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Model Predictive Control (MPC) is a candidate solution to aggressively control a constrained plant. In Tube Model Predictive Control (TMPC), optimality is traded for robustness which is a key aspect in flight controls where the plant is subject to many disturbances and uncertainties especially related to aerodynamics and wind. Yet MPC comes with large computational effort and thus reduced execution...
Traffic behavioral monitoring within urban intersections is an essential issue in the Intelligent Transportation Systems (ITS) for a smart city. This paper investigates on gathering traffic information within an urban intersection where accidents frequently occur. In this paper, traffic pattern modeling, trajectory classification and a real-time vehicle tracker within the urban intersection are proposed...
We propose a visual SLAM (Simultaneous Localization And Mapping) system able to perform robustly in populated environments. The image stream from a moving RGB-D camera is the only input to the system. The computed map in real-time is composed of two layers: 1) The unpopulated geometrical layer, which describes the geometry of the bare scene as an occupancy grid where pieces of information corresponding...
Post-processing indoor navigation is interesting, for example to develop crowdsourcing analysis. The post-processing framework allows to provide a better estimation than in a real-time framework. The main contribution of this paper is to present a piecewise parametrization using Inertial Measurement Unit (IMU) and Received Signal Strength (RSS) measurements only which lead to an optimization problem...
This paper focuses on the control of dynamical systems under the case that actual reference signals can not be available in real time. In such case, although predicted values are used as reference signals, the prediction errors degrade the control performance of the systems. To overcome this problem, the previous work presented the prediction governor which shapes predicted values. However, the previous...
Nowadays the task of tracking pedestrians is often addressed within a tracking-by-detection framework, which in most cases entails that the position of each target has been detected before tracking begins. However in some cases, a pedestrian who is being tracked may be obscured by other targets or obstacles, and during this period they may change their trajectory or speed (track drift), and sometimes...
The paper presents the outline of the didactical project of a complex computer controlled system realized by the first degree students of the Automatics and Robotics on the Faculty of Electrical and Control Engineering (FoEaCE) in Gdansk University of Technology (GUT). The synthesis, implementation and analysis of a multilayer hierarchical control system for drinking water supply system (DWSS) are...
In this paper, we revisit a real-time socially-aware navigation planner which helps a mobile robot to navigate alongside humans in a socially acceptable manner. This navigation planner is a modification of nav core package of Robot Operating System (ROS), based upon earlier work and further modified to use only egocentric sensors. The planner can be utilized to provide safe as well as socially appropriate...
In this paper, a GZ-type complex neuronet (generated by combining gradient dynamic system and Zhang dynamic system) is illustrated and discretized into an Euler-discretized (i.e., discretized by Euler forward rule) GZ-type complex neuronet for computing real-time varying complex matrix inverse. Simulation results not only show the efficacy of the proposed Euler-discretized GZ-type neuronet but also...
The inertial navigation system (INS) errors are accumulated over time, so the position errors of each sampling point obtained by INS and applied in the geomagnetic matching algorithm are raised with sampling number increased. And the best transformation to describe the real trajectory and indicated trajectory consists of translation, rotation and stretching. Traditional matching algorithms use only...
Neural network is a kind of machine learning algorithm, applied in many ways. The traditional predictive guidance of aerocraft is hard to resolve the contradiction among robustness, real-time and the guidance of precision. The paper provides a predictive guidance algorithm for aerocraft, by combining neural network with predictive guidance to solve this problem. This research about the new style guidance...
The unified program architecture of real time vision system (VS) with several fields of view construction is described. The offered architecture provides both onboard and stationary usage. In case of stationary usage, it provides determination of location and trajectory of objects movement in the ordered system of co-ordinates. Principles of open architecture, componential technology and use of standard...
Aiming at the improvement of autonomy, adaptability and robustness of the reentry guidance technology, a new predictor-corrector reentry guidance law based on online model identification is proposed under the background of the new generation of reusable aircraft. On the basis of equilibrium glide condition, a feasible control envelope is established to satisfy the reentry constraints. The corresponding...
An improved control algorithm rapidly predicting the correction point of trajectory correction projectiles is presented in this paper. Known on-line GPS data, the algorithm is completed by two steps to accurately compute the activated moment of correction mechanism, namely a damper. Firstly, polynomial fitting method is utilized to determine the relation between correction distance and the activated...
Human bodies and movements exhibit inherent symmetry. However, an important class of everyday movements, such as walking, does not maintain symmetry at every time instance. The symmetry in these movements is a spatiotemporal glide-reflection symmetry. The ability to measure this type of symmetry will provide us opportunities for various computer-aided applications including health monitoring, rehabilitation,...
This contribution demonstrates the practical realizability of a tailored real-time nonlinear model predictive control (MPC) scheme for off-highway diesel engines. Besides controlling the torque and emissions, the MPC accounts for inequality constraints such as the maximum cylinder pressure by means of an augmented Lagrangian formulation. In addition, the heat-up of the exhaust gas aftertreatment system,...
A difficulty still hindering the widespread application of Model Predictive Control (MPC) methodologies, remains the computational burden that is related to solving the associated Optimal Control (OC) problem for every control period. In contrast to numerous approximation techniques that pursue acceleration of the online optimization procedure, relatively few work has been devoted towards shifting...
Widespread application of real-time, Nonlinear Model Predictive Control (NMPC) algorithms to systems of large scale or with fast dynamics is challenged by the high associated computational cost, in particular in presence of long prediction horizons. In this paper, a fast NMPC strategy to reduce the on-line computational cost is proposed. A Curvature-based Measure of Nonlinearity (CMoN) of the system...
Wearable Augmented Reality (AR) devices1 are being explored in many applications for visualizing real-time contextual information. More importantly, these devices can also be used in tele-assistance from remote sites when on-field operators require off-field expert's guidance for trouble-shooting. For an effective communication, touchless hand gestures are the most intuitive to select a Region Of...
In this paper we introduce two fundamentally different techniques for optimizing counter formations in team sports. In the first technique, we use canonical correlation analysis (CCA) to learn an "explicit" relationship between offensive and defensive formations. We then use the learned CCA components to make predictions about players' spatial position. Experimenting with the basketball...
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