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This document describes the proposal of an internal and external communication architecture implemented in order to develop cooperative tasks among robotic units. The key of this communication system are the client-server links designed with Player/Stage for periodical control tasks and with sockets for non periodical ones. Each mobile unit acts as a node, connected through an Ethernet-Converter device,...
The paper presents a solution for formation flight and formation reconfiguration of unmanned aerial vehicles (UAVs). Based on a virtual leader approach, combined with an extended local potential field, it is universal applicable by driving the vehiclepsilas auto pilot. The solution is verified, using a group of UAVs based on a simplified small-scale helicopter, which is simulated in MATLABtrade/Simulinktrade...
Telemedicine, defined as the use of telecommunications technologies to provide medical information and services, is electronic transfer of medical data being able to include the sound and the images to practice remote medicine. In under developed countries, as the Democratic Republic of Congo, the capability to remote monitor patients that live in villages or small rural town, is a "Big step...
The paper presents a method for adjusting power in wireless networks consisting of mobile users. The proposed methodology takes advantage of the system nonlinearity by coherently changing the stability of the system equilibria. A decentralized sliding mode based controller was introduced, for each node of the network, to control bifurcations. The control law tries to always maximize the Signal-to-Interference-Ratio...
The paper describes a holonic control solution for fault-tolerant job shop assembly with networked robots, based on the dynamic simulation of material processing and transportation. The designed holarchy considers the PROSA reference architecture, and was implemented by help of an object oriented step scheduler (off-line production planning, failure- and recovery management, and online production...
We present a hybrid Bayesian network (HBN) framework to analyse dynamic fault trees. By incorporating a new approximate inference algorithm for HBNs involving dynamically discretising the domain of all continuous variables, accurate approximations for the failure distribution of both static and dynamic fault tree constructs are obtained. Unlike in other approaches no numerical integration techniques...
The design problem of mixed L2, H2 gain scheduling nonlinear state feedback controller for Linear Parameter Varying (LPV) systems subjected to actuator saturations and L2 bounded disturbances is considered. First, a new formulation of H2 controllers has been presented based on the homogeneous polynomial parameter dependent (HPPD) representation. Then a systematic procedure to generate a sequence of...
This paper deals with modeling and design of reliable controller for a new type diaphragm pump. Because of parameter uncertainties and nonlinear dynamics of the pump model, a fuzzy-like PID controller is designed. The controller design is based on fuzzy Lyapunov synthesis and stability and the robustness analysis of the designed system are straightforward. The pump control system is driven by a digital...
PWM energy converters (PEC) are rich in nonlinear dynamics. Thereupon in practical application increase of PEC efficiency is hold in the restrictions stipulated by nonlinear phenomena presence. A variant of this contradiction resolve seems to be in calling of the methods of PEC dynamics forecasting which allow applying of necessary control actions before abnormal process appearance. Fundamental problems...
A new method for constructing Kalman-type filters is proposed, which, in addition to classical models of stochastic processes generated by a white noise, also uses a more universal piecewise-polynomial description of signals with consideration of their continuity and smoothness, allowing observing constraints on their level. On the one hand, the description makes it possible to avoid difficulties...
This paper presents a navigation of an autonomous robot using simultaneous localization and mapping (SLAM) in outdoor environments. SLAM is a method in which localization and mapping are done simultaneously in an unknown environment without an access to a priori map. This paper introduces a probabilistic approach to a SLAM problem under Gaussian and non-Gaussian conditions and offers alternative solutions...
In multivariate statistic process control (MSPC), the projection methods, in particular, the principal component analysis (PCA) proved their efficiencies to the problems of fault diagnosis. In this paper, we explained the use of this tool and its major interest. A projected observation in the PCA space has a score distance (SD) in the principal component subspace and an orthogonal distance (OD) or...
In this note, we investigate the problem of state observation and input recovery of a particular class of nonlinear systems based on multi-models with unknown input. For this particular system and a corresponding observer structure, an original set of sufficient LMI conditions are derived from the Lyapunov theory, allowing to compute the gains of the observers and assuring asymptotic convergence....
An adaptive (time-varying) MIMO/SISO control strategy - funnel-control - for position control of nonlinear, coupled (rigid) robotic systems is presented and its applicability in robotics introductory shown. The concept is based on the high-gain controllability of minimum-phase systems with relative degree one and known high-frequency gain. The approach allows prescribed transient behavior without...
The power absorbed by a wave energy device is depending on the implemented control strategy. Uncertainties in the physical description of the system as well as in the input from irregular waves provide challenges to the control algorithm. In this paper we present a hybrid robust-fuzzy logic controller that allows for addressing the uncertainty in the model as well as the short term tuning of the converter...
This paper presents a short comparison of different existing and proposed wave prediction models, which in turn are used to control wave energy converters (WEC) in irregular waves. The objective of the control action is to increase the energy conversion. The prediction models are compared based on the contribution to the prediction of the individual filter weights, in an effort to reduce the filter...
Nowadays, there is an intense research activity in designing systems that operate in real life, physical environments. This research is spanned by various areas in computer science and engineering: embedded systems, reactive systems, wireless communications, hybrid systems, stochastic processes, etc. A severe limitation in the development of these systems is due to the mathematical foundation and...
The problem of robust disturbance rejection is studied for the case of linear parameter varying (LPV) uncertain systems. The problem is solved using a proportional time varying state feedback controller of particular type being independent from the uncertainties. Sufficient, solvability conditions for the problem of robust disturbance rejection of the LPV uncertain system, are established. Under,...
This article describes modelling and measurement of tiny liquid flows of the order of microlitres through millilitres per minute. The measurement of mentioned flow range is becoming more and more important for a lot of applications in the life science, analysis, biotechnologies, synthesis (of e.g. pharmaceuticals) and nanotechnology markets. Accompanying demands to flow sensors suited for this low...
In a companion paper we have presented a practical formation motion control scheme for robotic swarms based on single view depth estimation. In this paper we adapt this control scheme to the cases where there are obstacles to be avoided in the region of interest. First, a set of distributed control laws for the agents, to be incorporated with depth (distance) estimation scheme, are introduced to move...
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