检索结果-内蒙古大学图书馆

A Time-Frequency Local Polynomial Approach to FRM Estimation from Incomplete Data

IFAC-PapersOnLine 2023年第2期56卷 3942-3947页

作者： Nic Dirkx Koen Tiels Tom Oomen ASML Research Mechatronics & Control Veldhoven The Netherlands Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Eindhoven The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

Frequency Response Matrix (FRM) estimation from measured data is an important step towards the control of complex systems, including motion and thermal systems. Missing samples in the measured data records, e.g., due to sensor failure or faulty data transmission, often occur. In this paper, a method is presented for the nonparametric FRM identification of multiple-inputs multiple-outputs (MIMO) systems from incomplete and noisy data records. The method exploits time- and frequency-domain localizing wavelets to accurately estimate the FRM and its covariance from the time-frequency plane. Good performance is demonstrated in a simulation study.

关键词： Frequency response function identification missing data transient estimation multiple-inputs multiple-outputs linear systems

来源：评论

学校读者我要写书评

暂无评论

Towards model-based automation of plant-specific weed regulation 43

Towards model-based automation of plant-specific weed regula...

引用

43. Jahrestagung der Gesellschaft fur Informatik in der Land-, Forst- und Ernahrungswirtschaft - Resiliente Agri-Food-Systeme: Herausforderungen und Losungsansatze, GIL 2023 - 43rd Annual Conference of the Society for Informatics in Agriculture, Forestry, and Food Industry - Resilient Agri-Food systems: Challenges and Solutions, GIL 2023

作者： Renz, Marian Niemeyer, Mark Hertzberg, Joachim German Research Center for Artificial Intelligence Plan-Based Robot Control Group Berghoffstr. 11 Osnabrück49090 Germany Osnabrück University Knowledge-Based Systems Group Wachsbleiche 27 Osnabrück49090 Germany

ISBN: (纸本)9783885797241

Weeds are commonly known as a major factor for yield losses in agriculture, competing with crops for resources like nutrients, water, and light. However, keeping specific weeds could benefit agricultural sites for example by nitrogen fixation, erosion protection, or increasing biodiversity. This comes with technological challenges like plant detection and classification, damage estimation, and selective removal. This paper presents a model-based approach to the problem of damage estimation of perceived plants. The system uses contextual and background knowledge in the form of rules about the plant count per square meter and the distance to the nearest crop together with thresholds for each weed species. The functionality is demonstrated using an artificial dataset and exemplary thresholds, showing the potential of using knowledge about plant-crop interactions for more sophisticated weed control systems. © 2023 Gesellschaft fur Informatik (GI). All rights reserved.

关键词： Crops

来源：评论

学校读者我要写书评

暂无评论

An Event-Triggered Tracking control Scheme Based on Predictive control Method and its Application 42

An Event-Triggered Tracking Control Scheme Based on Predicti...

引用

42nd Chinese control Conference, CCC 2023

作者： Cao, Lei Yumuk, Erhan Ionescu, Clara-Mihaela Liu, Guo-Ping Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Ghent University Dynamical Systems and Control Research Group Department of Electromechanical Systems and Metal Engineering Ghent9052 Belgium Center for Control Science and Technology Southern University of Science and Technology Shenzhen518055 China Istanbul Technical University Department of Control and Automation Engineering Istanbul34467 Turkey

ISBN: (纸本)9789887581543

In this paper, the tracking control problem for networked control system (NCS) under communication delays is investigated. In order to realize the tracking of the NCS, an event-triggered predictive control strategy is provided to compensate for the delays and achieve stability. Both tracking performance and input increments are considered in the proposed cost function. Based on the incremental inputs, an event-triggered mechanism is established to reduce the communication costs. The efforts of different parameters are illustrated through the results of the simulation, and the effectiveness of the proposed control scheme is also validated from the application of the networked lighting setup. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Networked control systems

来源：评论

学校读者我要写书评

暂无评论

Asymptotic behavior of the nonautonomous Arrow-Hurwicz differential system

Asymptotic behavior of the nonautonomous Arrow-Hurwicz diffe...

引用

IEEE Conference on Decision and control

作者： Simon K. Niederländer research group Autonomous Systems and Control Siemens Technology Center Garching Friedrich-Ludwig-BauerStr 3 Garching Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In a real Hilbert space setting, we investigate the asymptotic behavior of the solutions of the nonautonomous Arrow-Hurwicz differential system. We show that its solutions weakly converge in average towards a saddle point of some limiting closed convex-concave bifunction provided that the associated gap function vanishes sufficiently fast. If, in addition, the limiting saddle function verifies a strict convexity-concavity condition, we find that the solutions of the nonautonomous Ar-row-Hurwicz differential system not only converge in an ergodic sense, but in fact admit a weak limit. Numerical experiments illustrate our theoretical findings.

关键词： Limiting Hilbert space

来源：评论

学校读者我要写书评

暂无评论

Seamless Functional Design for an Autonomous Vehicle using a Low-Cost RCP Platform

Seamless Functional Design for an Autonomous Vehicle using a...

引用

IEEE International Symposium on systems Engineering (ISSE)

作者： Sven Jacobitz Xiaobo Liu-Henke Uwe Becker Research Group for Control Engineering and Vehicle Mechatronics Ostfalia University of Applied Sciences Wolfenbüttel Germany Institute for Intermodal Transport and Logistics Systems Technical University of Braunschweig Braunschweig Germany

ISBN: (数字)9798350353723

ISBN: (纸本)9798350353730

The advancement of cooperative autonomous vehicles has seen significant progress, often necessitating the use of high-cost tools. This paper investigates the utilization of a low-cost Rapid control Prototyping (RCP) platform, LoRra, for the development of autonomous vehicle functionalities. A modular prototyping vehicle equipped with Mecanum wheels was designed to operate within a cyber-physical laboratory test field, enabling the exploration of intelligent driving functions. The LoRra platform facilitates seamless model-based development, encompassing modeling, function design, automatic code generation, and real-time implementation. The effectiveness of the LoRra platform in developing and validating autonomous driving functions is demonstrated through extensive simulations and real-time experiments. This study highlights the successful application of LoRra in the speed control of traction motors and trajectory-following control, underscoring its potential as a cost-effective and versatile tool for research and development in intelligent mobility.

关键词： Codes Velocity control Wheels Traction motors Real-time systems Modeling Autonomous vehicles research and development

来源：评论

学校读者我要写书评

暂无评论

Modular, Tethered, Reconfigurable Hybrid Robotic Vehicles for Aerial Grasping and Package Delivery

Modular, Tethered, Reconfigurable Hybrid Robotic Vehicles fo...

引用

IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Masahiro Kobayashi Geoffrey Huang Joao Buzzatto Angus Lynch Kostas Kyriakopoulos Minas Liarokapis Department of Mechanical and Mechatronics Engineering New Dexterity research group The University of Auckland New Zealand Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece

ISBN: (数字)9798331510954

ISBN: (纸本)9798331510961

Unmanned Aerial Vehicles (UAVs) are rapidly emerging as the next-generation solution for delivering pay-loads. In recent years, numerous designs have been proposed, each offering distinct approaches to this challenge. Presently, existing systems tend to be cumbersome and tailored for specific applications, which hinders their flexibility for accommodating different environments or payloads. This work focuses on the development of a versatile, scalable, and modular drone delivery system. The system comprises modular mobile robots equipped with a propulsion unit, omnidirectional wheels, and a coupler mechanism, enabling assembly so as to form rigid inter-module connections. These drones possess the ability to accommodate various payloads by utilising tethers and contact pads, allowing them to conform to the shape of the packages. The implemented system architecture is composed of four distinct modules, consisting of one parent module and three child modules, all interconnected through a tethering system. This paper aims to demonstrate the capabilities of the tethered multi-drone system by performing coordinated motions of the modules for payload grasping and flights with and without payload.

关键词： Shape Robot kinematics Wheels systems architecture Grasping Propulsion Safety Security Payloads Drones

来源：评论

学校读者我要写书评

暂无评论

Towards the Optimal Design and control of Solar-biomass Heating Networks for Greenhouse Applications: Methodology and Preliminary Results

Towards the Optimal Design and Control of Solar-biomass Heat...

引用

ISES Solar World Congress 2021

作者： Gil, Juan D. Ramos-Teodoro, J. Martínez, M. Sánchez-Molina, J.A. Pérez, M. CIESOL Research Center on Solar Energy Joint Center UAL-CIEMAT Spain Automatic Control Robotics and Mechatronics Group University of Almería Spain

ISBN: (纸本)9783982040875

Greenhouses are productive facilities very suitable for the consideration of distributed schemes for their energy management, including solar radiation as one of their main primary sources. This paper focuses on the optimal sizing and control of solar-biomass heating networks to be used in greenhouse environments. The methodology employed is a bi-level optimization strategy in which the lower layer, which is based on the energy hubs concept, is responsible for the optimal dispatch of the heating network, trying to reduce the operating costs while meeting demand. The upper layer includes a surrogate optimization algorithm in charge of performing the optimal sizing of the heating network to minimize the investment and long-term operating costs. Besides, this optimization problem includes some constraints such as the minimum desired solar fraction. A case study based on real facilities located in Almería (Southeast of Spain) is employed as an application example in order to show the promising outcomes achieved with the proposed methodology. The preliminary results are analyzed, regarding the economic viability, by means of the discount payback time and Levelized cost of energy. © 2021. The Authors. Published by International Solar Energy Society Selection and/or peer review under responsibility of Scientific Committee.

关键词： Operating costs

来源：评论

学校读者我要写书评

暂无评论

State Derivative Normalization for Continuous-Time Deep Neural Networks

引用

IFAC-PapersOnLine 2024年第15期58卷 253-258页

作者： Jonas Weigand Gerben I. Beintema Jonas Ulmen Daniel Görges Roland Tóth Maarten Schoukens Martin Ruskowski Chair of Machine Tools and Control Systems RPTU Kaiserslautern and the German Research Center for Artificial Intelligence Kaiserslautern Germany Control Systems (CS) Group at the Department of Electrical Engineering Eindhoven University of Technology Netherlands. R. Tóth is also affiliated to the Systems and Control Laboratory at the Institute for Computer Science and Control Budapest Hungary Institute for Electromobility RPTU Kaiserslautern Germany

The importance of proper data normalization for deep neural networks is well known. However, in continuous-time state-space model estimation, it has been observed that improper normalization of either the hidden state or hidden state derivative of the model estimate, or even of the time interval can lead to numerical and optimization challenges with deep learning based methods. This results in a reduced model quality. In this contribution, we show that these three normalization tasks are inherently coupled. Due to the existence of this coupling, we propose a solution to all three normalization challenges by introducing a normalization constant at the state derivative level. We show that the appropriate choice of the normalization constant is related to the dynamics of the to-be-identified system and we derive multiple methods of obtaining an effective normalization constant. We compare and discuss all the normalization strategies on a benchmark problem based on experimental data from a cascaded tanks system and compare our results with other methods of the identification literature.

关键词： System Identification Continuous-Time Neural Ordinary Differential Equations Nonlinear State-Space

来源：评论

学校读者我要写书评

暂无评论

Implementation of Real-Time Lane Detection on Autonomous Mobile Robot

Implementation of Real-Time Lane Detection on Autonomous Mob...

引用

Advanced Telecommunication and Networking Technologies (ATNT), IEEE International Conference on

作者： Midriem Mirdanies Roni Permana Saputra Edwar Yazid Rozeha A. Rashid Telecommunication Software and Systems Research Group Faculty of Electrical Engineering Universiti Teknologi Malaysia (UTM) Johor Bahru Johor Malaysia Research Center for Smart Mechatronics National Research and Innovation Agency (BRIN) Bandung Indonesia

ISBN: (数字)9798350353501

ISBN: (纸本)9798350353518

This paper describes the implementation of a learning-based lane detection algorithm on an autonomous mobile robot. More specifically, it explores the implementation of the Ultra Fast Lane Detection algorithm for real-time application on the SEATER (Single-passenger Electric Autonomous Transporter) prototype using a camera, with an emphasis on optimizing its performance on a Jetson Nano platform. Multi-core processing on the CPU and GPU has been implemented in this paper to optimize the application program and avoid delays or buffering. Preliminary experiments have been conducted to evaluate the algorithm's performance in terms of data processing speed and accuracy using two datasets: a public dataset for the outdoor environment and another dataset collected from the indoor area of the Workshop Building at BRIN Bandung. The experimental results show that after conversion to TensorRT, the algorithm achieves significantly improved performance on the Jetson Nano platform compared to the ONNX model, with processing speeds of approximately 101 ms using CULane and 105 ms using TuSimple-about 22 times faster than the previous model. While the algorithm demonstrates good accuracy on the public outdoor dataset, its performance falls short on the indoor dataset. Future work should focus on transfer learning and fine-tuning to improve indoor lane detection accuracy.

关键词： Accuracy Lane detection Multicore processing Transfer learning Robot vision systems Graphics processing units Cameras Real-time systems Mobile robots Autonomous robots

来源：评论

学校读者我要写书评

暂无评论

Discrete Sliding Mode Predictive control of Networked control systems

Discrete Sliding Mode Predictive Control of Networked Contro...

引用

第42届中国控制会议

作者： Chuanguo Chi Guo-Ping Liu Clara-Mihaela Ionescu Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology Ghent University Research group on Dynamical Systems and Control

This article studies the application of discrete sliding mode predictive control(SMPC) in networked control systems,introducing sliding mode control(SMC) into model predictive control(MPC), and prediction the state and output vector based on sliding mode control. By combining the strong robustness of sliding mode control and the advantage of model predictive control in dealing with communication constraints in network control, an incremental SMPC trajectory tracking control scheme based on a state observer is designed. The effectiveness and practicability of the designed control scheme is verified by tracking experiments on reference inputs in a dSPACE-based networked lighting control system.

关键词：

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：