In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
We present a computer-modeling framework for photovoltaic(PV)source emulation that preserves the exact single-diode physics while enabling iteration-free,real-time evaluation.We derive two closed-form explicit solvers...We present a computer-modeling framework for photovoltaic(PV)source emulation that preserves the exact single-diode physics while enabling iteration-free,real-time evaluation.We derive two closed-form explicit solvers based on the Lambert W function:a voltage-driven V-Lambert solver for high-fidelity I–V computation and a resistance-driven R-Lambert solver designed for seamless integration in a closed-loop PV emulator.Unlike Taylor-linearized explicit models,our proposed formulation retains the exponential nonlinearity of the PV equations.It employs a numerically stable analytical evaluation that eliminates the need for lookup tables and root-finding,all while maintaining limited computational costs and a small memory footprint.The R-Lambert model is integrated into a buck-converter emulator equipped with a discrete PI regulator,which generates current references directly from sensed operating points,thus supporting hardware-constrained implementation.Comprehensive numerical experiments conducted on six commercial modules from various technologies(mono,poly,and multicrystalline)demonstrate significant accuracy improvements under the IEC EN 50530 near-MPP criterion:the V-Lambert solver reduces the±10%Vmpp band error by up to 61 times compared to an explicit-model baseline.Dynamic simulations under varying irradiance,temperature,and load conditions achieve millisecond-scale settling with accurate trajectory tracking.Additionally,processor-in-the-loop experimental validation on an embedded microcontroller supports the simulation results.By unifying exact analytical modeling with embedded realization,this work advances computer modeling for PV emulation,MPPT benchmarking,and controller verification in integrated renewable energy systems.展开更多
Implicit and explicit analyses were examined with experimental work done by Razaqpur et al. In the experiment work, two 1000 × 1000 × 70 mm reinforced concrete slabs were constructed. The slabs were subjecte...Implicit and explicit analyses were examined with experimental work done by Razaqpur et al. In the experiment work, two 1000 × 1000 × 70 mm reinforced concrete slabs were constructed. The slabs were subjected to blast loads generated by the detonation of either 22.4 kg or 33.4 kg of ANFO located at a 3.0 m standoff. Blast wave characteristics, including incident and reflected pressures and reflected impulses were measured. The slabs were modeled by implicit and explicit analysis to study their behavior under blast load to compare their predicted and observed behavior. The post-blast damage and mode of failure of each slab were observed. It was concluded that explicit analysis provides better modeling than implicit analysis.展开更多
Earth-to-Moon missions with low thrust-to-weight ratios present unique challenges for exoatmospheric guidance,and the existing algorithms are ineffective for the unprecedentedly long burn arcs and high orbital eccentr...Earth-to-Moon missions with low thrust-to-weight ratios present unique challenges for exoatmospheric guidance,and the existing algorithms are ineffective for the unprecedentedly long burn arcs and high orbital eccentricities.To address these challenges,a Long Burn Arc Powered Explicit Guidance(LBA-PEG)algorithm is developed and compared with the existing algorithms.In the proposed LBA-PEG algorithm,a fully numerical thrust prediction method is developed to accurately predict the highly nonlinear thrust effects over long burn arcs.Moreover,a real-time Newton correction method is proposed to correct the orbit injection point,remedying the position-velocity coupling induced by high orbital eccentricities.The comparison between the proposed algorithm and the existing algorithm shows that the proposed algorithm surpasses the existing ones by significantly enhancing fuel efficiency and improving tolerance to thrust decrease.The proposed LBA-PEG algorithm can adapt to a 65%thrust decrease,which is 12%–22%larger than that of the existing algorithms,and it can still reliably converge and complete the guidance mission even when the length of the burn arc exceeds 90°.The proposed LBA-PEG highlights the algorithm's adaptability for long burn arc missions,especially in critical scenarios such as manned Earth-to-Moon missions.展开更多
This paper presents an explicit formula based on reparameterization technique for progressively computing a simple root of a smooth function,which may have wide applications in robotics,geomagnetic navigation,geometri...This paper presents an explicit formula based on reparameterization technique for progressively computing a simple root of a smooth function,which may have wide applications in robotics,geomagnetic navigation,geometric processing and computer graphics.Comparing with Newton-like method,it can achieve convergence rate 2 by adding one more functional evaluation,improve the computational stability and ensure the convergence,and also obtain higher convergence rate and higher efficiency index.Compared with clipping methods for polynomials,it doesn't need to bound the polynomials,directly bound the roots and can also work well for non-polynomial functions with much higher computational efficiency.Comparing with previous progressive methods,it achieves a much higher computational efficiency and is extended to solve bivariate equation system.Numerical examples show its much better performance on approximation error,computational efficiency and computational stability.展开更多
The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communica...The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communication delay is usually ignored,so the path following performance of the AEV cannot be ensured.This article studies the observer-based path following control strategy for the AEV with the communication delay via a robust explicit model predictive control approach.Firstly,a projected interval unscented Kalman filter is proposed to observe the vehicle sideslip angle and yaw rate.The observer considers the state constraints during the observation process,and the robustness of the observer is also considered.Secondly,an explicit model predictive control is designed to reduce the computational complexity.Thirdly,considering the efficiency of the information transmission,the influence of the communication delay is considered when designing the observer-based path following control strategy.Finally,the numerical simulation and the hardware-in-the-loop test are conducted to examine the effectiveness and practicability of the proposed strategy.展开更多
Although currently,a large part of the existing buildings is considered inefficient in terms of energy,the ability to save energy consumption up to 80%has been proven in residential and commercial buildings.Also,carbo...Although currently,a large part of the existing buildings is considered inefficient in terms of energy,the ability to save energy consumption up to 80%has been proven in residential and commercial buildings.Also,carbon dioxide is one of the most important greenhouse gases contributing to climate change and is responsible for 60%of global warming.The facade of the building,as the main intermediary between the interior and exterior spaces,plays a significant role in adjusting the weather conditions and providing thermal comfort to the residents.In this research,715 different scenarios were defined with the combination of various types of construction materials,and the effect of each of these scenarios on the process of energy loss from the surface of the external walls of the building during the operation period was determined.In the end,these scenarios were compared during a one-year operation period,and the amount of energy consumption in each of these scenarios was calculated.Also,bymeasuring the amount of carbon emissions in buildings during the operation period and before that,let’s look at practical methods to reduce the effects of the construction industry on the environment.By comparing the research findings,it can be seen that the ranking of each scenario in terms of total energy consumption is not necessarily the same as the ranking of energy consumption for gas consumption or electricity consumption for the same scenario.That is,choosing the optimal scenario depends on the type of energy consumed in the building.Finally,we determined the scenarios with the lowest and highest amounts of embodied and operational carbon.In the end,we obtained the latent carbon compensation period for each scenario.This article can help designers and construction engineers optimize the energy consumption of buildings by deciding on the right materials.展开更多
This year summarizes the experience of industrialization of vacuum glazing in the past twenty years.A series of technical difficulties have been solved to start the first global mass production of high-quality vacuum ...This year summarizes the experience of industrialization of vacuum glazing in the past twenty years.A series of technical difficulties have been solved to start the first global mass production of high-quality vacuum glass.High quality means high performance and long life which are interrelated.A mass production line must be able to achieve these two requirements if it is to produce vacuum glazing products that can be accepted by the society.With a U-value of 0.4 W/m²·K based on Low-E(low emissivity)with an emissivity of 0.03 the door is wide open for further solutions.Time,gradually to improve costs,maximizes output and develops innovative solutions of advanced window and façade systems combining complete new features like smart glasses,intelligent lamella systems in hybrid VG-IG solutions changing the building world towards“Energy plus Houses”.Market demand will rapidly increase with completely new options.Cost saving means to balance additional advantages for savings against system costs of window or façade elements.Due to promotion of energy saving and emission reduction,both,subjective and objective conditions for industrialization of vacuum glasses are perfect;the building world is waiting for it,since long.There is a lot to investigate and to gain for business success.展开更多
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
基金funded by Scientific Research Deanship at University of Ha’il-Saudi Arabia through project number(RG-24014).
文摘We present a computer-modeling framework for photovoltaic(PV)source emulation that preserves the exact single-diode physics while enabling iteration-free,real-time evaluation.We derive two closed-form explicit solvers based on the Lambert W function:a voltage-driven V-Lambert solver for high-fidelity I–V computation and a resistance-driven R-Lambert solver designed for seamless integration in a closed-loop PV emulator.Unlike Taylor-linearized explicit models,our proposed formulation retains the exponential nonlinearity of the PV equations.It employs a numerically stable analytical evaluation that eliminates the need for lookup tables and root-finding,all while maintaining limited computational costs and a small memory footprint.The R-Lambert model is integrated into a buck-converter emulator equipped with a discrete PI regulator,which generates current references directly from sensed operating points,thus supporting hardware-constrained implementation.Comprehensive numerical experiments conducted on six commercial modules from various technologies(mono,poly,and multicrystalline)demonstrate significant accuracy improvements under the IEC EN 50530 near-MPP criterion:the V-Lambert solver reduces the±10%Vmpp band error by up to 61 times compared to an explicit-model baseline.Dynamic simulations under varying irradiance,temperature,and load conditions achieve millisecond-scale settling with accurate trajectory tracking.Additionally,processor-in-the-loop experimental validation on an embedded microcontroller supports the simulation results.By unifying exact analytical modeling with embedded realization,this work advances computer modeling for PV emulation,MPPT benchmarking,and controller verification in integrated renewable energy systems.
文摘Implicit and explicit analyses were examined with experimental work done by Razaqpur et al. In the experiment work, two 1000 × 1000 × 70 mm reinforced concrete slabs were constructed. The slabs were subjected to blast loads generated by the detonation of either 22.4 kg or 33.4 kg of ANFO located at a 3.0 m standoff. Blast wave characteristics, including incident and reflected pressures and reflected impulses were measured. The slabs were modeled by implicit and explicit analysis to study their behavior under blast load to compare their predicted and observed behavior. The post-blast damage and mode of failure of each slab were observed. It was concluded that explicit analysis provides better modeling than implicit analysis.
文摘Earth-to-Moon missions with low thrust-to-weight ratios present unique challenges for exoatmospheric guidance,and the existing algorithms are ineffective for the unprecedentedly long burn arcs and high orbital eccentricities.To address these challenges,a Long Burn Arc Powered Explicit Guidance(LBA-PEG)algorithm is developed and compared with the existing algorithms.In the proposed LBA-PEG algorithm,a fully numerical thrust prediction method is developed to accurately predict the highly nonlinear thrust effects over long burn arcs.Moreover,a real-time Newton correction method is proposed to correct the orbit injection point,remedying the position-velocity coupling induced by high orbital eccentricities.The comparison between the proposed algorithm and the existing algorithm shows that the proposed algorithm surpasses the existing ones by significantly enhancing fuel efficiency and improving tolerance to thrust decrease.The proposed LBA-PEG algorithm can adapt to a 65%thrust decrease,which is 12%–22%larger than that of the existing algorithms,and it can still reliably converge and complete the guidance mission even when the length of the burn arc exceeds 90°.The proposed LBA-PEG highlights the algorithm's adaptability for long burn arc missions,especially in critical scenarios such as manned Earth-to-Moon missions.
基金Supported by the National Natural Science Foundation of China (61972120)。
文摘This paper presents an explicit formula based on reparameterization technique for progressively computing a simple root of a smooth function,which may have wide applications in robotics,geomagnetic navigation,geometric processing and computer graphics.Comparing with Newton-like method,it can achieve convergence rate 2 by adding one more functional evaluation,improve the computational stability and ensure the convergence,and also obtain higher convergence rate and higher efficiency index.Compared with clipping methods for polynomials,it doesn't need to bound the polynomials,directly bound the roots and can also work well for non-polynomial functions with much higher computational efficiency.Comparing with previous progressive methods,it achieves a much higher computational efficiency and is extended to solve bivariate equation system.Numerical examples show its much better performance on approximation error,computational efficiency and computational stability.
基金Supported by the National Key Research and Development Program of China(Grant No.2023YFE0204700)the National Natural Science Foundation of China(Grant Nos.52472402 and 52302469)+7 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2023A1515012327 and 2024A1515010449)the research grant of the University of Macao(Grant No.MYRG GRG2023-00235-FST-UMDF)Shandong Provincial Natural Science Foundation(Grant No.ZR2023ME133)the Fundamental Research Funds for the Central Universities(Grant No.N2403012)the Science and Technology Development Fund of Macao SAR(Grant No.0091/2023/AMJ)the China Postdoctoral Science Foundation(Grant Nos.2023M740538 and AM2024003)the Zhuhai Science and Technology Innovation Bureau(Grant No.2220004003107)the Yunfu Science and Technology Project(Grant No.2024090202).
文摘The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communication delay is usually ignored,so the path following performance of the AEV cannot be ensured.This article studies the observer-based path following control strategy for the AEV with the communication delay via a robust explicit model predictive control approach.Firstly,a projected interval unscented Kalman filter is proposed to observe the vehicle sideslip angle and yaw rate.The observer considers the state constraints during the observation process,and the robustness of the observer is also considered.Secondly,an explicit model predictive control is designed to reduce the computational complexity.Thirdly,considering the efficiency of the information transmission,the influence of the communication delay is considered when designing the observer-based path following control strategy.Finally,the numerical simulation and the hardware-in-the-loop test are conducted to examine the effectiveness and practicability of the proposed strategy.
文摘Although currently,a large part of the existing buildings is considered inefficient in terms of energy,the ability to save energy consumption up to 80%has been proven in residential and commercial buildings.Also,carbon dioxide is one of the most important greenhouse gases contributing to climate change and is responsible for 60%of global warming.The facade of the building,as the main intermediary between the interior and exterior spaces,plays a significant role in adjusting the weather conditions and providing thermal comfort to the residents.In this research,715 different scenarios were defined with the combination of various types of construction materials,and the effect of each of these scenarios on the process of energy loss from the surface of the external walls of the building during the operation period was determined.In the end,these scenarios were compared during a one-year operation period,and the amount of energy consumption in each of these scenarios was calculated.Also,bymeasuring the amount of carbon emissions in buildings during the operation period and before that,let’s look at practical methods to reduce the effects of the construction industry on the environment.By comparing the research findings,it can be seen that the ranking of each scenario in terms of total energy consumption is not necessarily the same as the ranking of energy consumption for gas consumption or electricity consumption for the same scenario.That is,choosing the optimal scenario depends on the type of energy consumed in the building.Finally,we determined the scenarios with the lowest and highest amounts of embodied and operational carbon.In the end,we obtained the latent carbon compensation period for each scenario.This article can help designers and construction engineers optimize the energy consumption of buildings by deciding on the right materials.
文摘This year summarizes the experience of industrialization of vacuum glazing in the past twenty years.A series of technical difficulties have been solved to start the first global mass production of high-quality vacuum glass.High quality means high performance and long life which are interrelated.A mass production line must be able to achieve these two requirements if it is to produce vacuum glazing products that can be accepted by the society.With a U-value of 0.4 W/m²·K based on Low-E(low emissivity)with an emissivity of 0.03 the door is wide open for further solutions.Time,gradually to improve costs,maximizes output and develops innovative solutions of advanced window and façade systems combining complete new features like smart glasses,intelligent lamella systems in hybrid VG-IG solutions changing the building world towards“Energy plus Houses”.Market demand will rapidly increase with completely new options.Cost saving means to balance additional advantages for savings against system costs of window or façade elements.Due to promotion of energy saving and emission reduction,both,subjective and objective conditions for industrialization of vacuum glasses are perfect;the building world is waiting for it,since long.There is a lot to investigate and to gain for business success.
