This paper investigates the problem of controlling nonlinear dynamical systems subject to state and input constraints while minimizing time-varying and a priori unknown cost functions. We propose a modular approach th...
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This study examines the leader-following formation control problem for a particular class of nonlinear multi-agent systems with external disturbances. First of all, the system's external disturbance is compensated...
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This paper considers the backstepping state feedback and observer design for hyperbolic and parabolic PDEs, which are bidirectionally interconnected in a general coupling structure. Both PDE subsystems consist of coup...
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Robotic rehabilitation devices that utilize embedded systems, such as the Stretchbox - a device de-signed for hand rehabilitation through the actuation of rollers stretching a rubber band by BLDC motors-demand control...
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ISBN:
(数字)9798350393965
ISBN:
(纸本)9798350393972
Robotic rehabilitation devices that utilize embedded systems, such as the Stretchbox - a device de-signed for hand rehabilitation through the actuation of rollers stretching a rubber band by BLDC motors-demand controllers that are safe, scalable, and understandable at a high level. Behavior trees satisfy these requirements and have found broad applications in robotics and some pioneering applications in the medical sector. Despite their widespread use, there has been an absence of behavior tree frameworks for micro controllers programmed with MicroPython, which is an attractive language for embedded systems and the chosen platform for the Stretchbox's high-level controller. This paper introduces a behavior tree implementation for MicroPython tailored as a high-level controller for the Stretchbox device. The implementation includes standard behavior tree nodes, specialized nodes, and classes designed for interfacing with micro controller peripherals and for Blue-tooth communication with the tablet-based user interface. This system provides a comprehensible and straightforward method for controlling the Stretchbox device for rehabilitation, establishing a well-defined hierarchy for event management. Furthermore, the solution is designed to be extensible, allowing for adding new therapeutic behaviors and integrating extra devices. As an open-source library, the implementation facilitates the adoption of behavior trees in other MicroPython- based projects. The detailed explanation of the approach in applying behavior trees to the Stretchbox serves as a practical demonstration of how behavior trees can be effectively used in controlling rehabilitation devices.
This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environme...
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The article researches and implements the embedded software of data chain from the perspective of modular development. Firstly, the current development trend of data chain technology and the pain points of software de...
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The quality of a model resulting from (black-box) system identification is highly dependent on the quality of the data that is used during the identification procedure. Designing experiments for linear time-invariant ...
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The quality of a model resulting from (black-box) system identification is highly dependent on the quality of the data that is used during the identification procedure. Designing experiments for linear time-invariant systems is well understood and mainly focuses on the power spectrum of the input signal. Performing experiment design for nonlinear system identification on the other hand remains an open challenge as informativity of the data depends both on the frequency-domain content and on the time-domain evolution of the input signal. Furthermore, as nonlinear system identification is much more sensitive to modeling and extrapolation errors, having experiments that explore the considered operation range of interest is of high importance. Hence, this paper focuses on designing space-filling experiments i.e., experiments that cover the full operation range of interest, for nonlinear dynamical systems that can be represented in a state-space form using a broad set of input signals. The presented experiment design approach can straightforwardly be extended to a wider range of system classes (e.g., NARMAX). The effectiveness of the proposed approach is illustrated on the experiment design for a nonlinear mass-spring-damper system, using a multisine input signal.
In order to solve the problems of long cycle and the difficulty of test, this paper proposes a method of power-in-the-loop motor simulator. Firstly, the topology of the motor simulator is proposed, composed of an inte...
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