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The concepts of array processing and smart antenna give a promising solution to the significant increase of data rates in wireless transmission systems. In this paper, we deal with the problem of designing linear antenna arrays for specific radiation properties of MIMO applications based on Direction-Of-Arrival estimation and Taylor beamforming techniques. The objectives of this paper can be summarized...
Many applications rely on accurate readings from level transducers for a correct behaviour of complex systems. Large chemical and food industry plants employ large numbers of such devices which have to generate a correct behaviour and provide an accessible reading of the data. This paper presents an application for level measurement using appropriate signal conditioning and data acquisition hardware...
In this paper an experiment aimed to demonstrate that a distributed system of embedded microcontrollers is presented. In the experiment described, didactic mobile robot, People Bot from mobile robots has been used, but the entire solution can be easily ported for the implementation of an intelligent wheelchair, capable either to carry an elderly or disabled person, or to move independently in a smart...
Advanced control is the most efficient technology available to achieve the objective of any industrial process, namely the reduction of variable costs while maintaining product quality. Some advanced control methods are: model based predictive control, internal model control, adaptive control, fuzzy control, robust control, neural network based control and optimal control. One advanced control method...
This paper presents a novel approach on the implementation of the concept of ??virtual pheromones?? for use in controlling autonomous mobile robots. Rather than being deployed in the environment, the virtual pheromones are stored in a map of the environment maintained and updated by a ??pheromone server??. This map acts like a shared memory for all the agents, by means of a radio communication link...
In this paper, a new sliding-mode trajectory-tracking wheeled mobile robots (WMR) control is proposed. Dynamic model with uncertainties parameters (unknown or time varying mass and moment of inertia) of the WMR is taken into account. Robust stability depending on upper bound uncertainties, is guaranteed. A mobile platform, PatrolBot, with two driving wheels and two rear wheels is used in order to...
This paper describes an experiment aimed to demonstrate that a distributed system of embedded microcontrollers, wherein a number of control modules are located on the mobile robot, while others are deployed in an “intelligent environment” can significantly reduce the cost of developing a robotic assistant for the elderly and disabled. The structure of the experimental setup is described in detail,...
Widely-separated time scales appear in many electronic circuits, making traditional analysis difficult even impossible if the circuits are highly nonlinear. The paper presents a new version of the modified nodal method in two time variables for the analysis of the circuit with widely separated time scales. By applying this approach the differential algebraic equations (DAE) describing the nonlinear...
On-line, closed loop estimation scheme, for time-varying parameters is proposed in order to obtain useful information despite loads, external disturbances and faults detection. An adaptive gain, smooth sliding observer- controller is developed to control uncertain parameters, n -degree of freedom (n -DOF), rigid links-rigid joints robotic manipulators. In order to alleviate chattering, smooth switching...
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