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This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
The commonly used preference elicitation method in decision making is the one using pairwise comparison between alternatives. In this kind of decision making scenario, an essential issue requiring attention is that of consistency, particularly in decision problems with numerous alternatives. Consistency is usually linked to the transitivity concept, which is modeled in several diverse ways. Given...
Advances in technology and the need to meet many interdependent competing requirements have led to complex information intensive systems that can be best managed by integrating multi-discipline, multi-attribute models for better informed decision-making. Attempts to bridge the gap between systems engineering and project management have been sought through project management methods and through imposing...
Video summarization plays an important role in providing a compact representation of large volumes of video sequences through the search for the most informative or representative portions of their content. In this work, we propose and analyze a novel video summarization method based on texture and color information to describe the video frames in order to produce an effective visual abstract of the...
This work focuses on cost reduction methods, applied on forest species recognition systems as a case-study. Current state-of-the-art shows that the accuracy of these systems, generally employing texture recognition approaches, have increased considerably in the past years. However, the cost in time to perform the recognition of input samples has also increased proportionally. By taking into account...
This paper presents a novel control method of extended virtual constraint to mimic human movement for a three-link planar robot with moving torso. Inspired by two supine yoga movements, the dynamic model of bipedal walker is modified accordingly, which enlarges application of generalized planar biped robot and provides a more stable and robust walking gait. Due to the continuity of kinematics and...
Monocular ORB-SLAM has been proved to be one of the best open-source SLAM method. However, it is still unsatisfying especially in low illumination indoor environment, which is caused by scale recovery and wrong feature matching. In this paper, we proposed a vehicle model based monocular ORBSLAM method supplemented by April-Tag to improve the performance of original algorithm. This approach is practical...
In this paper, we use the combination of graph theory and consensus algorithm to realize the formation control of nonholonomic wheeled robots. A novel edge-weight function is designed so that the desired formation-shape can be achieved. In addition, the consensus problem is usually solved on the assumption that the robots are modeled as particle model, but this assumption is not suitable when we are...
This research concerned about an online learning algorithm of the group method of data handling based proportional-integral-derivative (GMDH-PID) controller that is effective for nonlinear systems. Although a lot of PID controllers have been mainly used in industrial systems, it is difficult to maintain a desired control performance only by a PID controller with fixed control parameters due to system...
In the 21s' century, urbanization as a mega-trend will create many megacities. These highly dense, large population centers will have to efficiently deliver essential services including, energy, water, mobility, manufactured goods, and healthcare. While these services may be treated independently, they are in reality interdependent, especially as the need for efficient resource utilization, and consequently...
Existing envelope protection system in icing encounters normally involve real-time prediction of critical flight parameters or by calculating the allowed reference value of the pilot input, which may bring extra computational burden or need large amount of previous work. The paper proposes using nonlinear dynamic inversion (NDI) based controller to obtain the available deflection of the control surface,...
This article covers the comparison of a primitive Dissipating-Predictive-State Planning Actor-Critic learning approach with SARSA(λ) (State-Action-Reward-State-Action) on the highly non-stationary competitive Cat and Mouse problem. The primary objective of the new algorithm was to minimize the number of constants that must be optimized before application while maintaining the performance found in...
Recently, the development of high-performance metaheuristics has become an important subject. In this study, an adaptive Cuckoo Search based on ranking of search point is proposed. This study aims to improve the performance of Cuckoo Search by adjusting the parameter β to allow search points with good evaluation value to search nearby and those with poor evaluation value to search far away. Finally,...
The hydrothermal coordination can be defined as a problem to determine the optimum usage of the hydroelectric and thermoelectric resources available during a period. In hydrothermal generation systems with a predominance of hydroelectric power plants, like in the Brazilian system, the problem consists in replacing the thermal generation by hydropower generation to minimize the system operational costs...
In this manuscript, we investigate a collaborative filtering method to characterize consumption behavior (or evaluation) of customers (or users) and services (or items) for marketing. Assuming that each customer and service have the invisible attribute, which is called latent class, we propose a new Bayesian statistical model that consumption behavior is probabilistically arise based on a latent class...
This paper proposes an architecture where each agent maintains a cooperative tendency table (CTT). In the process of learning, agents need not communicate with each other but observe partners' actions while taking actions. If one of the agents meets a bad situation, such as bumping onto obstacles after taking an action. In such a case, agents will receive a bad reward from the environment. Similarly,...
Wind energy has many advantages, because it does not pollute and is an inexhaustible source of energy. The Double Fed Induction Generator (DFIG) is one of the most important generator used for Horizontal Axis Wind Turbine (HAWT). The DFIG stator is linked directly to the grid, whilst the DFIG rotor is coupled via an electronic converter. In this paper, a discrete-time Neural Sliding Mode (N-SM) Field...
Exploration and exploitation are two strategies used to search the problem space in Evolutionary Algorithms (EAs). To significantly increase the performance of these optimization techniques in terms of the solution optimality is to strike the right balance between exploration and exploitation. Firefly is one of the most favored EAs. In this study, we introduce an entire fuzzy system to tune dynamically...
With the wide application of Lithium-ion (Li-ion) batteries in electric vehicles and unmanned aerial vehicles (UAVs), it is becoming more important and urgent to estimate the battery state to extend the operation range of electric vehicles or UAVs. Existing state of charge (SOC) estimation methods are highly model-based, which are difficult to be implemented in different scenarios. In this paper,...
This paper proposes a gain margin technique based continuous sliding-mode control method for position servo systems of induction motors. A systematic design method for position and current controllers is developed to implement the robust control of induction motors in the field orientation control system. In the proposed controllers design, the boundaries of disturbances and parameter perturbations...
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