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The paper presents a software system created to allow to use a user-friendly interface in order to describe complex surfaces which a robot system will follow, with applications in robot milling or engraving. The experimental system used for testing is composed by a 6 degree of freedom IRB 140 ABB robot with tools for engraving of milling, having the PC Interface option for communication and a PC which...
The paper is dedicated to the systemic botany domain and analyzes the degree of affinity between the species, genera and families based on fractal theory. The research is conducted on the image information from Gentianaceae family plant, in order to determine their membership to the recognized genera Gentiana, Gentianella and Gentianopsis which were previously tagged into a single genus. Some concepts...
High-accuracy remote position measurements are regarded in applications where different systems or components need to be placed in precise configurations. There are some cases in which it is impossible to define an absolute, precise reference frame and the application should rely only on relative measurements. In recent years, fiducial markers began to provide an interesting alternative to standard...
In this paper, an adaptive adjustment method for the kernel parameter used in the kernel adaptive filters (KAFs) is proposed. The KAF is one of the linear-in-the-parameters (LIP) nonlinear filters, and is based on the kernel method used in machine learning. Typically, the Gaussian kernel function is used, but there is no effective method for automatically adjusting its parameter that influences the...
This paper addresses the classical, yet challenging, trajectory generation problem for a particular USV (Unmanned Surface Vehicle) used in environmental monitoring applications. The focus is placed on scenarios which involve reaching a target while remaining in communication with the network. Both isotropic (concentric communication area) and anisotropic (directed communication area) antenna are considered...
This work presents a potential field-based control approach for multi-agent dynamical systems in a multi-obstacle environment. A strong focus is put on solving the collision avoidance (either with obstacles or other agents) problem, which is essential for any multi-agent control strategy. In here we discuss potential field constructions which are used for penalizing in the cost the collision avoidance...
The paper deals with linear-quadratic optimal control problems the performance index of which contains small parameters of two different orders of smallness at quadratic forms with respect to a control. Such problems can be considered as a result of applying the convolution method to problems with three performance indices where the cost of one cheap control is negligible compared with another one...
The paper deals with the optimal energy control referring to an electrical servo drive system. The influence of the variable torque is considered. The optimal controller is established for the discrete case. A convenient algorithm for the studied problem is indicated and some simulation results illustrate the behaviour of the system.
Dual methods can handle easily complicated constraints in convex problems, but they have typically slow (sublinear) convergence rate in an average primal point, even when the original problem has smooth strongly convex objective function. Primal projected gradient-based methods achieve linear convergence for constrained, smooth and strongly convex optimization, but it is difficult to implement them,...
Proposed here is a Fault Tolerant Control (FTC) design for nonlinear power systems with unknown actuator failures. The method is based on the efficient multi input-multi-output linearization technique. The power system considered here is consisted of two generators along with a load and an infinite bus via a transmission network. First, the derivatives of the system's output is calculated repeatedly,...
The purpose of his paper is to offer a numerical strategy in order to control the thermal processes with distributed parameters. Designing the control system for processes of this kind is usually difficult, mostly because of their non-standard dynamic model representation. Using energy balance equations for the process-a heat exchanger, the model is obtained. The proposed solution is to design a polynomial...
In this paper a control algorithm is developed for a small photovoltaic panel in order to maximize its generated power. The objective is to develop a numerically simple to implement method to control a buck dc-dc converter. The basic idea behind this research is to create an optimization block to determine the maximum power point according to the current radiation and temperature and to use its output...
This article presents a real-time control system for an experimental model of a water distribution system. The hardware and software implementation follows the latest trends in IoT and proves that such an architecture can be used for real-time process control in distributed systems. The control of flow is implemented using a multiple-model control algorithm for the pumping station. A method which...
The paper proposes a technical procedure for modeling the parameters variation of a fluid flowing through a transport structure. The determined models are used to identify more accurately the leakage points / faults occurring in this infrastructure. The procedure considers faults / leaks that are variable, with minimum and maximum limits being defined. The validation of the procedure is done by implementation...
In this paper we describe the 3D acquisition component integrated in the Sound of Vision (SoV) system. SoV is a computer vision based sensory substitution device (SSD) for the visually impaired. Its main objective is to provide the users with a 3D representation of the environment around them, conveyed by means of the hearing and tactile senses. One of the biggest challenges for the SoV system is...
Visual feedback is a very important component for re-learning motor tasks in post stroke recovery. In this paper, a virtual reality (VR) based system for stroke recovery for upper limbs is described, where the patient is immersed with the help of a Head Mounted Display (HMD). The HMD renders a 3D scene containing the avatar of the patient, from a virtual camera position placed on the head of the avatar...
This paper presents a study of human behavior related to different marketing stimuli based on pupillometry data. The consumer's gaze points on products of interest are acquired with a remote eye tracker and the obtained heatmaps and timestamps are used for further analysis. An application for recording user's visual attention on web pages and advertising slides is implemented. A sensor for electrodermal...
Accurate ground area detection is one of the most important tasks in various stereo vision based applications, such as autonomous driving or assistive technologies for visually impaired. Correct assertion of the ground geometry improves obstacle detection algorithms by eliminating false positive locations in image. In this paper we provide an application oriented evaluation on the correlation of the...
The research on developing assistive devices for visually impaired people greatly relies on image processing techniques. Extensive effort is made on detecting the obstacles in front of the user. Beside the normal obstacles that the user can bump into, another category of obstacles, negative obstacles must also be detected. Negative obstacles are usually represented by holes in the ground or regions...
In this paper, an unknown input observer design is proposed for input disturbance estimation in a magnetic levitation process. The observer is designed using a control-based strategy which has been recently introduced. The method is shown to be very efficient for this estimation problem, with results both in simulation and in real time.
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