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共 20752 条记录，以下是271-280 订阅

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Autonomous Trajectory Planning Based on Bézier Curve with Curvature Constraints and Piecewise-Jerk Speed-Time Optimization

Autonomous Trajectory Planning Based on Bézier Curve with C...

引用

2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Wang, You Zou, Ziyi Zhang, Ziang Guan, Xiaoqing Lin, Boyu Li, Xiang Li, Guang Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Hangzhou310027 China

ISBN: (纸本)9798350325706

In this paper, we propose an efficient trajectory planning algorithm with path smoothing based on the Bézier curve with curvature constraints and piecewise-jerk speed-time optimization. We use hybrid A∗ to generate a rough path and construct a safe corridor by inflating the path. After that, we formulate the smooth problem as a nonlinear programming(NLP) with piecewise Bézier curves. Since the curvature constraints for Bézier curves are difficult, we employ quartic Bézier Curves with special forms and compute the closed-form solution for the maximum curvature to simplify the representation of the maximum curvature. By using the special Bézier curves, we realize the gear shifts and easily guarantee the security, continuity, and feasibility of the path. Meanwhile, we add time variables based on PJSO, improving the quality of trajectory within an acceptable increase in time, making the allocation of time and speed better. Simulation and real-world experiments with a car-like robot in various environments confirm that our algorithm can generate a smooth, feasible, and high-quality trajectory for robots. © 2023 IEEE.

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Combination of Zero Common Mode and Spread Spectrum for Four-Module Motor Drive systems 7

Combination of Zero Common Mode and Spread Spectrum for Four...

引用

7th IEEE International Electrical and Energy Conference, CIEEC 2024

作者： Gong, Jiwen Liu, Hui Ma, Yafei Jiang, Dong Liu, Hongyang Yang, Guang School of Electrical and Electronics Engineering Huazhong University of Science and Technology Wuhan China Flight Automatic Control Research Institute Xi'an China

ISBN: (纸本)9798350359558

In parallel three-phase inverters, zero common-mode voltage can theoretically be achieved through zero common-mode modulation techniques. The advantage of spread spectrum PWM over constant switching frequency PWM is its ability to eliminate peaks of EMI. Therefore, this paper proposes a modulation method that combines zero common-mode and variable switching frequency to simultaneously reduce common-mode EMI and differential-mode EMI. Under the premise of using the zero common-mode vector, this method uniformly changes the switching period within a certain range, employing a four-module motor as the load for modulation. Simulation results show that this strategy not only achieves zero common-mode voltage but also reduces conducted EMI by more than 20 dB, confirming the effectiveness of the proposed method. © 2024 IEEE.

关键词： Pulse width modulation

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From Time-Invariant to Uniformly Time-Varying control Barrier Functions: A Constructive Approach 63

From Time-Invariant to Uniformly Time-Varying Control Barrie...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Wiltz, Adrian Dimarogonas, Dimos V. Kth Royal Institute of Technology Division of Decision and Control Systems StockholmSE-100 44 Sweden

ISBN: (纸本)9798350316339

In this paper, we define and analyze a subclass of (time-invariant) control Barrier Functions (CBF) that have favorable properties for the construction of uniformly time-varying CBFs and thereby for the satisfaction of uniformly time-varying constraints. We call them λ-shiftable CBFs where λ states the extent by which the CBF can be varied by adding a time-varying function. Moreover, we derive sufficient conditions under which a time-varying CBF can be obtained from a time-invariant one, and we propose a systematic construction method. Advantageous about our approach is that a λ-shiftable CBF, once constructed, can be reused for various control objectives. In the end, we relate the class of λ-shiftable CBFs to control Lyapunov Functions (CLF), and we illustrate the application of our results with a relevant simulation example. © 2024 IEEE.

关键词： Lyapunov functions

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Analysis and Modeling Simulation of Hyperspectral Target Characteristics in Remote Sensing Earth Observation 12

Analysis and Modeling Simulation of Hyperspectral Target Cha...

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SPIE 12th International Symposium on Multispectral Image Processing and Pattern Recognition, MIPPR 2023

作者： Cong, Longjian Li, Haipeng Wang, Hongshuo Xu, Siyan Huang, Yuhang Beijing Aerospace Automatic Control Institute Beijing100854 China Huazhong University of Science and Technology Hubei Province Wuhan430074 China

ISBN: (数字)9781510675001

ISBN: (纸本)9781510674998

Aiming at the demand for target detection of typical ground and object backgrounds in hyperspectral earth observation, this project solves the problems of insufficient sample size and low fidelity of target environment scene in intelligent learning, training and testing of a novel optoelectronic detection system, breaks through the key technologies of modeling of hyperspectral imaging simulation mechanism, modeling of hyperspectral reflectance/radiation characteristics of typical target background, computation of hyperspectral atmospheric transmission characteristics, and modeling of hyperspectral optical detectors, etc., and organically integrates remote sensing imaging and spectral measurement technologies. Through simulation, it simultaneously acquires spatial and spectral radiation information data from typical target backgrounds, thus providing foundational data support for the design of target detection algorithms based on hyperspectral data. © 2024 SPIE.

关键词： Hyperspectral imaging

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Development of a Concurrent Engineering Tutorial as part of the ESA_Lab@ initiative 73

Development of a Concurrent Engineering Tutorial as part of ...

引用

73rd International Astronautical Congress, IAC 2022

作者： Deutsch, Marlon Hoffmann, Jennifer Bertrand, Reinhold Institute of Flight Systems and Automatic Control TU Darmstadt Germany Joint Professorship Space Systems Institute of Flight Systems and Automatic Control TU Darmstadt European Space Agency ESA ESOC Germany

As part of the "ESA_Lab@" initiative, a Concurrent Engineering facility has been constructed at the Mechanical Engineering department of Technical University Darmstadt. Concurrent Engineering is a well-proven concept for designing complex space systems and missions in the pre-phase 0/A mission phase. The Concurrent Engineering methodology and processes are enabled by a multidisciplinary team and specific infrastructure in terms of both hardware and software, which generate an effective and time efficient design management system. The university's "Concurrent Engineering Lab" provides an environment for both researchers and students to explore and apply the Concurrent Engineering approach in areas such as (model-based) systems engineering, Industry 4.0/Space 4.0, and space traffic management. Furthermore, collaboration with the European Space Operations Centre - also located in Darmstadt - regarding the application of Concurrent Engineering for Ground Segment & Operations has been started. The first addition to the university's curriculum centered around the Concurrent Engineering Lab will be a "Concurrent Engineering Tutorial", an opportunity to introduce the Concurrent Engineering methods and tools via hands-on experience to students of the newly established master's degree program "Aerospace Engineering". "Tutorials" are elective block courses of the degree program which offer practical learning experiences in many different fields, awarding 4 credit points upon successful completion. Building on the lectures "Fundamentals of Space systems" and "Space systems and Space Operations", the week-long "Concurrent Engineering Tutorial" will challenge students to use their acquired knowledge to develop a preliminary design for a predefined CubeSat mission. This Tutorial will not only provide a closer understanding of the individual subsystems of the space segment of a mission, the Concurrent Engineering process and the relevant software "COMET" by RHEA Group but will also

关键词： Students

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Learning Adaptive Manipulation of Objects with Revolute Joint: A case Study on Varied Cabinet Doors Opening 42

Learning Adaptive Manipulation of Objects with Revolute Join...

引用

42nd Chinese control Conference, CCC 2023

作者： Yu, Hongxiang Guo, Dashun Zhou, Zhongxiang Wang, Yue Xiong, Rong The Institute of Cyber-Systems and Control The State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou310058 China

ISBN: (纸本)9789887581543

This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance of Deep Reinforcement Learning in this scene, we analytically provide an efficient sampling manner utilizing the constraints of the objects. To open various kinds of doors, we add encoded environment parameters that define the various environments to the input of out policy. To transfer the policy into the real world, we train an adaptation module in simulation and fine-tune the adaptation module to cut down the impact of the policy-unaware environment parameters. We design a series of experiments to validate the efficacy of our framework. Additionally, we testify to the model's performance in the real world compared to the traditional door opening method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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Fault Diagnosis of Hyperbolic Distributed Parameter System 13

Fault Diagnosis of Hyperbolic Distributed Parameter System

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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Song, Yu Zhang, Jianxiang Institute of Intelligent Systems and Control Guangxi University of Science and Technology School of Automation Liuzhou54500 China

ISBN: (纸本)9798350361674

The problem of iterative learning control for hyperbolic distributed parameter systems with faults under sensor/actuator networks is studied. Many results have been achieved in previous studies on iterative learning control, but the problem of fault diagnosis for partial differential systems has rarely been mentioned. Therefore, this paper considers for the first time the occurrence of faults in a class of hyperbolic distributed-parameter systems with fluctuation equations having Kelvin-Voigt damping and viscous damping, and gives the corresponding fault estimation algorithms. An iterative learning based fault diagnosis algorithm and fault estimator are constructed in the article. The convergence of nonlinear system faults in sensor/actuator networks is demonstrated using the principle of compressive mapping. The convergence conditions for the convergence of virtual faults to real faults are obtained through rigorous mathematical analysis. Finally, numerical simulations are carried out according to the convergence conditions, and the numerical simulation results verify the effectiveness of the fault diagnosis algorithm designed in this paper. © 2024 IEEE.

关键词： Distributed parameter control systems

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Design of Dynamic Wireless Charging System Based on Coupling Coefficient Estimation

Design of Dynamic Wireless Charging System Based on Coupling...

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International Conference on Wireless Power Transfer, ICWPT 2022

作者： Xue, Xuchi Liu, Zhitao Liu, Jia Chen, Wenjie Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

ISBN: (纸本)9789819906307

During the dynamic wireless charging process, the coupling coefficient between the wireless charging transmitter coil and the receiver coil varies greatly, thereby reducing the charging efficiency. Firstly, the change law of the magnetic coupling coefficient of the magnetic coupling mechanism in the process of dynamic wireless charging is analyzed. Secondly, the wireless charging network is analyzed to derive the relationship of the duty cycle under the optimal load. According to the changing law of the coupling coefficient, this paper analyzes the Kalman prediction model and the cubic exponential smoothing model, and proposes an improved error adaptive model based on the two algorithms. When the coupling coefficient changes rapidly, the error of the coefficient estimation can improve the efficiency of the whole wireless charging system. The method proposed in this paper can effectively improve the dynamic wireless charging efficiency by 9.5%, which is conducive to the popularization of electric AGV in the fields of transportation and logistics sorting. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Efficiency

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Fourier Single-Pixel Imaging Edge Detection in Arbitrary Directions

Fourier Single-Pixel Imaging Edge Detection in Arbitrary Dir...

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2023 China Automation Congress, CAC 2023

作者： Ji, Pengcheng Zheng, Bowen Wang, Yucheng Wang, Rui Zhang, Huijuan Xu, Dongsheng Zhou, Shuaijun Yu, Yuanjin School of Automation Beijing Institute of Technology Beijing China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9798350303759

The standard edge detection method via fourier single-pixel imaging encodes the scene with Fourier patterns modulated by Sobel operators, which can directly reconstruct the object edges instead of the complete scene. This method is only sensitive to horizontal and vertical edge, which is not conducive to obtaining detailed edges because a natural image always have a variety of edge directions. However, as the number of directions increases, the sampling rate should be higher to improve the quality of edges. To trade-off low sampling rate and detailed edges, we propose an adaptive orientation and sampling number method, which can collect proper high-frequency information within a limited number of samples to accommodate the uncertainty of natural target edge orientation by introducing an arbitrary directional Sobel operator with spectral radial correlation. The simulation results show that the method in this paper has the highest image signal-to-noise ratio compared with the other two methods at 5%, 10% and 25% sampling rates. And it can reconstruct the edges of the image in any direction with high quality and reduce the reconstruction noise with a limited number of samples. © 2023 IEEE.

关键词： Signal to noise ratio

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Heart Rate Variability Analysis for Typing Tasks with Different Keyboard Features 17

Heart Rate Variability Analysis for Typing Tasks with Differ...

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17th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2024

作者： Bu, Nan Ueda, Masaya National Institute of Technology Kumamoto College Dep. of Control and Information Systems Eng. Japan

ISBN: (纸本)9798331507398

Office works such as typing can be used as a stressor in mental stress experiments. With different settings of task condition variant levels of stress can be induced, and the consequent responses and changes in autonomic nervous system (ANS) can be monitored/measured with bio-signal data. Since typing is a common work in the scenarios of office situations, it is expected that one can incorporate stress-induction typing tests in daily works to realize a test in-the-wild approach for studies of mental health. The present paper introduces results of heart rate variability (HRV) analysis for experimental data acquired in tests of typing tasks with different keyboard features. In this study, the keyboard features are set with combinations of two pairs of key switches and three task levels, where the task levels are achieved with key swapping. In order to check rapid and abrupt changes of stress level, (ultra) short-term HRV analysis is considered with the evaluation windows shorter than 60 s. Results of the HRV analysis depict variations in HRV indices according to typing texts and the keyboard features as experimental condition. In addition, statistical investigation of these HRV indices is used to compare between the experimental conditions. © 2024 IEEE.

关键词： Heart

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