Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
In order to accurately control the portable AUV, a dynamic modeling method based on computational fluid dynamics (CFD) and a improved Generalized Predictive Control (GPC) method were presented. First, the whole modeling process was described from two aspects: dynamic model derivation and model parameter identification. Second, the validity of the model and modeling method were tested by comparing...
Closest Point of Approach (CPA) calculations are fundamental calculations for determining the utility and safety of a candidate maneuver of a marine vessel with respect to another vessel, i.e., contact. In certain kinds of path planning, a set of CPA calculations is made for thousands of candidate maneuvers, perhaps several times per second. Furthermore, with multiple contacts, multiple sets need...
The possibility of increasing flight duration, particularly for small and micro fixed-wing Unmanned Aerial Systems (UAS), is typically hindered by the payload and size of the platform. In maritime missions, Atmospheric Energy Harvesting (AEH) near the Marine Atmospheric Boundary Layer (MABL), is a low-cost solution, with very promising results, that may allow drastic increases in flight duration by...
A novel anomaly detection algorithm is proposed to detect anomalies in trajectory data of autonomous underwater vehicles (AUVs). Compared to existing work, the proposed algorithm estimates vehicle speed (i.e., through-water speed) from trajectory data and detect abnormal motion with estimated vehicle speed by a threshold technique. The influence of ocean flow on AUVs is significant and must disturb...
This paper focuses on target motion analysis by fusion of information from two moving acoustic sensors. These two sensors may obtain small measurements in order to make quick analysis of moving targets. In this situation, conventional approaches often fail to find accurate motion of targets. In this paper, a fusion algorithm for target motion analysis designed to handle this situation is proposed...
In order to navigate a robotic base in an unfamiliar environment, some mechanisms to detect positioning and location must be provided. When the base is in the process of navigation and makes use of these mechanisms, errors originating from the environment and base are inserted into the system, resulting in an erroneous position estimation. One relevant approach to reduce the error amplitude is to...
The paper presents a new methodology to solve the actuation and modelling problems of a soft-bodied swallowing robot (SR), developed for human swallow evaluation. To solve the actuation problem, a central pattern generator (CPG) based novel actuation scheme is developed and implemented to generate peristalsis in the robot. Machine learning based technique is used to determine the governing dynamics...
This paper presents an approach to the formation control problem for autonomous non-holonomic mobile robots using a Non-linear Model Predictive Formation Control (NMPFC) algorithm that employs a leader-follower scheme. An explanation of the the NMPFC problem is given, after which the results of both simulations and experiments with a three robot formation employing the developed algorithm are discussed...
The multilayer perceptrons (MLPs) have been widely used in many communication applications, however, the learning process of the multilayer perceptrons often becomes very slow, which is due to the existence of the singularities in the parameter space. As the singularities significantly affect the learning dynamics of MLPs, the standard gradient descent method is not Fisher efficient. In order to overcome...
In this study, the mechanical model of the electronically controlled knee prosthesis is developed, forward and inverse kinematic analyses are performed, and trajectory tracking for joint space is obtained, respectively. The analyses were carried out considering a cycle of gait walking at a constant speed. Thus, position, velocity and acceleration data of the prosthesis of joint space required for...
This paper investigates the finite-time consensus tracking problem for a group of quadrotor aircraft with a leader-follower structure. Based on finite-time algorithms, the finitetime position controller and attitude controller are designed respectively in this note. Based on homogenous system theory and Lyapunov theory, the finite-time stability of the closed-loop systems is given and it is shown...
The distributed synchronization control problem of multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on the method of backstepping design, a novel distributed consensus control algorithm is proposed. Firstly, for the position control subsystem, by Proportional-Differential control and the theory of communication topology graph, a consensus control...
Due to the current constraint of linear induction machine (LIM) and voltage constraint of inverter, the output thrust of LIM is limited. So, in order to make LIM output thrust as large as possible within current and voltage limit, firstly, the maximum thrust per ampere (MTPA) is used to achieve maximum thrust with limited current in low speed. Secondly, with the speed of LIM increasing, the voltage...
The article gives consideration to the problem of the open dynamic systems' modeling. We propose its solution with the help of stochastic systems of differential equations. We provide the methodology of modeling and analyze the certain example.
This paper addresses the classical, yet challenging, trajectory generation problem for a particular USV (Unmanned Surface Vehicle) used in environmental monitoring applications. The focus is placed on scenarios which involve reaching a target while remaining in communication with the network. Both isotropic (concentric communication area) and anisotropic (directed communication area) antenna are considered...
This paper presents new constraints for Selective Harmonic Elimination (SHE)-PWM technique utilized in single phase applications. The proposed constraints eliminate all triplen harmonic orders naturally whereas they appear in all single-phase output voltage waveforms conventionally. The specified non-triplen harmonics are also eliminated through calculation of switching angles. Five-level high switching...
In this paper, a guidance law for tracking straight-line segment and a constant-altitude circular orbits are proposed for a fixed wing unmanned aerial vehicle (UAV). Both guidance laws are based on the notion of vector fields, which are used to generate desired commands to the inner-loop attitude controller. Ground track heading error and lateral following error approach zero asymptotically even in...
In conditions of a mass character of higher education, the problems of student identification are relevant because of the differences in the contingent of students in terms of level of training, personal and cognitive characteristics. The learning process is characterized by the presence of uncertainty factors, which requires modeling and control of the application process of methods and tools of...
Five stabilizing controls for discrete-time quasilinear control systems based on the solution of the Discrete-Time State Dependent Riccati Equation (D-SDRE) are examined. One of the approaches has been proposed by the authors and uses the approximate solution of the D-SDRE. The main goal of this paper is to obtain the results on comparative computational characteristics of the discussed control synthesis...
In dynamic manipulation, robots can manipulate objects without grasping by utilizing inertia effect. However, the trajectory planning for dynamic manipulation is a difficult issue due to dynamic constraint. Trajectory deformation considering dynamic constraint after original trajectories are generated is necessary for the issue. To realize such deformation methods, we introduce on sequence-to-sequence...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.