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Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
As the Linked Data paradigm is embraced by a growing number of data providers (and consumers), the count of publicly available, semantically-annotated resources is systematically increasing. Here, elasticity and extensibility of semantics, enmeshed in Linked Data principles, and technologies supporting them, starts to attract application developers. In this context, multitude of developed ontologies...
An inertial-aided visual servo control approach for fully-actuated Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography obtained from corresponding images of a locally planar scene is directly exploited as feedback information. A cascade inner-outer loop control architecture is adopted that facilitates both control implementation and gain...
Heavy lift crane vessels play an important role in offshore installations. Previous studies have shown that position control systems for these vessels can cause unstable positioning behavior during offshore construction assignments under specific conditions, e.g., change of environmental loads. Some control methods, such as crane force feedforward to the controller or the estimator, have been developed...
This paper deals with a design problem of variable gain robust model following/tracking control for a class of uncertain linear systems. The new proposed variable gain robust control system is composed of fixed gain controllers and variable ones. In this paper, LMI-based sufficient conditions for the existence of the proposed variable gain robust controller are given. Finally, a simple numerical example...
In this paper the reaching law approach to designing sliding mode controllers is used. In particular, the case of switching variable of relative degree r > 1 is considered. It is demonstrated, that the use of such a variable allows more freedom in designing the controller and can result in reducing the maximum absolute value of the control signal without compromising the robustness with respect...
Decentralized control is linked to sensitivity reduction in unity feedback systems [1, 2]. It is proposed in this paper to extend this result to unstable invertible plants in order to also achieve ultrafast and robust control through a new control method. The present result is a multivariable extension of the single-input single-output case [3] which has been recently tested successfully at McGill...
Control theory can establish properties of systems which hold with all signals within the system and hence cannot be proven by simulation. The most basic of such property is the stability of a control subsystem or the overall system. Other examples are statements on robust control performance in the face of dynamical uncertainties and disturbances in sensing and actuation. Until now these theories...
This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance...
The paper describes a new holonic solution for the design of generic Facility Environment Conditioning and Control Systems (HFES) based on modelling processes as environment services (EServices) and implementation in multi-agent framework. This approach allows for the customization of: data acquisition, correlation between cleanroom parameters, HVAC channel control and influencing the radiopharmaceuticals...
This paper presents a solution with reduced computational complexity for path planning of a team of robots that should satisfy a mission expressed as a Boolean formula. It is assumed that the robots move in a partitioned environment containing some regions of interest. The robots should reach some final regions such that a Boolean formula expressed using the regions of interest is satisfied. Moreover,...
This paper proposes a Petri Nets based modeling of discrete event systems (DESs) that includes complex temporal constraints. State evolution in DESs depends on the occurrence of discrete events over the time and consequently on temporal information between tasks. The contributions of the paper are to transform Business Process Modeling (BPM) that deal with such constraints into PNs and to propose...
Starting from a hypothetical open shop production quantity estimation problem with weakly formulated objective function, this paper comparatively discusses a manual heuristic solution and an IBM-ILOG based numerical solution. Problem complexity is managed by specific partitioning strategies in the construction of heuristic solution instances. The study may serve as starting point in the systematic...
This paper presents a method of improving the efficiency of DisCSP algorithms. It is based on a new approach in nogood discovering and learning. The proposed technique is based on hyper-resolution and it involves a specific way of generating more powerful nogoods and reducing their number. Moreover, the possibility of storing and re-using nogoods from one instance of a problem to another is taken...
This paper deals with the identification of longitudinal dynamics of a cycab for subsequent control performance's improvement. Low-speed vehicle dynamic is used as physical model which non-linear behavior is highly complex to properly identify. Among several identification techniques, closed-loop identification gives better performance in a model-based control design. Here, the Hansen scheme is used...
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