RESUMEN
Nonholonomic constrained wheeled mobile robot (WMR) trajectory tracking requires the enhancement of the ground adaptation capability of the WMR while ensuring its attitude tracking accuracy, a novel dual closed-loop control structure is developed to implement this motion/force coordinated control objective in this paper. Firstly, the outer-loop motion controller is presented using Laguerre functions modified model predictive control (LMPC). Optimised solution condition is introduced to reduce the number of LMPC solutions. Secondly, an inner-loop force controller based on adaptive integral sliding mode control (AISMC) is constructed to ensure the desired velocity tracking and output driving torques by combining second-order nonlinear extended state observer (ESO) with the estimation of dynamic uncertainties and external disturbances during WMR travelling process. Then, Lyapunov stability theory is utilised to guarantee the consistent final boundedness of the designed controller. Finally, the system is numerically simulated and practically verified. The results show that the double-closed-loop control strategy devised in this paper has better control performance in terms of complex trajectory tracking accuracy, system resistance to strong interference and computational timeliness, and is able to realise effective coordinated control of WMR motion/force.
RESUMEN
In light of the issue that the vibration signal from an axle-box bearing collected during the operation of an electric multiple unit (EMU) is seriously polluted by background noise, which leads to difficulty in identifying fault characteristic frequency, this paper proposes a resonance-based sparse signal decomposition (RSSD) and variational mode decomposition (VMD) method based on sparrow search algorithm (SSA) optimization to extract the fault characteristic frequency of the bearing. Firstly, the RSSD method is utilized to decompose the signal based on the obtained optimal combination of quality factors, resulting in the optimal low-resonance component with periodic fault information. Then, the VMD method is performed on this low-resonance component. The parameter combinations for both methods are optimized utilizing the SSA method. Subsequently, envelope demodulation is applied to the intrinsic mode function (IMF) with maximum kurtosis, and fault diagnosis is achieved by comparing it with the theoretical fault characteristic frequency. Finally, experimental validation and comparison are conducted by utilizing simulated signals and example signals. The results demonstrate that the proposed method extracts more obvious periodic fault impact components. It effectively filters out the interference of complex noise and reduces the blindness of setting weights on parameters due to human experience, indicating excellent adaptability and robustness.
RESUMEN
This study addresses the ongoing challenge for learning-based methods to achieve accurate object detection in foggy conditions. In response to the scarcity of foggy traffic image datasets, we propose a foggy weather simulation algorithm based on monocular depth estimation. The algorithm involves a multi-step process: a self-supervised monocular depth estimation network generates a relative depth map and then applies dense geometric constraints for scale recovery to derive an absolute depth map. Subsequently, the visibility of the simulated image is defined to generate a transmittance map. The dark channel map is then used to distinguish sky regions and estimate atmospheric light values. Finally, the atmospheric scattering model is used to generate fog simulation images under specified visibility conditions. Experimental results show that more than 90% of fog images have AuthESI values of less than 2, which indicates that their non-structural similarity (NSS) characteristics are very close to those of natural fog. The proposed fog simulation method is able to convert clear images in natural environments, providing a solution to the problem of lack of foggy image datasets and incomplete visibility data.