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In this paper, the main attention is focused on transient property of control input signal, we propose a novel model reference adaptive control scheme for time-continuous single-input single-output linear systems with input saturation. To improve a control performance, a novel estimator using an observer for the output tracking error signal is proposed. Using the estimator, it is shown theoretically...
In this paper, we introduce a cleaner-robot, which has arm-like mechanism for vacuum cleaning, and we also propose the control method, which realizes complex task with the cleaner-robot. This method is based on the real-time optimization for nonlinear dynamical systems. Our method has three features. The first is to include penalty concerning main body of robot and arm in performance index. The second...
In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the dasiavirtual spacepsila approach, we formulate the obstacle avoidance...
Collaborative sensing in cognitive radio networks can significantly improve the probability of detecting the transmission of primary users. In current collaborative sensing schemes, all collaborative secondary users are assumed to be honest. As a consequence, the system is vulnerable to attacks in which malicious secondary users report false detection results. In this paper, we investigate how to...
Many signal processing applications revolve around finding a sparse solution to a (often underdetermined) system of linear equations. Recent results in compressive sensing (CS) have shown that when the signal we are trying to acquire is sparse and the measurements are incoherent, the signal can be reconstructed reliably from an incomplete set of measurements. However, the signal recovery is an involved...
This paper presents cooperative spectrum sensing in cognitive radio networks under Gaussian fusion channels. The global detection performance is evaluated based on Neyman-Pearson (NP) detection and using equal gain combining (EGC) fusion rule. It is shown that, under a global signal to noise ratio (SNR) constraint, the global detection performance can be maximized by choosing an appropriate local...
Compressive sensing (CS) is an alternative to Shannon/Nyquist sampling for acquisition of sparse or compressible signals; instead of taking periodic samples, we measure inner products with M < N random vectors and then recover the signal via a sparsity-seeking optimization or greedy algorithm. Initial research has shown that by leveraging stronger signal models than standard sparsity, the number...
Sequential sensing algorithms are developed for OFDM-based hierarchical cognitive radio (CR) systems. Secondary users sense multiple sub-bands simultaneously for possible spectrum availabilities under hard miss-detection constraints to prevent interference to the primary users. Accounting for the fact that the sensing time overhead can often be significant, a performance metric is developed based...
Do smart phones render wearable computers obsolete? Where does the rise of the smart phone leave wearable computing research? We answer these questions by examining past, present, and future of wearable platform research.
This paper presents multi-category human motion recognition methods based on MEMS inertial sensing data. A micro inertial measurement unit (muIMU) that is 56 mm*23 mm*15 mm in size was built. This unit consists of three dimensional MEMS accelerometers, gyroscopes, a Bluetooth module and a MCU (Micro Controller Unit), which can record and transfer inertial data to a computer through serial port wirelessly...
The performance of a car racing controller depends on many factors. Although there are strong dependencies among these, some subproblems intrinsic to the design process can be addressed independently. Thus, if the aim is to minimize the lap time on a track, it becomes necessary to find the right trace around it and to determine the maximum speed on each stretch. This study proposes a hybrid solution...
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