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A new rotor position sensorless method for switched reluctance motor drive system (SRD) is described in this paper. Rotor position can be considered as a function of phase current and the variation rate of it. Using the phase current obtained by sensors and the current variation the rotor position can be estimated accurately and quickly. A control strategy of SRD without position sensor is researched...
In this paper In this paper, which is one of the part of the development for the automation system in the navigation process, covers the car system. Local detection system based on pseudo-satellite was used to be able to detect the space coordinates and the absolute location with four ultrasonic transmitters and two receivers. Using this system we get the lateral dynamic model of a reduced car by...
Today in terms of security and caring, more various and robust information system about human existence in indoor environment (ex. rooms, buildings) are needed. Especially, human position estimation system in such kinds of spaces is basic. Generally, such kind of systems use radiowave devices, cameras and ultrasonic devices to estimate human position. But these kind of systems have some weakpoint...
This paper presents the tracking and estimation of indoor UAVs using multi-camera visual feedback. The proposed vision algorithm enhances the performance of the vision system by making up for a weakness of low cost camera such as poor resolution and large noise. For the pose estimation of multiple vehicles, data association algorithm using the geometric relation between cameras is employed in this...
Since the aircraft has the special requirements for the electromechanical actuator (EMA), the electrical servo control system using brushless DC (BLDC) motor is designed to fulfill these requirements in this paper. An angular position detecting method of helm is proposed to overcome the electromagnetic interference from the PWM inverter. This method combines motorpsilas discrete Hall sensors signal...
In this paper a motion planner capable of laying a trajectory for a robot operating in a complex, stationary, unknown environment based on the sensory data it acquires online from its finite range sensors is suggested. The planner utilizes concepts from the area of mechanics of solids to generate the navigation field. A new setting for the biharmonic potential field approach to planning (K. Hashimoto...
We present a new sensor-based robot motion planning framework for mobile robot navigation in unknown environments. The main idea of the proposed planning approach, inspired by our recent works on using harmonic function-based probabilistic roadmaps (HFPRM) for robotic navigation in known environments (model-based cases) (Kazemi et al., 2004, 2005), is to utilize a fluid dynamic (FD) paradigm based...
A trajectory tracking control scheme for the main rotor speed in an electrically powered helicopter prototype is presented. The scheme is based on the concept of differentially flat systems which makes use of a rotor model obtained with the help of an appropriate design and implementation of sensors and actuators. Experimental results are presented where the performance of the control scheme is evaluated
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