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This paper presents a control strategy of a variable-speed wind turbine, to obtain optimal PI controllers to the rotor side converter of doubly fed induction generators (DFIGs) for variable-speed driven by a wind turbine generation system connected to the electrical grid, to improve the stability of a power system which is derived from the stability criterion using an augmented Lyapunov functional...
A passivity-based quaternion feedback control strategy is presented for a hover system (quadrotor UAV test bed), which achieves asymptotic attitude regulation. The proposed control design incorporates the input voltage constraints inherent in practical UAV systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer...
This study aims to develop an effective control approach for force control of a typical EHA system. This control scheme is considered as an advanced combination of a feedforward neural network — based PID (FNNPID) controller and a fuzzy grey predictor (FGP), shortened as feedforward neural network fuzzy grey predictor (FNNFGP). Here, the FNNPID controller is used to drive the system to desired targets...
This paper presents automated navigation control of an Unmanned Aerial Vehicle (UAV) based on visual data gathered by onboard camera. With depletion of easy resources and health, safety and environmental (HSE) challenges in exploiting newly found resources in hostile conditions are forcing oil and gas companies to look for robotic solutions for their problems. Pipelines carrying inflammable and toxic...
A model of a hybrid wind wave energy converter (HWWEC) system is proposed in this paper. The HWWEC includes two wave buoys and a vertical axis wind turbine (VAWT) system, which co-works to drive a generator. Wave buoys are arranged in an arc pattern to capture efficiently wave energy from many directions. The hydrodynamic forces are calculated by the Wave Analysis at Massachusetts Institute of Technology...
The concept of a Smart City is becoming an increasingly important research area around the world. The amount of information collected and the number of stationary sensors, surveillance cameras and other devices that need to be places in a smart city is so vast that using a mobile platform to replace them can reduce the cost in both energy and resources. This paper proposes an open source intelligent...
The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance...
Path tracking control for autonomous vehicle using model predictive control (MPC) algorithm maintains maneuverability by calculating a sequence of control input which minimizes a tracking error. The weakness of this method is that the performance of MPC may decrease significantly when the priori prediction model is not accurate. Therefore, it is important to keep the vehicle stable when MPC having...
This article presents a decentralized control strategy applied to a multi-source power system having a fuel cell (FC) system as a main power source and a secondary storage element (SSE) for peak current supply during transients and energy recovery during braking. The dedicated control structure aims to assure an optimal operation of the FC system and a desired energy level of the SSE. To attain these...
This paper describes the robot capable of inspecting a pipe. The developed robot is composed of three bodies, six legs, a laser range finder, a ring-type laser, and a CCD camera. The six legs are composed of three worm gears that are arranged at an angle of 120 degrees to run inside pipes of different diameters. The robot is designed with two joints to change the direction in pipe junctions, and the...
To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending...
This paper describes mechanism the quadcopter with on-board sensors. This quadcopter consists of four rotors, four straight legs, and a disk-shaped body. The body is mainly composed of a lightweight, very rigid carbon fiber reinforced polymer (CFRP) and resin composite. A 9-axis inertial measurement unit (IMU) that contains accelerometer and gyroscope and magnetometer is installed in the body to measure...
We consider the problem of area coverage for robot teams operating under resource constraints, while modeling spatio-temporal environmental phenomena. The aim of the mobile robot team is to avoid exhaustive search and only visit the most important locations that can improve the prediction accuracy of a spatio-temporal model. We use a Gaussian Process (GP) to model spatially varying and temporally...
In this paper, a new automatic parking approach that uses a surveillance camera is suggested. Many parking lots have surveillance cameras. Vehicle position, attitude, and parking space detection methods using a based on CCTV environment are introduced. An entire auto parking system is realized using a small experimental vehicle. Existing auto parking systems are primarily ADAS (advanced driver assistance...
In this paper, we present road boundary estimation based on laser scanner by using histogram model. For raw laser scanner data, we apply histogram model, which means that the histogram of the number of laser point is applied from a center of ego-vehicle. After histogram is made, we estimate the boundary point and select point of road boundary. We estimate selected points to clothoid model and update...
Traditional elastic actuator is the flexible structure which needed to connected to the output shaft of the brake. Besides, according to the principle of the state of the connection, it could be divided into series elastic actuators (SEA), as well as parallel elastic actuator (PEA) [3]. Therefore, the brake output has a certain flexibility, providing compliance or shock absorption, and other functions...
This paper proposes a vehicle vibration detection algorithm using an IMU sensor. This algorithm is used to make a driver health care system based on a contact-type bio sensor robust. The driver health care system based on a contact-type bio sensor is highly sensitive to a vehicle's vibration. Though suspension contributes to ride quality reasonably well isolated from road noise, the vehicle's vibration...
A gesture is not performed in only one action but a combination of continuous actions. It is very important to know the start and end of a gesture for accurate gesture recognition. In this paper, to extract a meaningful gesture portion in an online situation, we introduce a method that can distinguish the start and end of a gesture. Then, we describe the method of recognizing an extracted gesture.
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