IFAC-PapersOnLine最新文献_第8页

A latent representation of brain networks based on EEG⁎ 基于脑电图⁎的大脑网络潜在表征

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.08.564

Lucia Falconi , Giulia Cisotto , Mattia Zorzi

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引用次数: 0

On the adaptation of in-context learners for system identification 论适应系统识别的情境学习者

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.08.541

Dario Piga, Filippo Pura, Marco Forgione

引用次数: 0

Variational Integrators for Stochastic Mechanical Hybrid Systems 随机机械混合系统的变分积分器

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.08.272

K.C. Tejaswi , Taeyoung Lee

引用次数: 0

Variational Estimation for Mechanical Systems on Lie Groups based on Geometric Mechanics 基于几何力学的李群上机械系统的变量估算

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.08.302

Amit K. Sanyal

{"title":"Variational Estimation for Mechanical Systems on Lie Groups based on Geometric Mechanics","authors":"Amit K. Sanyal","doi":"10.1016/j.ifacol.2024.08.302","DOIUrl":"10.1016/j.ifacol.2024.08.302","url":null,"abstract":"<div><div>Geometric mechanics analyzes mechanical systems in the framework of variational mechanics, while accounting for the geometry of the configuration space. From the late 1970s, developments in this area produced several schemes for geometric control of mechanical systems in continuous time and discrete time. In the mid to late 2000s, geometric mechanics was first applied to state estimation of mechanical systems, particularly systems evolving on Lie groups as configuration manifolds, like rigid body systems. Much of the existing work on geometric mechanics-based estimation has been in continuous time, using deterministic, semi-stochastic and stochastic approaches. While the body of existing literature on discrete-time estimation schemes on Lie groups is not as extensive, the literature on this topic is contemporaneous with continuous-time schemes. This work describes some recent and ongoing research on geometric mechanics-based estimation schemes in continuous and discrete time from the mid-2010s, which were developed using the Lagrange-d’Alembert principle applied to rigid body systems. This approach gives (deterministic) observer designs with strong stability and robustness properties. This work concludes with potential extensions of this approach to mechanical systems with principal fiber bundles as configuration manifolds.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 6","pages":"Pages 327-332"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142319204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Port-Hamiltonian modeling of a geometrically nonlinear hyperelastic beam⁎ 几何非线性超弹性梁的端口-哈密顿模型⁎

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.08.299

Cristobal Ponce , Yongxin Wu , Yann Le Gorrec , Hector Ramirez

引用次数: 0

Surrogate Modeling of a Lumped-Mass Multibody Structure Using Hamiltonian Neural Networks 利用哈密顿神经网络建立块体质量多体结构的替代模型

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.08.255

Vitor B. Santos , Flávio Luiz Cardoso-Ribeiro , Andrea Brugnoli

{"title":"Surrogate Modeling of a Lumped-Mass Multibody Structure Using Hamiltonian Neural Networks","authors":"Vitor B. Santos , Flávio Luiz Cardoso-Ribeiro , Andrea Brugnoli","doi":"10.1016/j.ifacol.2024.08.255","DOIUrl":"10.1016/j.ifacol.2024.08.255","url":null,"abstract":"<div><div>The complexity of highly flexible structures restricts their use in real-time simulations. To address this challenge, we investigate the use of Hamiltonian neural networks (HNNs) as an alternative method for modeling a highly flexible cantilever beam. We derived the reference structural model using a lumped-mass rigid multibody method considering the Hamiltonian formalism and used it to generate a dataset consisting of generalized coordinates and momenta as inputs and their respective time derivatives as outputs. The trained neural networks are used as surrogate models to simulate the cantilever beam under free and forced conditions. Preliminary findings indicate that HNNs create accurate and efficient surrogate models whilst learning conservation laws. For forced-response simulations, our approach requires analytical calculation of external forces, offsetting the computational Efficiency gains of our surrogate models. The outcomes of this study give initial perspectives and limitations of the use of surrogate models based on HNNs as a means to efficient simulations of highly flexible structures.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 6","pages":"Pages 48-53"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142319316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fast simulation of the Kirchhoff-Carrier string with an energy-storing boundary condition using a Scalar Auxiliary Variable approach 使用标量辅助变量方法快速模拟具有储能边界条件的基尔霍夫-开利弦

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.08.284

Michele Ducceschi , Alexis Mousseau , Stefan Bilbao , Riccardo Russo

引用次数: 0

NMPC in Haptic Shared Control Steering:Optimizing Vehicle Motion 触觉共享控制转向中的 NMPC：优化车辆运动

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.09.059

Richard Gao , Tomohiro Nakade , Robert Fuchs , Jürg Schiffmann

{"title":"NMPC in Haptic Shared Control Steering:Optimizing Vehicle Motion","authors":"Richard Gao , Tomohiro Nakade , Robert Fuchs , Jürg Schiffmann","doi":"10.1016/j.ifacol.2024.09.059","DOIUrl":"10.1016/j.ifacol.2024.09.059","url":null,"abstract":"<div><div>As vehicles become more automated in the pursuit of comfort and safety, the human-machine interface must adapt to accommodate the intent of both driver and automation. The concept of haptic shared control steering allows lateral control of the vehicle to be continuously shared between driver and automation via the steering wheel. The automation imparts a torque on the steering wheel which serves to both guide the vehicle and inform the driver of the automation's intent without impairing the driver's ability to steer the vehicle. The combination of haptic feedback and seamless transition of vehicle control makes the use of automation more intuitive. This paper describes a Nonlinear Model Predictive Control (NMPC) approach for controlling the strength of the automation torque with the aim of optimizing vehicle motion. NMPC allows for intuitive tuning and customization of the vehicle steering performance through the NMPC parameterization. Results on a vehicle in real driving scenarios show that the proposed control is able to decrease the lateral jerk, a common measure of passenger comfort, compared to the current state of the art by up to 50% while maintaining the same or similar levels of path tracking performance.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"58 18","pages":"Pages 400-406"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142319782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Vehicle motion planning for ride comfort using subjective vertical conflict model 利用主观垂直冲突模型进行车辆运动规划，提高乘坐舒适性

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.09.060

Takumi Todaka , Kaito Sato , Kenji Sawada , Katsuhiko Sando

引用次数: 0

Time-optimal Point-to-point Motion Planning: A Two-stage Approach 时间最优点对点运动规划：两阶段方法

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI: 10.1016/j.ifacol.2024.09.022

Shuhao Zhang , Jan Swevers

引用次数: 0