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基于增益调度控制和高保真飞机模型的实时四维轨迹生成 Article
Olusayo Obajemu, Mahdi Mahfouf, Lohithaksha M. Maiyar, Abrar Al-Hindi, Michal Weiszer, Jun Chen
《工程(英文)》 2021年 第7卷 第4期 页码 495-506 doi: 10.1016/j.eng.2021.01.009
Aircraft ground movement plays a key role in improving airport efficiency, as it acts as a link to all other ground operations. Finding novel approaches to coordinate the movements of a fleet of aircraft at an airport in order to improve system resilience to disruptions with increasing autonomy is at the center of many key studies for airport airside operations. Moreover, autonomous taxiing is envisioned as a key component in future digitalized airports. However, state-of-the-art routing and scheduling algorithms for airport ground movements do not consider high-fidelity aircraft models at both the proactive and reactive planning phases. The majority of such algorithms do not actively seek to optimize fuel efficiency and reduce harmful greenhouse gas emissions. This paper proposes a new approach for generating efficient four-dimensional trajectories (4DTs) on the basis of a high-fidelity aircraft model and gainscheduling control strategy. Working in conjunction with a routing and scheduling algorithm that determines the taxi route, waypoints, and time deadlines, the proposed approach generates fuel-efficient 4DTs in real time, while respecting operational constraints. The proposed approach can be used in two contexts: ① as a reactive decision support tool to generate new trajectories that can resolve unprecedented events; and ② as an autopilot system for both partial and fully autonomous taxiing. The proposed methodology is realistic and simple to implement. Moreover, simulation studies show that the proposed approach is capable of providing an up to 11% reduction in the fuel consumed during the taxiing of a large Boeing 747 jumbo jet.
关键词: Aircraft model Intelligent taxiing Optimization Four-dimensional trajectory
毛河光, Craig M. Schiffries
《工程(英文)》 2019年 第5卷 第3期 页码 393-394 doi: 10.1016/j.eng.2019.05.003
Output tracking control of mobile manipulators based on dynamical sliding-mode control
WUYuxiang, FENG Ying, HU Yueming
《机械工程前沿(英文)》 2007年 第2卷 第1期 页码 110-115 doi: 10.1007/s11465-007-0019-5
关键词: lower-dimensional nonlinear trajectory tracking diffeomorphism
Multiobjective trajectory optimization of intelligent electro-hydraulic shovel
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0706-2
关键词: trajectory planning electro-hydraulic shovel cubic polynomial S-curve multiobjective optimization entropy weight technique
Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework
《结构与土木工程前沿(英文)》 页码 994-1010 doi: 10.1007/s11709-023-0942-5
关键词: dynamic prediction moving trajectory pipe jacking GRU deep learning
Landing control method of a lightweight four-legged landing and walking robot
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0707-1
关键词: landing and walking robot lunar exploration buffer landing compliance control
Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,
《工程(英文)》 doi: 10.1016/j.eng.2023.07.018
关键词: Obstacle avoidance trajectory planning Inverse reinforcement theory Anthropomorphic Adaptive driving scenarios
Robust train speed trajectory optimization: A stochastic constrained shortest path approach
Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG
《工程管理前沿(英文)》 2017年 第4卷 第4期 页码 408-417 doi: 10.15302/J-FEM-2017042
关键词: train speed trajectory optimization railway operation stochastic programming
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0686-2
关键词: autonomous excavation unmanned electric shovel point cloud excavation trajectory planning
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 504-527 doi: 10.1007/s11465-020-0626-y
关键词: mobile robot multiple maneuvering mode motion planning tracking control receding horizon control
Pollution of NPEOs in four municipal sewage treatment plants in the north of China
HOU Shaogang, SUN Hongwen
《环境科学与工程前沿(英文)》 2007年 第1卷 第2期 页码 196-201 doi: 10.1007/s11783-007-0034-0
Nonlinear dynamics and analysis of a four-bar linkage with clearance
Yuanguang TANG, Zongyu CHANG, Xiaogang DONG, Yafei HU, Zhenjiang YU
《机械工程前沿(英文)》 2013年 第8卷 第2期 页码 160-168 doi: 10.1007/s11465-013-0258-6
In this paper, nonlinear dynamic behavior of a four-bar linkage considering clearance is studied. The dynamic model of the linkage with a clearance between coupler and rocker is developed firstly. Then the dynamic equations of this mechanism are solved by a numerical method. According to the calculated response, compliance, force and trajectory of pin in joint bearing are obtained. Effects of clearance magnitude and the relationship between a mechanism with clearance and without clearance are studied. By using Poincare Map, it is proved that strange attractors or chaos exist in the dynamic response. In addition, phenomena of chaos, periodic response and subharmonic response also can be found in the special condition. Bifurcation diagram is used to suggest that bifurcation and fractal phenomena exist in the dynamic response of this mechanism.
关键词: four-bar linkage chaos bifurcation strange attractors dynamics
General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action
Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,
《工程(英文)》 doi: 10.1016/j.eng.2023.10.001
关键词: Autonomous vehicle Trajectory planning Multi-performance objectives Principle of least action
《机械工程前沿(英文)》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0753-3
关键词: four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance
Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking
Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA
《信息与电子工程前沿(英文)》 2015年 第16卷 第2期 页码 166-172 doi: 10.1631/FITEE.1400183
关键词: Robot modeling Robot navigation Slip and skid control Wheeled mobile robots
标题 作者 时间 类型 操作
基于增益调度控制和高保真飞机模型的实时四维轨迹生成
Olusayo Obajemu, Mahdi Mahfouf, Lohithaksha M. Maiyar, Abrar Al-Hindi, Michal Weiszer, Jun Chen
期刊论文
Output tracking control of mobile manipulators based on dynamical sliding-mode control
WUYuxiang, FENG Ying, HU Yueming
期刊论文
Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based
Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,
期刊论文
Robust train speed trajectory optimization: A stochastic constrained shortest path approach
Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG
期刊论文
autonomous mining: design and development of an unmanned electric shovel via point cloud-based optimal trajectory
期刊论文
Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
期刊论文
Pollution of NPEOs in four municipal sewage treatment plants in the north of China
HOU Shaogang, SUN Hongwen
期刊论文
Nonlinear dynamics and analysis of a four-bar linkage with clearance
Yuanguang TANG, Zongyu CHANG, Xiaogang DONG, Yafei HU, Zhenjiang YU
期刊论文
General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action
Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,
期刊论文
Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties
期刊论文