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This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental...
This paper presents an autonomous docking system based on visual cues on a docking station. Autonomous docking is essential for large scale robotic teams to be delivered by larger robots, recovered, recharged, and redeployed for continuous operation. Using a computer vision based approach, we identify cues to line up for docking by extracting corner pixels and combining this information with color...
This paper deals with the problem of positive observation for linear time-delay systems for which the states take nonnegative values whenever the initial conditions are nonnegative. We focus on the design of positive observers (possibly with time-delay) which guarantee nonnegative estimates of the current states. We derive necessary and sufficient conditions for the existence of a positive observer...
This paper is based on a new philosophy of CNC (Computer Numerical Control), which is named as INC (Integrated Numerical Control or Intelligent Numerical Control). CNCbCAD&CAPP (CNC technology based on CAD&CAPP) is one of the most important key techniques used in INC. First this paper has a brief introduction of INC and describes the important characteristics of INC. Second it introduces and...
Robust design techniques for controlling the velocity of a hydraulic actuator having uncertain parameters due to physical and linearization assumptions, are proposed. In particular, the design requirement of robust asymptotic command following through robust regional stabilizability is studied using an independent from the uncertainties “robust” PID controller. Moreover, the problem of robust asymptotic...
In this paper we study low level motion control of car-like vehicles for applications of UAV swarms. First, a Suboptimal Continuous-Curvature trajectory generation approach is studied to generate suboptimal reference trajectories (‘tracks’) to connect desired way-point sequences. Two Model Predictive Control (MPC) based ‘track following’ control approaches are then proposed to deal with the multiple...
The motivation of this paper is to implement a control algorithm to control the angular position of one axis and the torque on another axis in a harmonic drive system. Obviously, two independently operated actuators on any two axes form an essential part of the setup. One of the motors is coupled through a spring-damper element to the corresponding shaft. The paper summarizes the most important properties...
This paper reports the development and experimental evaluation of a simple and intuitive framework for obtaining steady-state maneuvering characteristics of a wide class of underwater vehicles. The possible use of steady-state characteristics includes navigation, fault-detection and vehicle design evaluation. The presented algorithms allow unknown currents to be included in the identification loop...
In this paper, we present a robust multivariate statistical process control chart using kernel principal component analysis. The proposed control chart is effective in the detection of outliers, and its control limits are derived from the eigenanalysis of the Gaussian kernel matrix in the Hilbert feature space. Our experimental results show the much improved performance of the proposed control chart...
The paper proposes a methodology of using artificial immune networks (aiNets) for a classification problem oriented to cancer outcome prediction on the basis of gene expression profiling. The aiNet is a discrete (iterative) computational model that adopts clonal selection and affinity maturation principles from biological immune systems. The treatment (chemotherapy or stem cell support) of diffuse...
This paper describes the design of a Distributed control system which is composed of four layers. The communications between layers are done by own designed protocol, via a networks and communication systems. Potential requirement include real-time guarantees on behaviors, a more general need for low latencies through the system ability of robots to run autonomously. The distributed system used CORBA...
The nonlinear dynamic behavior of a helicopter is considered in this paper, using only real-time flight data analysis. The main objective of this study is to characterize the vibration mechanism(s), based on the analysis of the time-series data of the dynamical system, specifically acceleration for two different airspeeds with a sampling rate of 1024 Hz. We explore the possibility of the presence...
This paper provides, rigorous results on robust output-feedback simplified adaptive controllers tracking for discrete-time systems with uncertainties. Sufficient conditions for the closed-loop stability and perfect tracking of the proposed simplified adaptive control scheme, given in the paper, lead to almost strictly positive realness requirement on the plant under certain conditions. The numerical...
The idea of covariance control is to construct the state covariance matrix (P) to assign this P to the closed-loop stochastic system. In this paper the main idea is output covariance control based on converting the conventional differential equations governing the temporal behavioral of the covariance matrix into the state space vector equations. We derived the closed-form of the covariance transfer...
The aim of this paper is to present a symbolic computational algorithm that will allow us to deal with the feedback stabilization problem for continuous nonlinear polynomial systems. The overall approach is based on a methodology that checks the positivity of a given polynomial.
Many real-world data sets exhibit skewed class distributions in which almost all cases are allotted to a class and far fewer cases to a smaller, usually more interesting class. A classifier induced from an imbalanced data set has, typically, a low error rate for the majority class and an unacceptable error rate for the minority class. This paper firstly provides a systematic study on the various methodologies...
In this paper we present sufficient conditions on the rate of a packet network to guarantee asymptotic stability of unstable discrete LTV system with linear state feedback control. Two types of Network Control Systems are considered in the absence of communication delays. For one type we consider the case where we have inevitable B matrix and the case where this does not occurred. Examples and simulations...
Electrohydraulic ServoSystem (HESS) have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. So, it is necessary to use a robust nonlinear method to control the velocity of HESS. This paper addresses the analysis and control of an electrohydraulic velocity servosystem in the presence...
In this paper a new approach to fault diagnosis of discrete events systems modeled with Peter nets is presented. Fault events are associated to a subset of unobservable transitions of the net. Negative markings, called generalized marking, are used to estimate the explanations of the observed transitions. The generalized markings allow to cope with the problems related with the explosion of the state...
In this article, a robust PIT controller coupled to a feedforward compensatory is designed for set-point regulation maneuvers of an electrostatic micromechanical system. The system is linearized at multiple operating points, and the feedforward compensatory provides the nominal voltage. Perturbations around these points, are handled from the PID-controller, whose gains are tuned via the utilization...
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