institute Co. Ltd Xi'an China

In this paper, a fuzzy PID (Proportional Integral Derivative) controller is introduced to suppress the stick-slip vibration present in the drilling process. First, the dynamical model of stick-slip vibration is composed of the multi-DOF (Degree-Of-Freedom) drill-string model and the Karnopp model describing the interaction of the drill bit with the rock. Then, stability analysis is made for the initial PID parameters of our controller. To suppress the stick-slip vibration and at the same time mitigate the effects of the stratigraphic environment variation on the control performance, the fuzzy adaptive algorithm is chosen as the method of optimization controller parameters. From the experimental results, it is clear that our controller has good control performance in the complex and changing stratigraphic environment.

关键词： Vibrations Drilling PI control Delay effects Process control Rocks Stability analysis

来源：评论

学校读者我要写书评

暂无评论

Online Evaluation of The Distribution System Resiliency Criteria Using Choquet-Based Graph Technique

SSRN

引用

SSRN 2022年

作者： Ranjbar, Soheil Marzband, Mousa Iqbal, Atif Department of Electrical Engineering Velayat University P.O. Box 99111 Iranshahr31311 Iran Northumbria University Electrical Power and Control Systems Research Group Ellison Place Newcastle upon TyneNE1 8ST United Kingdom Center of research excellence in renewable energy and power systems King Abdulaziz University Jeddah Saudi Arabia Department of Electrical Engineering Qatar University Doha Qatar

Nowadays, due to the tremendous power network expansions, system operators are dealing with different natural events resulting system disconnections and loads failures. Resiliency criterion is introduced as the level of distribution network readiness to maintain their interconnections with respect to severe weather conditions. With this regard, there are specific techniques to present secure operating conditions (OCs) for future power grids. An online and non-model-based scheme of evaluating distribution system resiliency is presented in this paper with the aim of supplying critical loads (CLs) within severe weather conditions. Further, the system resiliency is evaluated by developing the system resiliency criteria as a multi-metric decision making problem and then determine the problems using Choquet integral and graph theoretic methodology. In addition, the proposed scheme is a non-model-based technique suitable for all possible distribution system configurations. Specifically, the corresponding planning schemes with proper resiliency criteria are represented by identifying nominated CLs through each OC. The effectiveness of the proposed scheme is observed by two different cases studies consisting of IEEE 123-bus distribution network and two CERTS microgrids. Finally, in the simulation results, a protective switching strategy is represented to design the system resiliency criteria through future power distribution systems equipped with microgrids. © 2022, The Authors. All rights reserved.

关键词： Electric power transmission networks

来源：评论

学校读者我要写书评

暂无评论

Adaptive Artificial Time Delay control for Bipedal Walking with Robustification to State-dependent Constraint Forces

Adaptive Artificial Time Delay Control for Bipedal Walking w...

引用

International Conference on Advanced Robotics (ICAR)

作者： Amisha Bhaskar Swati Dantu Spandan Roy Jinoh Lee Simone Baldi University of Technology New Delhi India Robotics Research Center International Institute of Information Technology Hyderabad (IIIT-H) Hyderabad India Institute of Robotics and Mechatronics German Aerospace Center (DLR) Germany School of CyberScience and Engineering Southeast University Nanjing China Delft Center for Systems and Control TU Delft The Netherlands

ISBN: (纸本)9781665436854

Long standing challenges in adaptive bipedal walking control (i.e. control taking care of unknown robot parameters) were to unify the control design instead of designing multiple controllers for different walking phases as well as to bypass computing constraint forces, since it often leads to complex designs. A few attempts to design a single controller for all walking phases ignored or oversimplified the constraint forces. However, these forces are state-dependent and may lead to conservative performance or instability if not countered properly. This work proposes an innovative adaptive control method, based on artificial time delay control, which covers the entire bipedal walking phase and provides robustness against state-dependent unmodelled dynamics such as constraint forces and external impulsive forces arising during walking. Studies using a high fidelity simulator under various forms of disturbances show the effectiveness of the proposed design over the state of the art.

关键词： Legged locomotion Adaptation models control design Delay effects Dynamics Robustness Adaptive control

来源：评论

学校读者我要写书评

暂无评论

Parallel Planning:A New Motion Planning Framework for Autonomous Driving

引用

IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information Engineering Hubei University Institute of Measurement and Control Systems Karlsruhe Institute of Technology Department of Mechanical and Mechatronics Engineering University of Waterloo the State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

来源：评论

学校读者我要写书评

暂无评论

Taxifolin attenuates inflammation via suppressing MAPK signal pathway in vitro and in silico analysis

引用

Chinese Herbal Medicines 2022年第4期14卷 554-562,F0002页

作者： Xingyan Zhang Xiaoyan Lian Huling Li Wenjing Zhao Xin Li Fujun Zhou Yutong Zhou Tao Cui Yuli Wang Changxiao Liu Key Laboratory of Quality-marker of Traditional Chinese Medicines Tianjin Institute of Pharmaceutical Research Co.Ltd.Tianjin 300462China Center for Drug Evaluation National Medical Products AdministrationBeijing 100022China Department of Pharmacology Tianjin Medical UniversityTianjin 300070China State Key Laboratory of Drug Delivery Technology and Pharmacokinetics Tianjin Institute of Pharmaceutical Research Co.Ltd.Tianjin 300462China Key Laboratory of Systems Bioengineering(Ministry of Education) School of Chemistry Engineering and TechnologyTianjin UniversityTianjin 300072China Research Unit for Drug Metabolism Chinese Academy of Medical SciencesBeijing 100730China Pharmaceuticai Armaceuticai DA REN TANG Group Corporation Limited Traditional Chinese Pharmacy Researchinstitute Tianjin 300457China Tianjin Key Laboratory of Quality Control in Chinese Medicine Tianjin 300457China

Objective:Taxifolin is a natural flavonoid compound that can be isolated from onions,grapes,oranges and *** also acts as a medicine food homology with extraordinary antioxidant and antiinflammatory *** study aims to explain the protective effects and potential mechanisms of taxifolin against inflammatory ***:Levels of interleukin(IL)-6,IL-1βand intracellular reactive oxygen species(ROS)were assessed in different time after the treatment of taxifolin in RAW264.7 cells induced by lipopolysaccharide(LPS).Subsequently,the m RNA and protein levels of inducible nitric oxide synthase(i NOS),vascular endothelial growth factor(VEGF),cyclooxygenase(COX)-2,tumor necrosis factor(TNF)-a and the phosphorylation expression levels of the MAPK signal pathway were also evaluated.A silico analysis was used to explain the binding situation for the investigation of taxifolin and MAPK signal *** then MAPK inhibitors were used to reveal the expression level of i NOS,VEGF,COX-2 and TNF-a in RAW264.7 ***:It was demonstrated that cell inflammatory damage induced by LPS was significantly alleviated after the treatment of ***,the m RNA and protein levels of i NOS,VEGF,COX-2 and TNF-a were reduced and the phosphorylation expression levels of the MAPK signal pathway were down-regulated remarkably as *** silico analysis,taxifolin could form a relatively stable combination with MAPK signal *** inhibitors showed increasing or decreasing effect in the m RNA levels of i NOS,VEGF,COX-2 and TNF-a,which suggesting that taxifolin down-regulated i NOS,VEGF,COX-2 and TNF-a expressions were not entirely through the MAPK ***:This finding demonstrated that taxifolin improved the inflammatory responses that partly involved in the phosphorylation expression level of MAPK signal pathway in RAW264.7 cells exposed to acute stress.

关键词： MAPK signal pathway molecular docking pro-inflammatory cytokines taxifolin

来源：评论

学校读者我要写书评

暂无评论

Spectroscopic detection of pigments in tissues: correlation with tissue aging and cancer development

Spectroscopic detection of pigments in tissues: correlation ...

引用

2022 International Conference Laser Optics, ICLO 2022

作者： Oliveira, L.M. Goncalves, T.M. Botelho, A.R. Martins, I.S. Silva, H.F. Carneiro, I. Carvalho, S. Henrique, R. Tuchin, V.V. Porto Portugal Center of Innovation in Engineering and Industrial Technology Isep Porto Portugal Department of Electrical and Computer Engineering Porto University-School of Engineering Porto Portugal Department of Pathology and Cancer Biology and Epigenetics Group Portuguese Oncology Institute of Porto Porto Portugal Porto Portugal Viana do Castelo Portugal Dept. of Pathol. and Molecular Immunology Porto University-Institute of Biomedical Sciences Abel Salazar Porto Portugal Science Medical Center Saratov State University Saratov Russia Laboratory of Laser Molecular Imaging and Machine Learning National Research Tomsk State University Tomsk Russia Laboratory of Laser Diagnostics of Technical and Living Systems Institute of Precision Mechanics and Control Frc-Saratov Scientific Centre-of the Russian Academy of Sciences Saratov Russia

ISBN: (纸本)9781665466646

The direct calculation of the absorption coefficient spectra of various tissues from spectral measurements allowed to retrieve the contents of melanin and lipofuscin. In the rabbit brain cortex, 1.8 times higher melanin content is explained by the neuron degeneration process. Similar melanin and lipofuscin contents were found in the rabbit pancreas as a result of the tissue aging process. The conversion of 83 % of the melanin in the human normal kidney into lipofuscin in the cancer kidney indicates that lipofuscin can be considered a kidney cancer marker in humans. © 2022 IEEE.

关键词： Tissue

来源：评论

学校读者我要写书评

暂无评论

Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

引用

Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

来源：评论

学校读者我要写书评

暂无评论

Personalized and Demand-Based Education Concept: Practical Tools for control Engineers

arXiv

引用

arXiv 2025年

作者： Varga, Balint Fischer, Lars Kovacs, Levente Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe76131 Germany FZI Research Center for Information Technology Karlsruhe76131 Germany Department of Biomatics and Artificial Intelligence John von Neumann Faculty of Informatics Physiological Controls Research Group University Research and Innovation System Obuda University Budapest1034 Hungary

This paper presents a personalized lecture concept using educational blocks and its demonstrative application in a new university lecture. Higher education faces daily challenges: deep and specialized knowledge is available from everywhere and accessible to almost everyone. University lecturers of specialized master courses confront the problem that their lectures are either too boring or too complex for the attending students. Additionally, curricula are changing more rapidly than they have in the past 10–30 years. The German education system comprises different educational forms, with universities providing less practical content. Consequently, many university students do not obtain the practical skills they should ideally gain through university lectures. Therefore, in this work, a new lecture concept is proposed based on the extension of the just-in-time teaching paradigm: Personalized and Demand-Based Education. This concept includes: 1) an initial assessment of students’ backgrounds, 2) selecting the appropriate educational blocks, and 3) collecting ongoing feedback during the semester. The feedback was gathered via Pingo, ensuring anonymity for the students. Our concept was exemplarily tested in the new lecture"Practical Tools for control Engineers" at the Karlsruhe Institute of Technology. The initial results indicate that our proposed concept could be beneficial in addressing the current challenges in higher *** Codes 93C85 Copyright © 2025, The Authors. All rights reserved.

关键词： Students

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：