In this letter, a novel model is proposed for modeling the nonlinearity and memory effects of power amplifiers. The classical Volterra model is modified through a function of the sum of nonlinearity order with sum of ...In this letter, a novel model is proposed for modeling the nonlinearity and memory effects of power amplifiers. The classical Volterra model is modified through a function of the sum of nonlinearity order with sum of memory length. The parameters of this model can be extracted in digital domain since the model is analyzed based on the envelope signals. The model we proposed enables a substantial reduction in the number of coefficients involved, and with excellent accuracy.展开更多
Selecting the optimal speed for dynamic obstacle avoidance in complex man–machine environments is a challenging problem for mobile robots inspecting hazardous gases.Consideration of personal space is important,especi...Selecting the optimal speed for dynamic obstacle avoidance in complex man–machine environments is a challenging problem for mobile robots inspecting hazardous gases.Consideration of personal space is important,especially in a relatively narrow man–machine dynamic environments such as warehouses and laboratories.In this study,human and robot behaviors in man–machine environments are analyzed,and a man–machine social force model is established to study the robot obstacle avoidance speed.Four typical man–machine behavior patterns are investigated to design the robot behavior strategy.Based on the social force model and man–machine behavior patterns,the fuzzy-PID trajectory tracking control method and the autonomous obstacle avoidance behavior strategy of the mobile robot in inspecting hazardous gases in a relatively narrow man–machine dynamic environment are proposed to determine the optimal robot speed for obstacle avoidance.The simulation analysis results show that compared with the traditional PID control method,the proposed controller has a position error of less than 0.098 m,an angle error of less than 0.088 rad,a smaller steady-state error,and a shorter convergence time.The crossing and encountering pattern experiment results show that the proposed behavior strategy ensures that the robot maintains a safe distance from humans while performing trajectory tracking.This research proposes a combination autonomous behavior strategy for mobile robots inspecting hazardous gases,ensuring that the robot maintains the optimal speed to achieve dynamic obstacle avoidance,reducing human anxiety and increasing comfort in a relatively narrow man–machine environment.展开更多
文摘In this letter, a novel model is proposed for modeling the nonlinearity and memory effects of power amplifiers. The classical Volterra model is modified through a function of the sum of nonlinearity order with sum of memory length. The parameters of this model can be extracted in digital domain since the model is analyzed based on the envelope signals. The model we proposed enables a substantial reduction in the number of coefficients involved, and with excellent accuracy.
基金Research and Development Program of Xi’an Modern Chemistry Research Institute of Chnia(Grant No.204J201916234/6)Key Project of Liuzhou Science and Technology Bureau of China(Grant No.2020PAAA0601).
文摘Selecting the optimal speed for dynamic obstacle avoidance in complex man–machine environments is a challenging problem for mobile robots inspecting hazardous gases.Consideration of personal space is important,especially in a relatively narrow man–machine dynamic environments such as warehouses and laboratories.In this study,human and robot behaviors in man–machine environments are analyzed,and a man–machine social force model is established to study the robot obstacle avoidance speed.Four typical man–machine behavior patterns are investigated to design the robot behavior strategy.Based on the social force model and man–machine behavior patterns,the fuzzy-PID trajectory tracking control method and the autonomous obstacle avoidance behavior strategy of the mobile robot in inspecting hazardous gases in a relatively narrow man–machine dynamic environment are proposed to determine the optimal robot speed for obstacle avoidance.The simulation analysis results show that compared with the traditional PID control method,the proposed controller has a position error of less than 0.098 m,an angle error of less than 0.088 rad,a smaller steady-state error,and a shorter convergence time.The crossing and encountering pattern experiment results show that the proposed behavior strategy ensures that the robot maintains a safe distance from humans while performing trajectory tracking.This research proposes a combination autonomous behavior strategy for mobile robots inspecting hazardous gases,ensuring that the robot maintains the optimal speed to achieve dynamic obstacle avoidance,reducing human anxiety and increasing comfort in a relatively narrow man–machine environment.
基金sponsored by “National Science Foundation of China(51578558,51208095)”“Open Research Fund of National Engineering Research Center on Diagnosis and Rehabilitation of Industrial Building(YZA2018Ky02) ”
