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Transverse-regularity is a point-wise manipulator property, ensuring that the singular set ∑ is locally a smooth manifold. A generic manipulator is one which is transverse-regular in any configuration. This paper gives a necessary and sufficient condition for transverse-regularity. The condition requires the manipulator’s joint screws and their screw products. An expression for the tangent space to...
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This paper explores the main safety features in Dubai International Airport (DIA) tunnel. The safety levels have been enhanced because of using centrally controlled electromechanical systems and ITS (Intelligent Transportation System) components and all operated by SCADA (Supervisory Control And Data Acquisition) technology. Redundancy of critical devices is ensured to maintain continuous back alternatives...
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In this paper, the robust sliding mode controller is proposed for the speed control of turbocharged diesel engine. The effect of variation of model parameters on the closed loop performance of the engine is investigated to demonstrate invariance characteristic of the proposed controller. Uncertainties are inserted into both the linearized and the nonlinear model. Uniform uncertainties of ±15% are...
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This paper presents a novel dual adaptive dynamic controller for trajectory tracking of nonholonomic wheeled mobile robots. The controller is developed in discrete-time and the robot's nonlinear dynamic functions are assumed to be unknown. A sigmoidal multilayer perceptron neural network is employed for function approximation, and its weights are estimated stochastically in real-time. In contrast...
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This paper presents an output feedback controller for slender body underwater vehicles. The controller is derived using model based design techniques. Two separate control plant models are employed; a three DOF model accounting for the current loads acting on the vehicle and a five DOF model describing the vehicle dynamics. Furthermore, the transit model is based on the notion of constant propeller...
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This paper investigates the application of multivariable PID controllers to a wastewater treatment process. Four multivariable PID control schemes are investigated. The methods considered are those suggested by Davison, Penttinen-Koivo, Maciejowski and a new method proposed in this paper. All of the methods are suitable for multi-input multi-output (MIMO) control loops that experience loop interaction...
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Developed were a model, a design and software of a precision device for measuring microdisplacement values, which can be used during automated control of geometrical parameters of various microobjects, and in particular in microelectronics
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Multiple sensor fusion for robot pose estimation has attracted a lot of interest in recent years. Monte Carlo Localization (MCL) is a common method for self-localization of a mobile robot under the assumption that a map of the environment is available. In this paper we first compare pure vision-based with sonar-based MCL approaches in terms of localization accuracy, and then we show how the fusion...
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Failure prognostics is an open research field with options of deeper investigations. Traditionally the applications are statistical methods which do not give accurate results. As the aeronautic systems have become more complex the accuracy of prognosis is already a fact that needs to be considered. Based on the necessity of methods that improve prediction failure time, based-model prognostic failure...
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The following article is based on research work done in the development of a modular process data system. Based on a sequential main program and interrupt driven hardware interfaces, a software implementation without an operating system was implemented. By means of special software structure called Linked Object List, object oriented design was implemented with the procedural language “C”. Due to...
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Model based predictive control (MBPC) is an optimization-based approach that has been successfully applied to a wide variety of control problems. When MBPC is employed on nonlinear processes, the application of this typical linear controller is limited to relatively small operating regions. The accuracy of the model has significant effect on the performance of the closed loop system. Hence, the capabilities...
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The performance of fuzzy-logic power system stabilizer (FPSS), which is tuned automatically as the operating conditions of power system change, is investigated by applying it to a multi-machine power system. FPSS is developed using speed deviation and the derivative of speed deviation as the controller inputs variables. Two scaling parameters are introduced to tune the FPSS. These scaling parameters...
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This paper presents a fault tolerant design of hardware-type neural networks for real time control usage combining the following two methods; (1) a method to reduce the effect of a fault by weight limitation of synapses and (2) a method to reduce the effect of a fault by setting the output of the faulty neuron to the middle level of the ternary logic. Fault simulation is carried out on a numeric pattern...
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In this paper, we analyze the problem of acquiring and maintaining desired inter-agent distances for nonhierarchical autonomous multi-agent platoons (1-dimensional formations), where the agents can be autonomous robots or vehicles, using only agent-wise relative position measurements. In our analysis, we consider the existence of measurement noises, which may cause the failure of controllers ignoring...
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The aim of this work is to develop an improved method for knock control in gasoline engines. This should enable higher power output compared to existing methods of knock control without raising the level of knock probability. An analysis of a known knock controller shows, that information about distance to knock limit is not used in knock control. Based on this analysis a design of a new knock controller...
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The optimal guidance law (OGL) is based on the assumptions of linear kinematical model of missile guidance and unconstrained control in a linear quadratic regulator formulation. These are strong assumptions that are rarely satisfied in practice; the kinematics of the missile-target engagement is highly nonlinear, and infinite lateral acceleration - which is the control - is a physical impossibility...
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This paper presents a case study based on a multivariable model of an experimental four segment irrigation canal. Frequency responses are given for the developed model and a control framework based on static output feedback and the H2 norm is presented. Both the model’s PDEs and the controller optimization requires the use of numerical methods. Examples are given for diagonal and full multivariable...
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The paper presents a mobile robot localization system that integrates Monte-Carlo Localization (MCL) with an active action-selection approach based on an aliasing map. The main novelties of the approach are: the off-line evaluation of the perceptual aliasing of the environment; the use of this knowledge to actively perform the localization processes; the use of an improved SIFT feature extractor to...
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An approach for implementation of a control system with anti-windup compensation using fault detection multifiltering is shown. The residual signal used for anti-windup compensation is obtained from a filter bank (i.e. multifiltering) for fault detection, thus its explicit measurement is unnecessary. This residual signal is considered as a fault, in order to design the fault detection filter. Filter...
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In this paper, we are interested in the study of a method of reduction of order for a system slightly non-linear which is the engine with D.C. current. This method is based on the dominant variables. Initially we are interested in the problem of obtaining of a model reduced by minimizing a criterion of error given. In the second time we fix our self for objective to simplify the structure of the model...
