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This paper proposes an inverse dynamic solution for the holonomic mobile robot (C3P) with modular wheel actuation. The C3P has three caster wheels with angular velocities actuation, which generates singularities in the inverse kinematic solution. The inverse dynamic solution is derived using Euler-Lagrange method with respect to the actuated elements. The inverse kinematic actuation solutions of the...
In this paper a formal definition for dependability of autonomous mobile systems is proposed. The presented concept is based on the framework of Willems. The definition for dependability aims at providing the system designer/architect with a method for analysing the dependability of autonomous mobile systems.
Experimental results for a handheld six degrees of freedom parallel robot with realtime position control and disturbance attenuation are presented. The robot's base is freely movable in space by a human operator, while the tool is position controlled and stabilized relatively to a reference coordinate system. The challenge is to decouple the tool as far as possible from the user involved arm tremor...
This paper represents the Lyapunov stability study for the wheeled mobile robot C3P based on a non-linear and complex mathematical model. The candidate Lyapunov function used in this work is extracted from the robot kinetic energy equation, which includes the robot dynamics and kinematics models. Such function contains uncontrolable and unpredicticable variables that yeild to very complicated and...
Place recognition is a vital methodology for modeling environments and localizing autonomous mobile robots topologically. It can also be integrated in a hierarchical framework where it guides a fast and more precise metric position estimation. Especially for those hierarchical frameworks, it is crucial that the place recognition modules be highly accurate. In this paper, an information-theoretic approach...
In this paper an off-grid hybrid energy system consisting of a reverse osmosis desalination plant for brackish water powered by renewable energy sources, and a diesel generator as back-up will be described. The whole system serves as a prototype for testing new automatic control methods to increase the plant reliability, which is crucial in remote arid areas. The necessary steps for the design of...
An optimal system design as well as advanced fault tolerant control is required to propose a cost-effective design and control of a seawater reverse osmosis (SWRO) desalination plant. Contrary to the steady-state model which is useful for only design, a dynamic model is essential to complete a plant design that includes embedded model-based control as well as analysis of transient behavior of a SWRO...
Mobile robot localization relies on efficient environment modeling, which in turns relies on robust feature set representation. Local point of interest descriptors provide distinguishable visual features, however suffer from their huge size. In this paper, the problem of reducing the size of such descriptors for the sake of robot localization is addressed. A two-phase solution is proposed. The first...
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