Measurement and Control最新文献_第6页

A tightly-coupled LIDAR-IMU SLAM method for quadruped robots 用于四足机器人的激光雷达-IMU SLAM 紧密耦合方法

Measurement and Control Pub Date : 2024-02-14 DOI: 10.1177/00202940231224593

Zhifeng Zhou, Chunyan Zhang, Chenchen Li, Yi Zhang, Yun Shi, Wei Zhang

{"title":"A tightly-coupled LIDAR-IMU SLAM method for quadruped robots","authors":"Zhifeng Zhou, Chunyan Zhang, Chenchen Li, Yi Zhang, Yun Shi, Wei Zhang","doi":"10.1177/00202940231224593","DOIUrl":"https://doi.org/10.1177/00202940231224593","url":null,"abstract":"Aiming to address the issue of mapping failure resulting from unsmooth motion during SLAM (Simultaneous Localization and Mapping) performed by a quadruped robot, a tightly coupled SLAM algorithm that integrates LIDAR and IMU sensors is proposed in this paper. Firstly, the IMU information, after undergoing deviation correction, is utilized to remove point cloud distortion and serve as the initial value for point cloud registration. Subsequently, a registration algorithm based on Normal Distribution Transform (NDT) and sliding window is presented to ensure real-time positioning and accuracy. Then, an error function combining IMU and LIDAR is formulated using a factor graph, which iteratively optimizes position, attitude, and IMU deviation. Finally, loop closure detection based on Scan Context is introduced, and loop closure factors are incorporated into the factor graph to achieve effective mapping. An experimental platform is established to conduct accuracy and robustness comparison experiments. Results showed that the proposed algorithm significantly outperforms the LOAM algorithm, the NDT-based SLAM algorithm and the LeGO-LOAM algorithm in terms of positioning accuracy, with a reduction of 65.08%, 22.81%, and 37.14% in root mean square error, respectively. Moreover, the proposed algorithm exhibits superior robustness compared to LOAM, NDT-based SLAM and LeGO-LOAM.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"36 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139778357","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

A tightly-coupled LIDAR-IMU SLAM method for quadruped robots 用于四足机器人的激光雷达-IMU SLAM 紧密耦合方法

Measurement and Control Pub Date : 2024-02-14 DOI: 10.1177/00202940231224593

Zhifeng Zhou, Chunyan Zhang, Chenchen Li, Yi Zhang, Yun Shi, Wei Zhang

{"title":"A tightly-coupled LIDAR-IMU SLAM method for quadruped robots","authors":"Zhifeng Zhou, Chunyan Zhang, Chenchen Li, Yi Zhang, Yun Shi, Wei Zhang","doi":"10.1177/00202940231224593","DOIUrl":"https://doi.org/10.1177/00202940231224593","url":null,"abstract":"Aiming to address the issue of mapping failure resulting from unsmooth motion during SLAM (Simultaneous Localization and Mapping) performed by a quadruped robot, a tightly coupled SLAM algorithm that integrates LIDAR and IMU sensors is proposed in this paper. Firstly, the IMU information, after undergoing deviation correction, is utilized to remove point cloud distortion and serve as the initial value for point cloud registration. Subsequently, a registration algorithm based on Normal Distribution Transform (NDT) and sliding window is presented to ensure real-time positioning and accuracy. Then, an error function combining IMU and LIDAR is formulated using a factor graph, which iteratively optimizes position, attitude, and IMU deviation. Finally, loop closure detection based on Scan Context is introduced, and loop closure factors are incorporated into the factor graph to achieve effective mapping. An experimental platform is established to conduct accuracy and robustness comparison experiments. Results showed that the proposed algorithm significantly outperforms the LOAM algorithm, the NDT-based SLAM algorithm and the LeGO-LOAM algorithm in terms of positioning accuracy, with a reduction of 65.08%, 22.81%, and 37.14% in root mean square error, respectively. Moreover, the proposed algorithm exhibits superior robustness compared to LOAM, NDT-based SLAM and LeGO-LOAM.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"20 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139838243","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

Precise path planning and trajectory tracking based on improved A-star algorithm 基于改进型 A-star 算法的精确路径规划和轨迹跟踪

Measurement and Control Pub Date : 2024-02-14 DOI: 10.1177/00202940241228725

Boyang Xu

{"title":"Precise path planning and trajectory tracking based on improved A-star algorithm","authors":"Boyang Xu","doi":"10.1177/00202940241228725","DOIUrl":"https://doi.org/10.1177/00202940241228725","url":null,"abstract":"Path planning and trajectory tracking are very meaningful for the field of autonomous driving, but currently path planning still has problems such as non-optimal paths and insufficiently accurate paths. This paper addresses the issue of path planning by proposing a improved A-star algorithm and locally zooming on the map technique to achieve precise path planning. Compared with the conventional method, this method reduces the time by 23% and the path length by 21% in the scenarios shown in the paper, respectively, and provides a reference for related research. Moreover, trajectory tracking was achieved using the improved LQR control. Compared with the conventional method, the improved LQR control algorithm reduces the average error by 80% in the scenario shown in the paper. Firstly, the A-star algorithm is enhanced by incorporating an unknown path cost estimation function, thereby improving the effect of its path planning in complex environments. Additionally, the method of locally zooming on the map is incorporated, effectively enhancing the accuracy and safety of path planning. Building upon the path planning, further improvements are made to the LQR control algorithm, enabling autonomous deceleration in complex sections, which facilitates better trajectory tracking and enhances the motion control performance of the robot during practical operations.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"541 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139839139","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

Research on anti-swing control strategies for three-dimensional overhead cranes with non-stationary enhanced swing angle suppression 非稳态增强摆角抑制的三维桥式起重机防摆控制策略研究

Measurement and Control Pub Date : 2024-02-13 DOI: 10.1177/00202940241228450

Dong Li, Tianhu Xie, Lu Zhang

{"title":"Research on anti-swing control strategies for three-dimensional overhead cranes with non-stationary enhanced swing angle suppression","authors":"Dong Li, Tianhu Xie, Lu Zhang","doi":"10.1177/00202940241228450","DOIUrl":"https://doi.org/10.1177/00202940241228450","url":null,"abstract":"In this paper, a non-stationary enhanced swing angle suppression control strategy is proposed to address the issue of excessive swinging angles during the transportation process of a three-dimensional overhead crane. Firstly, in response to the substantial non-stationary initial swing angle resulting from the abrupt increase in driving force during the startup of the overhead crane, we have devised a time-varying damping resistance model. This model is specifically designed to curtail the rapid force surge, subsequently diminishing the swing angle of the payload. Secondly, during the transport phase of the overhead crane, we have established an augmented coupling signal between the displacement tracking error and the payload swing angle tracking error. Drawing upon the principles of energy dissipation, we have devised a nonlinear sway controller. Next, the closed-loop stability of the control system is validated through the use of Lyapunov’s method and the LaSalle invariance principle. Finally, the proposed control strategy’s effectiveness has been substantiated through simulation analysis and physical experiments. This approach not only proves capable of effectively suppressing excessive payload swing angles during the transportation process of the overhead crane but also facilitates the rapid and precise positioning of the payload. This significantly enhances the efficiency of the overhead crane’s transport operations.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"95 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139781262","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

Active and reactive power vector control using neural-synergetic-super twisting controllers of induction generators for variable-speed contra-rotating wind turbine systems 利用神经-协同-超级扭转控制器对变速反转风力涡轮机系统的感应发电机进行有功和无功功率矢量控制

Measurement and Control Pub Date : 2024-02-13 DOI: 10.1177/00202940231224386

H. Benbouhenni, L. Ionescu, A. Mazare, Dalal Zellouma, I. Colak, N. Bizon

{"title":"Active and reactive power vector control using neural-synergetic-super twisting controllers of induction generators for variable-speed contra-rotating wind turbine systems","authors":"H. Benbouhenni, L. Ionescu, A. Mazare, Dalal Zellouma, I. Colak, N. Bizon","doi":"10.1177/00202940231224386","DOIUrl":"https://doi.org/10.1177/00202940231224386","url":null,"abstract":"Reactive and active power vector control of induction generators (IG) are essential requirements for generating high-quality electricity from wind power. These control objectives are challenging and difficult to achieve when using traditional strategies based on estimating reactive/active power, hysteresis comparators, and proportional-integral (PI) regulators due to load variations, changes in the value of rotor resistance, etc. So, to achieve these control objectives, this paper proposes a novel technique for the rotor side converter of IG-based contra-rotating wind power (CRWP) systems. The control based on the neural synergetic-super-twisting controller (NSSTC) is designed to minimize IG power ripples and improve the quality of current. The characteristics of the NSSTC-based strategy are presented, evaluated, and compared to the traditional direct field-oriented command (DFOC) based on traditional PI controllers and other reference techniques from the literature, highlighting that the NSSTC-based strategy is simpler to apply and more robust and performant than others classical nonlinear strategies. Comparative simulations are carried out on both the designed DFOC-NSSTC strategy and the DFOC technique to demonstrate the performance (good quality output power, low total harmonic distortion (THD) value of rotor currents, short response time and high robustness) and advantages of the suggested nonlinear technique.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"144 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139840812","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

Underactuated unmanned surface vehicles formation of obstacle avoidance and assembly: A disturbed fluid-based solution 欠驱动无人水面飞行器的避障和装配编队：基于扰动流体的解决方案

Measurement and Control Pub Date : 2024-02-13 DOI: 10.1177/00202940241226854

Yiping Liu, Jianqiang Zhang, B. Sui, Yuanyuan Zhang

{"title":"Underactuated unmanned surface vehicles formation of obstacle avoidance and assembly: A disturbed fluid-based solution","authors":"Yiping Liu, Jianqiang Zhang, B. Sui, Yuanyuan Zhang","doi":"10.1177/00202940241226854","DOIUrl":"https://doi.org/10.1177/00202940241226854","url":null,"abstract":"Unmanned surface vehicles (USVs) are highly manoeuvrable and autonomous, and hold significant potential for both military and civilian applications, particularly in formation operations. However, because of their underactuated nature, USVs struggle to navigate in complex maritime conditions during formation. At present, most of the technology is devoted to Unmanned Areial Vehicles and ground robots; these methods cannot be well applied to underactuated USVs. Moreover, the rationality of local path planning decision-making for underactuated USVs formation is still lacking. This study proposes an interfered fluid dynamic system (IFDS)-based local path planning method, called USV-IFDS, specifically designed for the formation of underactuated USVs. This method incorporates the IFDS obstacle avoidance approach, while adapting it through modifications and the inclusion of the kinematic constraints of USVs, thereby enhancing its applicability to the maritime environment. By decomposing the flow field velocity vector and implementing a formation control strategy, we effectively address the challenges in forming underactuated USVs and enhance the efficiency of USV formation local path planning. The proposed formation technique is predicated on the highly robust virtual structure method. Simulations of formation local path planning indicate that our method produces smooth paths, therefore validating its practical applicability to underactuated USV formations.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"226 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139841844","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

Speed control of sensorless PMSM drive based on EKF optimized by variable scale chaotic particle swarm optimization 基于变尺度混沌粒子群优化 EKF 的无传感器 PMSM 驱动器速度控制

Measurement and Control Pub Date : 2024-02-13 DOI: 10.1177/00202940231224220

Qiang Zhao, Zihan Zhao, Zhao Yang, Wei Liu

引用次数: 0

Research on anti-swing control strategies for three-dimensional overhead cranes with non-stationary enhanced swing angle suppression 非稳态增强摆角抑制的三维桥式起重机防摆控制策略研究

Measurement and Control Pub Date : 2024-02-13 DOI: 10.1177/00202940241228450

Dong Li, Tianhu Xie, Lu Zhang

{"title":"Research on anti-swing control strategies for three-dimensional overhead cranes with non-stationary enhanced swing angle suppression","authors":"Dong Li, Tianhu Xie, Lu Zhang","doi":"10.1177/00202940241228450","DOIUrl":"https://doi.org/10.1177/00202940241228450","url":null,"abstract":"In this paper, a non-stationary enhanced swing angle suppression control strategy is proposed to address the issue of excessive swinging angles during the transportation process of a three-dimensional overhead crane. Firstly, in response to the substantial non-stationary initial swing angle resulting from the abrupt increase in driving force during the startup of the overhead crane, we have devised a time-varying damping resistance model. This model is specifically designed to curtail the rapid force surge, subsequently diminishing the swing angle of the payload. Secondly, during the transport phase of the overhead crane, we have established an augmented coupling signal between the displacement tracking error and the payload swing angle tracking error. Drawing upon the principles of energy dissipation, we have devised a nonlinear sway controller. Next, the closed-loop stability of the control system is validated through the use of Lyapunov’s method and the LaSalle invariance principle. Finally, the proposed control strategy’s effectiveness has been substantiated through simulation analysis and physical experiments. This approach not only proves capable of effectively suppressing excessive payload swing angles during the transportation process of the overhead crane but also facilitates the rapid and precise positioning of the payload. This significantly enhances the efficiency of the overhead crane’s transport operations.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"65 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139841357","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

Inspection of intermodular connection locations for multistory modular buildings 检查多层模块化建筑的模块间连接位置

Measurement and Control Pub Date : 2024-02-13 DOI: 10.1177/00202940231224773

Jae Sang Moon, Wonseok Seo, Hyeunguk Ahn, Jinyoung Kim

{"title":"Inspection of intermodular connection locations for multistory modular buildings","authors":"Jae Sang Moon, Wonseok Seo, Hyeunguk Ahn, Jinyoung Kim","doi":"10.1177/00202940231224773","DOIUrl":"https://doi.org/10.1177/00202940231224773","url":null,"abstract":"Modular construction is a method of construction that involves prefabricating modular indoor spaces in a factory and then assembling them at the construction site. However, dimensional errors made during production in the modular manufacturing factory may hinder assembly at the construction site and delay the entire construction process. In particular, as the quality of intermodular connections determines the structural performance and serviceability of the entire modular building, meticulous quality control is required for the connections. In this study, a method is developed for inspection of the intermodular connection locations to meet the requirements of being accurate, inexpensive, easy-to-use, rapid, and operable by a single person, and then tested in a modular factory. The proposed inspection method consists of three parts: (a) a laser meter mounted on a gimbal, (b) target reflectors based on the tumbling doll principle, and (c) a mobile device as a remote control and for data storage, data post-processing, and visualization of results. The proposed inspection process was tested on a modular unit that had been manufactured at a modular factory; the proposed method outperformed the conventional method in terms of accuracy, inspection time, and work safety. The proposed inspection method allows the accurate and rapid inspection of locations of intermodular connection holes and, thus, its use in modular factories is likely to improve the economics and efficiency of modular construction.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"62 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139841708","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

Inspection of intermodular connection locations for multistory modular buildings 检查多层模块化建筑的模块间连接位置

Measurement and Control Pub Date : 2024-02-13 DOI: 10.1177/00202940231224773

Jae Sang Moon, Wonseok Seo, Hyeunguk Ahn, Jinyoung Kim

{"title":"Inspection of intermodular connection locations for multistory modular buildings","authors":"Jae Sang Moon, Wonseok Seo, Hyeunguk Ahn, Jinyoung Kim","doi":"10.1177/00202940231224773","DOIUrl":"https://doi.org/10.1177/00202940231224773","url":null,"abstract":"Modular construction is a method of construction that involves prefabricating modular indoor spaces in a factory and then assembling them at the construction site. However, dimensional errors made during production in the modular manufacturing factory may hinder assembly at the construction site and delay the entire construction process. In particular, as the quality of intermodular connections determines the structural performance and serviceability of the entire modular building, meticulous quality control is required for the connections. In this study, a method is developed for inspection of the intermodular connection locations to meet the requirements of being accurate, inexpensive, easy-to-use, rapid, and operable by a single person, and then tested in a modular factory. The proposed inspection method consists of three parts: (a) a laser meter mounted on a gimbal, (b) target reflectors based on the tumbling doll principle, and (c) a mobile device as a remote control and for data storage, data post-processing, and visualization of results. The proposed inspection process was tested on a modular unit that had been manufactured at a modular factory; the proposed method outperformed the conventional method in terms of accuracy, inspection time, and work safety. The proposed inspection method allows the accurate and rapid inspection of locations of intermodular connection holes and, thus, its use in modular factories is likely to improve the economics and efficiency of modular construction.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"3 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139781919","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