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Given 2D discrete vector-geometric trajectories generated by a controllable, quarter-plane causal system, we identify an unfalsified Roesser model for it. We first compute state trajectories from the factorization of constant matrices directly constructed from the data; the A, B, C and D matrices of the Roesser model are then determined solving a system of linear equations involving the data and the...
The paper considers a group of systems (agents), each of which described by a model consisting from a linear part and a static nonlinearity, satisfying special quadratic constraints, connected by a feedback. All systems operate in the repetitive mode with a constant pass length, and with resetting to the initial state after each pass is complete. Data connections among the systems are defined by a...
In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified Extended Kalman Filter and utilizes TDOA (Time Difference of Arrival) results obtained from UWB system and results of acceleration measurement performed by the...
The authors have studied a motion generation by a wobbling mass attached in the center of a semicircular-shaped body, and showed that generation of a downward motion on a downhill is possible through 4-DOF 1-input underactuated-system with 1-DOF linkage inside the body. The system is, however, difficult to generate a forward motion on level surface. Currently, the authors set the trajectory of the...
The paper describes application of CNN with memristive units to simple movement recognition. Each cell of CNN comprised input and output template connected to voltage controlled memristor. The experimental results were obtained by using simulation software. The proposed model proved to be capable of recognizing simple pixel trajectories over a two-dimensional grid.
This paper describes the prediction and prevention of losing steps in helical teethed linear actuator (HTLA) for artificial muscle. When the rapid external force is applied to the HTLA, it becomes a state of losing steps. Therefore, it is important to predict and prevent this phenomenon. First, we clarified the phenomenon of losing steps in the HTLA by using numerical simulation with 3-D FEM. Next,...
The paper considers and substantiates the possibility of using induction motors with frequency regulation instead of special engine types for precision control of large antennas. The dynamic errors arising in control systems during the low Earth orbit (LEO) satellites trajectories tracking are investigated. The simulation results of the test trajectory tracking using different laws of frequency regulation...
In this paper, the problem associated with accurate control of a four-wheel steering mobile robot following a path, while keeping different desired absolute orientations and ensuring different desired lateral deviations, is addressed thanks to a backstepping control strategy. In particular, the control of each steering angle is investigated through a new parallel steering approach based on an extended...
Due to growing concerns for pollution caused by gasoline powered vehicles, countries around the globe are becoming increasingly aware of a promising means of transportation—plug-in electric vehicles (PEVs). Despite their incomparable advantages over traditional vehicles in emission reduction and energy saving, PEVs impose significant pressure on the existing power systems. Therefore, understanding...
This study presents simulation results of nonholonomic mobile robot control with path planning which is based on Bézier Curves. The purpose of this paper is set to develop a simulation model for differential drive wheeled (DDW) robot by using MATLAB/Simulink environment. Fractional order PID structure is used to increase the tracking performance of DDW robot. Simulation results are compared for the...
The calibration (measurement of the position) of a network of wireless nodes used for indoor localization purposes is a tedious process and prone to errors if done manually. This paper presents a method for the autocalibration of that network, using the measurement of the received signal strength (RSS) of RF signals coming from the nodes, and captured while a person is taking a random walk in the...
Permanent magnet linear motors (PMLM) are widely used in high precision machineries. With the removal of the transmission elements, the positioning performances of PMLM are easily affected by parameter variations and external disturbances. Various control approaches were proposed, yet it was noticed that majority of these controllers have complex design procedures, and require accurate model parameters...
This paper proposes a new method for tracking the whole trajectory of a ballistic missile from launch to impact on the ground. Multiple state models are applied for the ballistic missile movement descriptions during different phases, while the transition probabilities are modelled in a state-dependent way. A radar sensor is applied to obtain the missile range, azimuth angle and elevation angle measurements...
This paper investigates the problem of Teaching by Demonstration (TbD) on a KUKA lightweight robot (LBR). Motions are recorded by a human operator, and then the data is used to model a nonlinear system, i.e., the dynamic motor primitive (DMP). In order to learn from multiple demonstrations, Gaussian Mixture Models (GMM) are employed rather than using conventional Gaussian process for the evaluation...
To reduce the effects of modeling imprécisions, in the traditional “Receding Horizon Control” that works with finite horizon lengths, in the consecutive horizon-length cycles, the actually measured state variable is used as the starting point in the next cycle. In this design, within a horizon-length cycle, a cost function is minimized under a constraint that mathematically represents the dynamic...
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for most of the time localization is calculated based on received signal strength (RSS). UWB technology is used less often. Time difference of arrival (TDOA) values measured...
Path planning is the one of the most basic research areas in robotics. It simply concern about acquiring a safe path with admissible cost. In this study, we adapt bidirectional rapidly random exploring tree (Bi-RRT) path extraction to visual based configuration space map hosting obstacles and smooth result path with curve fitting models. Firstly, a map of the configuration space is created and robot,...
Possible approaches to building the information and mathematical models to evaluate of the effectiveness and quality of the University are discussed in this paper. We characterize cycle of university management, determine the factors affecting the performance activity of universities, identify indicators of assessment of effectiveness and quality, formulate the problem of university management through...
A mathematical model of electrically charged plastic particles movement in the free-fall electrostatic separator is discussed based on the theoretical analysis and experimental observation. The formulated model considers both field-to-particle and also particle-to-particle interactions and takes into account stochastic characteristics of the model parameters. Simulation of particle motion, therefore,...
How to bound the state vector trajectory of a nonlinear system in a way so that the obtained bound be of practical value is an open problem. If some norm is employed for bounding the state vector trajectory, then this norm should be carefully selected and the state vector components suitably scaled. In addition, practical applications usually require separate bounds on every state variable. Bearing...
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