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In this paper, we present a new property of relative observability, and based on this property, we propose two algorithms to deal with relative observability of regular languages. The first algorithm, that has polynomial complexity, verifies if a regular language is relatively observable. The second algorithm, that computes the supremal relatively observable sublanguage of a given regular language,...
Real-Time Optimization (RTO) is not always able to achieve optimal process operation due to different reasons, among them the presence of significant uncertainty in the plant models that are used to make decisions or the differences between control architecture layers which operate at different time-scales and use different kind of models. To overcome these issues the economic optimization problem,...
As distributed systems such as automotive, medical, manufacturing automation become larger and more complex, it is difficult to test these systems. Also, the synchronization of distributed applications make the testing more difficult. In the Software-in-the-Loop (SiL) simulation, a synchronization method among clock of applications is provided for virtual hardware devices and environment. A typical...
This paper proposes an intelligent formation control method of the leader and follower agents with nonlinear dynamics using our proposed cerebellar perceptron improved model with auto-structuring mechanism. In the proposed method, each agent can follow the leader, exchanging only information of positions (without velocities) of the observable agents including the leader and taking a predefined formation...
This paper presents a solar PV array fed water pumping system using an induction motor drive (IMD). There are two stages in the solar array fed water pumping system, its first stage extracts the maximum power from the solar PV (Photo Voltaic) array by controlling the duty ratio of the DC-DC boost converter. To control the duty ratio, an INC (Incremental Conductance) based MPPT (Maximum Power Point...
The aim of simulation technique for production line is to find out the most feasible scheme which designers made for the project. Simulation technique can verify the actual effect of the project from the schemes. Combined with the actual production mode, the article analyzed the bottleneck of production efficiency under different shifts. It mainly discussed the value of simulation technology for production...
This paper contains the development and analysis of the human motion state and the algorithm of the fall prediction based on the double foot pressure and the micro inertial MEMS sensors. The fall prediction hardware system consists of three parts, the double foot nodes and the waist node and how it was designed, which could measure the foot pressure parameters and the inertial parameters in different...
A common UAV(Unmanned Aerial Vehicle)'s collision avoidance module was introduced in this paper to handle the flight safety of the UAV. Some ultrasonic sensors were used to collect the obstacle's distance and direction information in real time. The fuzzy algorithm was used to plan a new obstacle avoidance path based on the information. By taking over the control right of the flight controller and...
A novel small underwater robot for ocean observation is introduced, especially suitable for fixed point or small range and underwater slit and gully area of ocean observation. The underwater robot adopts the jellyfish shape design, changes its attitude through adjusting underwater robot's center of gravity position, and possesses five degrees of freedom combining the propeller thrust. Four cameras...
A super twisting repetitive control (STRC) system is proposed, to improve periodic reference tracking performance, as well as compensate periodic and aperiodic disturbances. The design algorithm is based on the concept of super twisting control (STC), and repetitive control (RC). With five tuning parameters, the STRC provides a convenient method to solve the complex engineering problems. The comparison...
In this paper, the Multi-Agent technology is applied in the advanced manufacturing, and a flexible, integrated, intelligent, networked workshop management control system is proposed. The production scheduling process is described in detail. Finally, the conclusion is drawn by MATLAB simulation.
According to the principle of electronic compass, we analyze the error of the E-compass and propose a calibration scheme in view of magnetic deviation, which is based on the self-designed tri-axial magnetometer system. The hardware is made by tri-axial magnetometer and tri-axial accelerometer. Considering the magnetic interference of the external environment will affect the magnetic deviation, we...
Welding robots with strong robustness and high-precision trajectory tracking control play an important role in performing automatic welding processes under complex dynamic environments. This paper proposes a new variable structure control (VSC) based on multi-sliding-surface for welding robots with parameter uncertainties. The whole sliding-mode surface of VSC is divided into three sub-sliding-mode-surfaces...
Microgrids are key elements for integrating various distributed energy resources (DERs). Conventionally, the real power-frequency droop control and the reactive power-voltage magnitude droop control are adopted in DERs. However, when the power is up to an extreme limit, the frequency and voltage must be cut off and the control strategies can no longer adopt the droop control but the PQ control. In...
This paper presents a simplified Zero Moment Point algorithm for fall detection using inertial MEMS sensors. Based on body posture and stability judgment optimization system, we realized real-time detection and analysis of the falls. The system can be used in moving people airbag system that can prevent a major part of the induced fracture of the elderly from falls. Hardware includes the nodes that...
Disease prediction and the pursuit of health has always been the relish topic, especially as the aggravating population aging phenomenon. However, the existing medical knowledge used in disease prediction system is given by experts, which is vulnerable to restrictions of real-time and convenience. On the other hand, people don't want to use the high cost, complex medical monitoring system which could...
Jumping robots provide an effective solution to overcome obstacles and perform locomotion in a rough and unstructured terrain. In this paper, an overview of jumping robots' principle, types, jumping and energy storage mechanism, uprighting mechanism, steering mechanism and models of kinematic and dynamic are presented. The existing technical problems and the future work are also discussed.
In the present paper a lower limb exoskeleton is considered. The goal of the paper is to discuss an application of two types of feedback controllers: an iterative LQR and an adaptive PD controller. Comparative analysis of two controllers is done using data from numerical simulation of sit-to-stand motion of the exoskeleton, controlled by each of the controllers. Results of the numerical simulation...
This paper studies the case of the methane flare of the Okhotsk Sea slope, It is made a large scale acoustic sweep focusing on the east slope of Sakhalin Island based self-developed software SONIC. Detecting and judging the location of undersea methane gas leaks (GF), reisen and seabed, surveying morphological changes of methane release point with collecting the echo signal and visualization fuctions...
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