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Due to low-cost and simplicity, differential drive mobile robot are very popular in academic and hobby environments. However, in some applications, such as robot soccer, these robots need to move quickly and aggressively, thus requiring the use of techniques from control systems theory, where an accurate mathematical model is paramount. On the other hand, given budget limitations, the components used...
Unmanned Aerial Vehicles (UAVs) with different configurations exist to supply requirements for diverse applications. One of them is the tailsitter that gathers complementary advantages from Vertical Takeoff and Landing (VTOL) and fixed-wing UAVs. In this paper, we present a new design of a tailsitter UAV, named AVALON (Autonomous VerticAL takeOff and laNding). This UAV is composed of typical actuators...
This paper aims to present a visual servoing control strategy that uses visual information, acquired by a fiducial system, to solve the regulation to an arbitrary pose problem in differential driven mobile robots. In addition, in order to make this system more robust and immune to occlusion, we will use an Extended Kalman Filter to fuse odometric data and the data acquired from several landmarks....
There are many commercially available rheometric instruments that link bolus formulation and flow characteristics to quantitative engineering metrics. However, the exploration of these relationships does not necessarily capture the macroscale of bolus transport or arguably the most important interaction: what pressure the alimentary tract imparts on a bolus during swallowing, and to what end is viscosity...
Bayesian theories and inference play important role in developing efficient data search and selection models. Searching and selecting electroencephalographic (EEG) artefacts play critical role in the development of robotic control signals. The adaption of search theory in EEG artefact selection increases the efficiency and accuracy of robotic control signals. Random EEG artefact matching to usable...
In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller,...
An ideal steering characteristic is of great importance to improve the handling stability of four-wheel independent steering (4WIS) electric vehicle. For this reason, we proposed in this paper to use LQR optimal control theory to control variable gear ratio steering control through rear active steering. To realize great steering gain (i.e., quick response to handling) at low speeds and small steering...
As a new type of flexible drive, pneumatic artificial muscle (PAM) has been widely concerned in various fields, but the research on the dynamic characteristics is difficult because of its strong nonlinearity and hysteresis. In this paper, the effects of system hardware configuration and control algorithm on the dynamic displacement characteristics of the double parallel Mckibben artificial muscles...
The sag of power transmission line is of great significance to the safe operation of the whole transmission systems, and is also an important indicator of the line design. A new method to measure the sag of the transmission line was presented in this paper, which was based on the laser ranging and the image processing technology. Firstly, the contrast enhancement and threshold segmentation were used...
The application of Artificial Intelligence methods is becoming indispensable in several domains, for instance in credit card fraud detection, voice recognition, autonomous cars and robotics. However, some methods fail in performances or solving some problems, and hybrid approaches can outperform the results when compared to traditional ones. In this paper we present a hybrid approach, named qualitative...
This paper discusses about the hybrid cascaded nine level inverters for photovoltaic applications. Cascaded multi-level inverter is made up of series connected half bridge inverters and the output voltage of cascaded MLI is the sum of all inverter output voltages. Cascaded MLI produce staircase output voltage waveform having less harmonics, high output voltage, lower acoustic noise, as compared to...
The high penetration of renewable energy sources in electrical distribution networks is giving rise to new challenges in the low voltage network operation. Power electronics converters are widely used to connect these energy resources to the grid, and the control technique that emulates the operation of synchronous generators is attracting the attention of researchers in recent years. Such converters...
This paper proposes the finite control set applied to the current control of an interleaved boost converter of photovoltaic systems. The proposed controller select the state of the converter semiconductor by using the predicted behavior of the converter and the minimization of a cost function. Hence, the controller guarantees that the current reference is reached. The current reference is computed...
For modeling of distribution of electromagnetic waves taking into account a land relief Simulink model founded on formation of a surface of the electromagnetic field on large territories is offered.
Maximum power point tracking (MPPT) is required to extract the maximum available power in PV systems. Wide variety of methods exist in literature, with range of complexity and effectiveness. The features of these diverse methods are usually evaluated at specific environmental conditions for a tiny period, and then the evaluations are generalized for PV systems working under long-term environmental...
This paper presents an investigation of the chaotic behavior of power electronic converters. The DC-DC converters are highly nonlinear devices. The switches and passive components make the behavior of these converters difficult to be characterized with the conventional analytical tools. Therefore, investigating modeling methods and analysis is necessary. Knowing the behavior of these converters allows...
The greatest concern facing renewable energy sources like wind is the uncertainty in production volumes as their generation ability is inherently dependent on weather conditions. When providing forecasts for newly commissioned wind farms there is a limited amount of historical power production data, while the number of potential features from different weather forecast providers is vast. Bayesian...
In the given article described principles of modeling of the transformations elements of power sources control. The classical methods of modeling of transformations circuits do not provide necessary accuracy due to complexity of representation of interdependence between input and output quantities and parameters, and the difficulty in representing inter chain and inter chain dependencies and providing...
In this paper, we present an approach to Multi-Object Tracking (MOT) that is based on the Ensemble Kalman Filter (EnKF). The EnKF is a standard algorithm for data assimilation in high-dimensional state spaces that is mainly used in geosciences, but has so far only attracted little attention for object tracking problems. In our approach, the Optimal Subpattern Assignment (OSPA) distance is used for...
Granger causality is proposed to fuse stock prices and social media sentiment information for stock market prediction. Sentiment extraction is performed on the Twitter data from major stock companies. Analysis shows that authoritative user's sentiment affects the other users after an event with the lag of 3 days. The prediction is performed for Twitter and stock data from four companies. The sentiment...
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