This work presents a safe and efficient methodology for autonomous indoor exploration with aerial robots using Harmonic Potential Fields (HPF). The challenge of applying HPF in complex 3D environments rests on high co...
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In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjust...
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ISBN:
(数字)9798350358513
ISBN:
(纸本)9798350358520
In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.
This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle ...
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This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quad-rotors providing support in electrical power line inspection operations. The proposed software framework gua...
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Continuous-time (CT) modeling has proven to provide improved sample efficiency and interpretability in learning the dynamical behavior of physical systems compared to discrete-time (DT) models. However, even with nume...
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Electroencephalography(EEG)is a non-invasive measurement method for brain *** to its safety,high resolution,and hypersensitivity to dynamic changes in brain neural signals,EEG has aroused much interest in scientific r...
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Electroencephalography(EEG)is a non-invasive measurement method for brain *** to its safety,high resolution,and hypersensitivity to dynamic changes in brain neural signals,EEG has aroused much interest in scientific research and medical *** article reviews the types of EEG signals,multiple EEG signal analysis methods,and the application of relevant methods in the neuroscience feld and for diagnosing neurological ***,3 types of EEG signals,including time-invariant EEG,accurate event-related EEG,and random event-related EEG,are ***,5 main directions for the methods of EEG analysis,including power spectrum analysis,time-frequency analysis,connectivity analysis,source localization methods,and machine learning methods,are described in the main section,along with diferent sub-methods and effect evaluations for solving the same ***,the application scenarios of different EEG analysis methods are emphasized,and the advantages and disadvantages of similar methods are *** article is expected to assist researchers in selecting suitable EEG analysis methods based on their research objectives,provide references for subsequent research,and summarize current issues and prospects for the future.
Anomaly detection is essential to ensure the safety of industrial processes. This paper presents an anomaly detection approach based on the probability density estimation and principle of justifiable granularity. Firs...
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Organisms have evolved innate and acquired immune systems to defend against pathogens like coronaviruses. Similarly, power networks, threatened by cyber-attacks, desire cyber-immunity. Inspired by the immunology resea...
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The increasing demand for heterogeneous functionality in the automotive industry and the evolution of chip manufac-turing processes have led to the transition from federated to integrated critical real-time embedded s...
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ISBN:
(数字)9783981926385
ISBN:
(纸本)9798350348606
The increasing demand for heterogeneous functionality in the automotive industry and the evolution of chip manufac-turing processes have led to the transition from federated to integrated critical real-time embedded systems (CRTESs). This leads to higher integration challenges of conventional timing predictability techniques due to access contention on shared resources, which can be resolved by providing system-level observability and controllability in hardware. We focus on the interconnect as a shared resource and propose AXI-REALM, a lightweight, modular, and technology - independent real-time extension to industry-standard AXI4 interconnects, available open-source. AXI-REALM uses a credit-based mechanism to distribute and control the bandwidth in a multi-subordinate system on periodic time windows, proactively prevents denial of service from malicious actors in the system, and tracks each manager's access and interference statistics for optimal budget and period selection. We provide detailed performance and implementation cost assessment in a 12nm node and an end-to-end functional case study implementing AXI-REALM into an open-source Linux-capable RISC-V SoC. In a system with a general-purpose core and a hardware accelerator's DMA engine causing interference on the interconnect, AXI-REALM achieves fair bandwidth distribution among managers, allowing the core to recover 68.2 % of its performance compared to the case without contention. Moreover, near-ideal performance (above 95 %) can be achieved by distributing the available bandwidth in favor of the core, improving the worst-case memory access latency from 264 to below eight cycles. Our approach minimizes buffering compared to other solutions and introduces only 2.45 % area overhead compared to the original SoC.
作者:
Dai, JunLi, XinbinHan, SongYu, JunzhiLiu, ZhixinYanshan University
Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University
Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Qinhuangdao066004 China Peking University
State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China
This paper investigates the cooperative link configuration problem for Autonomous Underwater Vehicle (AUV) in Underwater Acoustic (UWA) sensor networks with Energy Harvesting (EH), which aims to maximize long-term cum...
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