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The growing usage of ocean facilities and land constraints have necessitated transfers of equipment and cargos to and from support vessels, complex lifts and other stevedoring operations in open sea conditions. Recently, there has been increasing research interests in three-dimensional control and automation of offshore cranes. Suspended cargos in a ship-mounted crane system are caused to swing due...
Unreliable workstations or resources pose challenges in deadlock control for automated manufacturing system (AMS) since resources failures have negative impacts on system activities and make the situation more complex. There are two types of robust deadlock-free control policies, absorbing type and distributing type. Each of them has its advantage as well as its drawback. Based on two modified Banker's...
In this work we deal with a system of autonomous mobile vehicles with limited communication range and consider the problem of the formally correct distributed control, i.e., the design of the local control for each particular agent so that it ensures globally correct behavior of the system. A particular problem is the fact that the knowledge about the system state possessed by the agents is partial...
This paper presents a decentralized model predictive control strategy for nonlinear network systems having multiple coupling delay elements. Linear interconnections, whose topologies are defined by an unweighted Laplacian matrix, and persistent input disturbances are considered in this development. On the ground of the incrementally accumulative quadratic constraint presented previously, the time-domain...
The highly non-linear and coupled dynamics of Autonomous Underwater Vehicles (AUVs), added with modeling errors, parametric uncertainties and payload variations pose a major challenge towards autonomous control of AUVs for various application requirements. Environmental hazards such as ocean currents sometimes dominate and make the control of underwater systems even more complicated. The proposed...
This paper reports a new robust control scheme for the regulation of both position and grasping force of a piezo-driven compliant microgripper with integrated position and force sensors. Based on a detailed analysis of the grasping process, the problem of position/force control is converted into the position control along with force monitoring. Then, a strategy of sliding mode-based robust position...
Supervisory control reconfiguration has been paid more attention due to its capacity of handling the uncertainties including resource failures, capability degradation, and task changes in discrete event systems. However, the robustness of closed-loop systems in response to some specification changes was not addressed in the prior studies. This paper presents a reconfiguration method based on Petri...
The purpose of this study is to develop a model-based method for detecting optical fiber sensor fault in aero-engine linear discrete time invariant (LDTI) system considering both disturbances and uncertainties. Firstly, the fiber-optic sensors are analyzed and utilized to measure the aero-engine compressor output and aero-engine compressor is reduced to a 4-input 3-output single-spool state space...
Inventory inaccuracy has significant negative impact on the performance of production control. In this paper, we investigate the robust production control problems for a multiple-stage production system with inventory inaccuracy and time-delay between stages. The objective of this problem is to minimize the average production cost. The problem is solved in two steps: First, for a multiple-stage production...
This paper proposes a novel tool detection and tracking approach using uncalibrated monocular surgical videos for computer-aided surgical interventions. We hypothesize surgical tool end-effector to be the most distinguishable part of a tool and employ state-of-the-art object detection methods to learn the shape and localize the tool in images. For tracking, we propose a Product of Tracking Experts...
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