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The focus of this work is the development of a master tactile display unit, that can control a slave gripper and display to the operator the slip/shear developed between the gripper and the held object in the slave unit. Unlike previous slip/shear tactile displays, this unit is designed especially for grasping tasks to deliver large forces that are typical when grasping relatively heavy objects. Two...
This is the first work in its type trying to optimize the set of controls for a state feedback. Controlled Dan/Petri nets+ is a modeling framework based on Place/Transitions Nets used to model a control-logic called multiple and simultaneous control (MSC) which can reduce the size of the set of controls. In this paper we present the subnet structure called ∑ff(q) to model the MSC-logic and an algorithm...
The eye-in-the-sky alternative to collecting real-time temporaUspatial data using small unmanned helicopters is proposed to: monitor traffic, evaluate and assess traffic patterns and provide accurate vehicle counts. Collected real-time visual data are converted to traffic statistical profiles and used as continuously updated inputs to existing traffic simulation models improving calibration, accuracy...
In this paper, achievable performance bounds in the linear control of stable MIMO linear discrete time systems are derived. The cost function to be minimized is the 2 - norm of the tracking error for a vector step reference, under the constraint that the closed loop poles lie in a prescribed region. The computation of the performance limitation requires the factorization of the plant model using interactors,...
Intelligent schedules has gained attention in manufacture environments due to increase competence. In this paper an intelligent adaptive discrete control is applied to a practical milling system in order to minimize process malfunctions. Two hierarchical supervisory levels compose the control: tuning and switching. The continuous unknown milling transfer function is discretized under a set of fractional...
We consider the feasibility of closed-loop control to control the interface shape of cadmium zinc telluride (CZT) grown via an electrodynamic gradient freeze (EDG) furnace. A simple proportional control algorithm is applied to a quasi-steady-state model to control the interface shape by adjusting the thermal gradient of the furnace temperatures. Three scenarios are enacted: actuation along the entire...
In the field of control engineering there are several methods to be adopted for iterative optimization of the controller parameters. The key issue in the optimization procedure is to define a suitable cost criterion which depends on the parameters. However, the metrics typically used in derivation of the cost criterion often require continuous, or at least, discrete measurements with a constant sampling...
The idea of inversion-based direct input reconstruction for robust detection and separation of multiple, possibly simultaneous faults in the presence of external, non-mutually separable disturbances for linear dynamical systems was presented in [1]. In this short paper this concept is pursued further: it is shown how in a specific filtering structure, relying on the inverse representation of the system,...
To date, mobile robots are emerging to target for applications in our life. Most of research focus on autonomous behaviors of mobile robots, instead of considering the determination to make a robot being truly autonomous. To be interested in animal species, e.g ant or bee, an individual has to coordinate with others to keep the society alive. Likewise, as an initial condition, a robot system is truly...
Since the introduction of SOAP protocol in 2000 by W3C, this Internet protocol continues to revolutionize the world of information and communication technology. In the domain of business information system, SOAP has allowed the development of Web services concept, which changes the way software and information system architecture may be designed and built. Service oriented architecture (SOA) is an...
This paper introduces an analytical formulation to describe QFT templates based on Fourier series. This allows to calculate the template contour of plants with a high number of uncertain parameters. The proposed solution consists of performing operations between analytical sub-templates. This saves calculation time and allows to work with an infinite set of plant values.
Over the past three decades, a wide variety of active control methods have been proposed for controlling problematic vibration. The vast majority of approaches make the implicit assumption that sensors can be located in the region where vibration attenuation is required. However, for many large scale structures or where the system environment is harsh, this is either not feasible or prohibitively...
Recent advances in device densities and the requirement for short time-to-market has made FPGA devices very popular for the implementation of general purpose electronic devices. Modern FPGA architectures offer the advantage of partial reconfiguration, which allows an algorithm to be partially mapped into a small and fixed FPGA device that can be reconfigured at run time, as the mapped application...
In this paper, an open-architecture, reconfigurable microassembly workstation for efficient and reliable assembly of micromachined parts is presented. The workstation is designed to be used as a research tool for investigation of the problems in microassembly. The development of such a workstation includes the design of: (i) a manipulation system consisting of motion stages providing necessary travel...
In this paper a quantitative analysis of robotics mapping utilising the fields dominant paradigm, the Occupancy Grid, is presented. The aim of this work is to determine which approach to the robotics mapping problem imbues a mobile robot with the greatest ability to create an accurate representation of its operating environment. We accomplish this by analysing the performance of several established...
In this paper robust control techniques are used and investigated for congestion control problem of time-delayed scalable differentiated Services (diffuser) networks. The robustness capabilities of sliding mode variable structure control (SM-VSC) technique are utilized as a design basis for a new congestion control strategy subject to inaccurate/uncertain network model. The fluid flow model (FF.)...
This paper presents a new routing strategy based on the minimization of the worst-case queuing length. An H∞ optimal control scheme is proposed which can maintain a robust performance of the routing strategy in the presence of multiple and unknown time-varying network delays. First, the routing problem is formulated as an H∞ optimal control problem for a time delayed system. Towards this end, the...
The class of pseudorational transfer functions, roughly speaking, consists of the ratio of entire functions of exponential type that are Laplace transforms of distributions with compact support. This class is known to include all delay-differential systems, and other interesting distributed parameter systems. Characterizing a pair that satisfies the Bezout identity in this ring is an important question...
This paper discusses the use of unsupervised learning and localized modeling to identify nonlinear dynamical systems from empirical data. A finite-order nonlinear autoregressive (AR) model is constructed to capture the system dynamics. The embedded input space for the nonlinear AR model is partitioned into overlapped regions that are fine enough so that localized modeling techniques, such as local...
In this work, a robust predictive controller of uncertain nonlinear multivariable systems is developed. The control design is based on Multi-Input Multi- Output (MIMO) Nonlinear Auto Regressive Moving Average (KARMA) model. To cope with uncertain dynamic behavior of the system, the structured uncertainty is adopted. In fact, the main limitation of the robust predictive controllers is the computational...
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