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Robot manipulation is one of prerequisites capability for service robot. However, autonomous manipulation remains a challenging problem for robot to implement the task, where robot has physical interactions and mechanical contacts with its environment. To date, learning from demonstration (LFD) has been successfully applied to enable robot to acquire new manipulation skill. Researches on LFD mainly...
The following topics are dealt with: vehicle detection; discrete time queueing system; CBMLAD; linear programming model; surface water quality assessment; fuzzy subgroups; computer aided optimum design; aerodynamic modeling; fuzzy logic controller; adaptive neural network; trajectory planning; nurbs model; XML data safety; sparse signal estimation; condition monitoring information model; ECG extraction;...
Trajectory is defined as a movement of an object in space and time, which consists of a set of spatial and temporal data. Exploration of this dataset can be used to extract the movement behaviour of moving objects that is previously unknown. This research proposes several alternatives on how to retrieve information from trajectory dataset in a database system with the Antarctic's iceberg movements...
This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control strategy which includes the Laplacian matrix of the communication graph...
This paper proposes a method for the stabilization of vehicle formations in the plane under a fixed, but not necessarily complete, sensing graph. In this method each agent acts to minimize a local alignment error function that measures the difference between the desired relative formation of the agent and its neighbors (as determined by a sensing graph) and their current positions. It is shown that...
Existing reachability theory and optimal control theory are applied to a class of nonlinear systems with ellipsoidal initial reachability sets, reflecting information typically provided by industry-standard optimal estimation methods. Analytical expressions for position-and velocity-extrema are developed, yielding necessary conditions for reachability as well as tools for significant reduction in...
To solve the problem of cannot positioning the flange bolt holes accurately and rapidly during the integral lifting process of offshore wind turbines' complete installation, an algorithm using image sensor to detect deviation of flange bolt holes, which is called discrete and variable step-size step motion control, is proposed. With the help of this algorithm, a control model is established and simulation...
An algorithm based on extended Kalman filter applied to the sensorless PMSM drives to estimate rotor position and speed are described in this paper. The EKF is an optimal recursive estimation algorithm for estimating the states of dynamic nonlinear systems. The system simulation model is established in MATLAB/Simulink. And the sensorless PMSM drive system is implemented on the DSP employed field oriented...
In this study the proximity hovering orbital dynamic model and control method are investigated. This dynamic model, constructed on the orbit elements, gives the relative motion between the chief satellite and the deputy satellite in the space. The continuous closed-loop orbital control law is developed based on the dynamic model, which means that through continuous limited thrust control the deputy...
The article is devoted to the analysis of two optimal control problems. We first consider a model proposed by Arechavaleta et al. (see) describing the goal-oriented locomotion, for which the control on the derivative of the curvature ???? along the trajectory is supposed bounded. Necessary conditions on optimal trajectories are given. We then investigate an extension of this model obtained by removing...
This paper presents a novel methodology that can be used to design location aware systems. Here, a sound signal is trapped between two distantly separated transceivers in an endless loop. As the transmitting medium between the two modules is air, there is a phase difference at the transmitting and the receiving end which is proportional to their separating distance. The signal, thereby circulates...
The underwater vehicle is six degrees of freedom model. The execution of spatial maneuvers are determined mainly by the dynamic properties of underwater vehicle particularly controllability and stability. The control surfaces are situated at the rear end of the underwater vehicle which moves either vertically or horizontally (Pitch, Yaw, Roll, Pitch-rate,Yaw-rate etc.) used to steer the vehicle to...
This paper describes design, test and evaluate of a rudder actuation system for an autonomous vehicle. Autonomous vehicle consists of GPS system interfaced with rudder actuation system which is used to guide the ship towards destination without human interface. This system is used to replace the existing hydraulic actuators which are currently used to control the fin's position. Rudder actuation system...
In this paper a new approach is proposed to find an approximate solution for nonlinear path planning problem. In this approach, first a new problem is defined in the calculus of variations which is equivalent to the original problem. The new problem can be expressed as an optimal control problem by introducing slack variable. Then a metamorphosis is performed in the space of problem by defining an...
The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable motion using a planned Zero Moment Point (ZMP) trajectory. In this paper, we aim at proposing to improve the reliability of this model using system identification techniques. To achieve this goal, we propose an identification method which is the result of the comprehensive application of...
This paper proposes the tuning of fractional order PID (FOPID) controller of electromagnetic actuator (EMA) system for aero fin control (AFC) using particle swarm optimization (PSO). The EMA is realized with permanent magnet brush DC motor which is driven by a constant current driver. Using the non-linear model of EMA-AFC system which includes the non-linearities of DC motor, an FOPID position controller...
The clinical applications of capsule endoscopes have been increasing consistently since the invention of a passive capsule endoscope was made. Though the capsule endoscopes are effective in detecting large lesions along human digestive tract, they cannot meet doctors' requirements of active control of the capsules to carefully examine small lesions. The poor precision of positioning system is one...
In this paper a quadrotor aircraft is developed with the signals of attitude angle and angular rate being filtered by using frequency analysis. A PD sliding mode controller is designed to stabilize the attitude and position while a tracking-differentiator is employed to obtain the estimate of the required velocity. Experiments are conducted to demonstrate the developed quadrotor can be appropriately...
Dielectrophoresis (henceforth called as DEP) is an electrokinetics-based phenomenon, that involves the motion of a particle due to interaction between its dipole moment and a nonuniform electric field around it. This technique is very effective in particle manipulation and separation. Here we consider the control problem involved in moving a particle in the DEP system, from one specified location...
This paper is devoted to path following control for port-Hamiltonian systems whose desired path is time-varying. Most of the existing results on path following can only take care of time invariant paths, hence they cannot be applied to control systems whose environments change, e.g., path following control with moving obstacle avoidance or with a path crossing itself. The proposed method solves this...
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