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This paper investigates the trajectory tracking control of the nonholonomic wheeled mobile robot (NWMR) using nonlinear model predictive control (NMPC). By defining the tracking error in the NWMR's local coordinate, the tracking problem is formulated into standard NMPC framework. However, the standard NMPC algorithm is computationally demanding so that it is difficult for the real-time implementation...
Hammerstein system identification is difficult because there exist the product items of the parameters between the static nonlinear block and the dynamic linear block. This paper presents a novel parameter separation based recursive least squares (PS-RLS) identification algorithm for resolving this problem. Its basic idea is to use a linear filter to filter the output data and the noise, and then...
A dielectrophoretic (DEP) microfluidic chip with an array of three-dimensional (3D) vertical electrodes aside the sidewall of main microchannel is designed, fabricated and applied in separation of particles. Lateral DEP force is got when proper direct current (DC) or alternating current (AC) is applied on these side-wall electrodes. Experimental results for sorting 10µm particles have been achieved...
In this paper, we extends the innovation vector to the innovation matrices and presents a filtering based multi-innovation extended stochastic gradient algorithm for multi-input multi-output controlled autoregressive moving average systems. The basic idea is using the filtering technique to transform a multivariable system into two identification models, then to identify the parameters of these two...
Compressed sensing (CS) technique has been widely applied to sparse signal recovery to obtain high quality reconstruction of original signal. With the increasing sampling rate of Analog to Digital Converter(ADC), there are more and more signals in radar are sparse, how to successfully detect these targets is a hot topic. The orthogonal match pursuit (OMP) method is an efficient method to recovery...
The paper presents two trajectory tracking control strategies for an Unmanned Aerial Vehicle (UAV), Quanser Qball-X4 quadrotor. The mathematical model of the quadrotor Quanser Qball-X4 are studied. Based on the model, the Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR) controller are designed to solve trajectory tracking problem for a Qball-X4. Simulations and...
This paper focuses on the parameter estimation problem of multivariate autoregressive moving average systems and develops a decomposition based least squares iterative identification algorithm using the data filtering. The basic idea is to transform the original system to a hierarchical identification model to decompose the hierarchical model into three subsystems and to identify each subsystem one...
Medical data in various organizational forms are voluminous and heterogeneous, so it is highly meaningful to utilize parallel computing platforms to speed up the data mining procedure. In addition, ensemble methods which combine different weak classifiers together can improve classification accuracy on parallel computing platforms. In this paper, three ensemble methods (Bagging, AdaBoost and Logit...
This paper presents an intelligent ridesharing system for taxi to share cost and journey among the passengers. The objective of the system is to provide taxi-sharing service for passengers who want to save the payment cost. It is done by recommending taxis drivers for picking up passengers at a higher revenue. The passengers are able to find taxis easily and quickly as well. By exploiting the time-dependent...
A novel method of using complementary split-ring resonators (CSRRs) structure in power/ground plane pair for wideband simultaneous switching noise (SSN) isolation is presented. Compared with traditional mushroom-like electromagnetic band gap (EBG) and coplanar EBG, the proposed nested CSRRs structure only need to be partially etched on the power plane and is easy to be fabricated, while the performance...
Traditional methods of dielectrophoretic (DEP) separation using planar microelectrodes and recent research about vertical electrodes cannot improve both effectiveness and integration for industry. This paper describes the design and numerical simulation of microdevice using COMSOL, which can separate particles by lateral electrical fields uniformly along the vertical direction in the channel. Particles...
In this paper, a novel power/ground plane structure by etching with complementary split-ring resonators (CSRRs) for wideband simultaneous switching noise (SSN) suppression is proposed. Compared with the typical mushroom-type electromagnetic bandgap (EBG) or coplanar EBG, the proposed power/ground pair is very simple in physical structure, of which the CSRRs are partially etched on the power plane...
This paper presents a recommendation mechanism for taxi-sharing. The first aim of our model is to respectively recommend taxis and passengers for picking up passengers quickly and finding taxis easily. The second purpose is providing taxi-sharing service for passengers who want to save the payment. In our method, we analyze the historical Global Positioning System (GPS) trajectories generated by 10,357...
Using fuzzy logic, we propose a model with a neural network for public transport, normal cars, and motorcycles. The model controls traffic-light systems to reduce traffic congestion and help vehicles with high priority pass through. A fuzzy neural network (FNN) calculates the traffic-light system and extends or terminates the green signal according to the traffic situation at the given junction while...
The provision of timely and accurate bus arrive time information is very important. It helps to attract additional ridership and increase the satisfaction of transit users. In this paper, a self-learning prediction algorithm is proposed based on historical data model. Locations and speeds of the bus are periodically obtained from GPS senor installed on the bus and stored in database. Historical travel...
The number of pixels in reconstructed images plays an important part in electrical tomography applications. But so far there is none efficient method to determine the optimal number of pixels in reconstructed images in electrical tomography. In this paper we propose a general index based on maximizing grey differences between investigated objectives and background. The proposed index has a robust...
C-means clustering algorithms have proven effective for image segmentation, but are limited by the following aspects: 1) the determination of a priori number of clusters. If the number of clusters can be incorrectly determined, a good-quality segmented image cannot be assured; 2) the poor real-time performances due to great time-consuming, and 3) the poor typicality of each cluster represented by...
Recently, network coding has been applied to reliable multicast in wireless networks to improve the transmission efficiency. The expected value of network coding gain, i.e., the ratio of the average number of transmissions per packet when using the conventional non-coding transmission to that when using the coding-based transmission, is an important metric to understand the benefit from using network...
Vehicle-to-vehicle communication and probabilistic broadcast are important means for information dissemination in vehicular ad-hoc networks (VANETs). In contrast to static ad-hoc networks, high-speed mobility makes wireless connection between two vehicles intermittent. Nevertheless, some kinds of information do not rely on continuous connection for transmission. An important fact is that numerous...
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