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Autonomous underwater vehicles (AUVs) are becoming increasingly popular for ocean exploration, military and industrial applications. Motion control of AUV is the key to completing these missions. The classical linear Proportional Integral Derivative (PID) controllers are widely used due to its reliability and simplicity. However, it is difficult to tune the parameters in the classical PID controllers...
A Complex Conjugate (CC) control is implemented with a Proportional-Derivative (PD) controller for WEC devices to improve and optimize power absorbed. Traditionally, CC control has not been realizable due to actual implementation that requires acceleration feedback or exact term cancellation. For the PD implementation, only the stiffness term is employed to modify the impedance and achieve resonance...
The hardware evolution had promoted amazing possibilities of interaction in virtual environments, attracting a lot of research in the most diverse fields, especially in games. In this work, we explore the animation data captured by Microsoft Kinect in real-time for developing user interaction in a virtual simulated environment. We use physically based characters with balance treatment and proportional-derivative...
The penetration level of decentralized power generation plants based on renewable energy sources are continuously increasing with wind energy having a significant share. Considering present developments towards a purely renewable energy based electricity supply, Wind Energy Conversion Systems (WECS) play an important role in securing a stable, reliable and continuous supply of energy. Particularly...
To solve problems that existed in current omni-directional vehicle, such as high energy consumption and the mismatch between the gimbal and the movement of the chassis, a kind of Mecanum wheels control method is designed. Based on the principle of omni-directional movement and the analysis of kinematic model of vehicle, the chassis structure model is constructed. It is observed that the power consumption...
Software Defined Networking (SDN) provides a simpler and more efficient approach to manage computer networks. This is achieved by decoupling the control functionality from the forwarding elements, and placing it into a logically centralised controller. This centralised architecture makes SDN susceptible to a range of Denial of Service (DoS) attacks. In this paper we investigate a range of DoS attacks...
People afflicted with Parkinson's Disease (PD) experience impairment of their gait (the way a person walks), which frequently results in falls. In this paper we investigate a machine learning method to assess PD severity using accelerometer data passively crowdsourced from participants' smartphones while they walked. Time and frequency domain features such as entropy rate and peak frequency, and postural...
In this paper, a new control method for walking in-pipe robots is discussed. The method is based on a combination of a linear quadratic regulator for systems with explicit mechanical constraints and a proportional-derivative controller formulated in terms of end effector coordinates (Cartesian coordinates of the robot's foot that takes the step). The performance of the proposed method is measured...
Wireless power transfer (WPT) using double-sided LCC compensation features with a proportional relation between input voltage and output current, which is load independent. It lays a solid base for primary-side DC/DC control. In this paper, a novel switching converter control strategy — one cycle control (OCC) combined with proportion differentiation (PD) is proposed to form a robust, fast and precise...
In this workshop we propose a USB based control platform with a high speed USB communication interface using the Linux based free software Scilab/XCos/RTAI. The workshop consists of six hands on presentations on the use of the experimental platform for teaching the main automatic control concepts such as stability, model, transfer function, current loop, parameter tuning, proportional control action,...
In the process of detecting the fiber quality, the effect of optical collimation is directly related to the measurement results. The collimation of optical path can be realized by manual adjustment, but it takes one and a half hours to complete collimation and measurement, and the average standard deviation of the measured divergence angle is 0.0712. In order to solve the problem of manual adjustment,...
Inverted pendulum is one of the fundamental benchmarks in application areas of control engineering and robotics. It is a good example of single input multi output (SIMO) systems. In this paper, identification of a cart inverted pendulum system is carried out and real time control of the system is accomplished by using the PI-PD controller. PI-PD controller is a good approach to control integrating...
This paper describes the design of a control strategy for robotic rehabilitation devices, aimed at recovering the motor skills of patients affected by particular diseases that damage the neuromuscular apparatus of the human body. There are two different but related activities in the project here described. At first, a non-linear parameter identification procedure, based on the Recursive Least Square...
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
The accuracy and stability are two fundamental concerns of the visual servoing control system. This paper presents an enhanced image based visual servoing (IBVS) method which can increase the accuracy of visual servoing with guaranteed stability. The proposed controller combines PD control with sliding mode control (SMC) for a 6DOF manipulator. Specifically, the main benefits of this approach lie...
Trajectory tracking control of an unmanned surface vessel (USV) based on feedback linearization and variable structure control (VSC) is developed. Feedback linearization transforms the nonlinear dynamics of the USV into a linear system. VSC rejects the effects of modeling imperfections and environmental disturbances. The position and orientation of the USV are measured by a visual motion capture system...
Maturing Oil & Gas reservoirs in the North Sea result in constant increases of water-cut, which correspondingly poses an increasing strain on the current offshore Produced Water Treatment (PWT) facilities. As one of the key elements of the PWT facilities, the hydrocyclone systems, are responsible for removing the remaining hydrocarbon content in the produced water before the treated water can...
This work presents the application of a fuzzy logic iterative learning controller (FLC-ILC) for the trajectory tracking of Parallel Kinematic Manipulators (PKM). The PKM are increasingly used in repetitive tasks, and in order to benefit from this characteristic, an ILC is introduced and combined with the proportional-derivative (PD) feedback controller to improve the tracking error from iteration...
The satellite in geostationary orbit present many flexibility due to flexible appendages, solar pressure and fuel sloshing in the tanks which they pose great challenges for accurate attitude control. In this paper, an anti-disturbance proportional-derivative (PD) controller is designed to stabilize the attitude while rejecting the effects of flexible vibrations, environmental disturbances, and unmodeled...
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