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In this paper, a cascaded framework including simplified cable localization method with magnetic sensing and robust tracking control algorithm is proposed in order to guide a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) to autonomously track the underwater cable. With the magnetic sensing, the cable tracking control is constructed as a straight-line path following...
There are several problems in the Modular Multilevel Converter (MMC), such as the appearance of circulating current, capacitor voltage unbalance and the requirement for a high number of sensors. All these problems will decrease the reliability and raise the cost/uncertainty of using MMC solutions. As a result, a sensorless control method is proposed in this paper, which targets to improve the performances...
In this paper, a new multi-floor navigating method is proposed for the intelligent mobile robot transportation in life science laboratories. The proposed method includes two technical solutions as follows: (a) a solution is presented to build a multi-floor map for the mobile robots based on the ceiling landmarks and the robot on-board StarGazer sensors. All the installed ceiling landmarks are given...
This paper studies the performances of the popular gradient-based formation-control strategies for teams of autonomous agents when the agents' range measurements are coarse. Since the dynamics of the resulting closed-loop system are discontinuous, Filippov solutions to non-smooth dynamical systems are introduced. Similar to the existing stability results for triangular formations with precise range...
Target tracking plays a critical role in the applications of wireless sensor networks. In this paper, we propose a target tracking algorithm based on Bayesian estimation, the key steps involved in the algorithm include target detection based on a probabilistic model, preliminary localization using the two-stage target locating algorithm, further prediction adopting Bayesian estimation. Simulation...
For some sensor network applications, the problem of sweep coverage, which periodically covers POIs (Points of Interest) to sense events, is of importance. How to schedule minimum number of mobile sensors to achieve the sweep coverage within specified sweep period is a challenging problem, especially when the POIs to be scanned exceeds certain scale and the speed of mobile sensor is limited. Therefore,...
Soft sensor technique is used to solve the problem of measuring the on-line apparent degree of calcination in New Suspension Preheater Dry Process (NSP) Kiln based on BP neural network in this paper. According to the actual working conditions of the calcinations, a soft sensor model with six Dimensional input vector and one Dimensional output vector is established by using Back-Propagation (BP) neural...
Most unmanned aerial robots use a Global Navigation Satellite System (GNSS), such as GPS, GLONASS, and Galileo, for their navigation. However, from time to time the GNSS fails to function due to geographical restrictions and deliberated jamming. This paper proposes an Unscented Kalman Filter-based GPS/IMU integration method in order to accurately estimate the position and velocity of an unmanned miniature...
In this paper we investigate the tracking and detection of moving radioactive sources using an array of sensors that are deployed along the highway to collect gamma particle counts. When a potential radioactive source carrier passes by the array of sensors, gamma particle counts are collected and are sent to a fusion center for estimating vehicle motion state using particle filter technique. Then...
This paper presents a fully distributed algorithm for target tracking using a mobile sensor network. It tries to maintain the target being visible to the mobile network all the time while consuming as little motion energy as possible. Meanwhile the network connectivity is maintained. At every time, only the nodes around the target are activated while other nodes keep idle. Certain functions are defined...
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