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This paper suggests a model-free control approach for tuning nonlinear state feedback controllers to ensure model reference output tracking in an optimal control framework. An iterative Batch fitted Q (BFQ)-learning strategy uses two neural networks (NNs) to estimate the value function (critic) and the controller (actor). An initially stabilizing linear Virtual Reference Feedback Tuning (VRFT) controller...
In this paper, a kind of decentralized robust fuzzy controller which uses nonlinear local models is designed for the control of large-scale interconnected systems. The approach of T-S fuzzy model with nonlinear local models rather than with linear local model can bring some advantages. Especially for large-scale interconnected systems which often contain a lot of complex nonlinear interconnection...
In recent years, SAR (Synthetic Aperture Radar) has been widely used in the real-time guidance system. As the foundation of system, SAR image registration directly affects the guidance performance. In order to achieve the high precision and low computation, in this paper, we adopt well-known FAST (Features from Accelerated Segment Test) for feature detection and BRISK (Binary Robust Invariant Scalable...
In the area of belief revision, several different constructive models were discussed in the literature, such as epistemic entrenchment, system of spheres, faithful total preorder and so on. All these models could be used to characterise AGM revision operators. However, the relationship among these models was absent. This paper mainly concerns whether these models are equivalent, and whether we can...
This paper proposes an event-triggered course-tracking control approach of marine surface vessels based on output reference tracking method. Throughout this work, a reference system, which consists in the continuously controlled version of the system understudy, is employed. Based on the difference between the state of the event-triggered system and that of the reference system, a Lyapunov-like function...
Discovering the causal relationship from the observational data is a key problem in many scientific research fields. However, it is not easy to discovery the causal relationship by using general causal discovery methods, such as constraint based method or additive noise model, among large scale data, due to the curse of the dimension. Although some causal dividing frameworks are proposed to alleviate...
In this paper, a nonlinear estimator is developed to estimate the effect of friction on the performance of an ultrasonic motor (USM). Based on the friction model of USM, a friction estimator based compensator is developed for eliminating the effect of friction existing in between the surfaces of stator and rotor of the USM. Then, a proportional plus integral (PI) control strategy with friction estimator...
After the introduction of information technology (IT), the government needs to take the initiative to start IT projects for the automation of government process to the citizen. Statistics show that a high number of government IT projects fail and only 15 percent e-government projects are successful. In this study, we will answer this research question, what are the reasons for failure of IT projects...
Rate distortion optimization helps decide the best coding mode and partition to improve coding efficiency, but suffers from serious data dependency and complexity that hinders an efficient hardware encoder implementation. Thus, this paper presents a hardware-friendly fast rate-distortion method and its design. For rate estimation, we propose a context group adaptive entropy based method for more precise...
For i-vector model, normalization approach is Probabilistic linear discriminant analysis and has a significant performance for verification of speaker. However it requires a huge development data which cost a lot in many cases. Unsupervised adaption method is a possible approach, which use unlabeled data to adapt PLDA scattering matrices to the target domain. In this paper, ‘local training’ approach...
Due to the confined intraocular space and physical constraints in tool manipulation, snake-like robots have a significant potential for use in retinal microsurgery. By enhancing the dexterity at the tool tip, not only the operable space on the retina can be enlarged, but also the delicate target tissues can be reached at an optimal angle minimizing the damage and making the operation much easier....
How to design a robotic hand for reproducing the move characteristics of human hand joints is a big challenge in robotics. In this paper, we present an approach to determine the actuation configuration based on the statistical results of hand joint angle in different grasps. A relationship between the basic statistical metrics and actuation configuration strategies is built. In this case, a novel...
The success of deep learning techniques in the computer vision domain has triggered a range of initial investigations into their utility for visual place recognition, all using generic features from networks that were trained for other types of recognition tasks. In this paper, we train, at large scale, two CNN architectures for the specific place recognition task and employ a multi-scale feature...
In this paper, a new robust position controller is proposed for Series Elastic Actuators (SEAs) by using Sliding Mode Control (SMC) and a second order Disturbance Observer (DOb). The latter estimates not only disturbances but also their first and second order successive derivatives. A simple yet efficient dynamic model of the position control system is derived by using the analogy of a two-mass-spring-damper...
There has been an increasing interest in the use of correlation filters for visual object tracking due to their impressive tracking performance. However, existing correlation filter based tracking methods, such as Struck and Kernelized Correlation Filter (KCF), cannot always solve tracking problems in complicated conditions such as heavy occlusion and aggressive motion. In this paper, we proposed...
The purpose of this research is to present a new method to achieve precise position tracking control for robot finger with variable stiffness mechanism. First, the variable stiffness design of the finger which is actuated by SMA-3 fibers is presented. Then, the relationship between the variation of pulling force ΔF of the bending robot finger and input voltage of SMA-3 is established. In addition,...
Magnetic untethered millirobots, which are actuated and controlled by remote magnetic fields, have been proposed for medical applications due to their ability to safely pass through tissues at long ranges. For example, magnetic resonance imaging (MRI) systems with a 3–7 T constant unidirectional magnetic field and 3D gradient coils have been used to actuate magnetic robots. Such magnetically constrained...
In surface treatment processes like plasma spraying and spray painting of workpieces, protecting the uninvolved surface by applying masking tape is a common process. Due to the operation complexity for different geometries, such taping tasks depend on a lot of manual works, which is tedious and tiring. This paper introduces an automatic agile robotic system and the corresponding algorithm to do the...
In the scope of the study, it was aimed to discover a closed multi-storey environment with autonomous air robots and produce a three dimensional map. In order to reduce the complexity of the three-dimensional exploration algorithm, we have developed Target Elimination Method that can calculate the result by narrowing the problem space. The Target Elimination Method ensures that the exploration algorithm...
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