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This paper examines synchronous machines, whose excitation axis and reluctance axis can have an arbitrary angle. Basic equations for this machine type are set up and control strategies for maximum torque are derived. By using a normalized representation, it will be shown that machines with displacement angles of about 60° need up to 10% less permanent magnet material than conventional machines while...
The paper presents the average path estimation algorithm. This algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for...
Based on a decentralised control structure, two fast nonlinear model predictive control (FNMPC) algorithms — a gradient-based FNMPC and a Newton-Raphson-based FNMPC — are investigated and compared for the tracking control of the motor angular velocity of a hydrostatic drive train, which is commercially used in working machines. A flatness-based approach is employed for the tracking control of the...
In this paper, we proposed the adaptive RISE control algorithm for flexible-link manipulator. Via Singular Perturbation theory and the concept of integral manifolds, we divided the coupled nonlinear flexible-link manipulator dynamic system into two time-scaled decoupling subsystems. For slow-varying subsystem, we proposed the gain-varying RISE control algorithm to achieve trajectory tracking in spite...
This paper presents a new algorithm for the automatic adaptation of planar motion for an exoskeleton device. The designed control algorithm aims at adapting the motion of the hemiparetic patient “wearing” the exoskeleton to the desired gait based on the patient's active torque. The patient-exoskeleton coupling is modeled as a stand-alone planar nonlinear hybrid two-legged robot model with point feet...
In order to drive the electric machines using the motors efficiently, the energy loss should be minimized during its operation. The optimal torque and rotating speed trajectories to minimize the energy loss of the induction motor (IM) during its operation has been proposed when the operation time, rotating speed, and rotational angle are given as drive conditions. However, the optimal trajectories...
Increasing safety and efficiency of autonomous vessels also requires advanced navigation strategies. For the marine systems the task is even more complex than, e.g. for field robots, since hydrodynamic effects should be taken into account also. It is becoming even more challenging for underactuated vessels. Indeed, utilizing the virtual holonomic constraints approach we illustrate that regardless...
Underwater glider moves vertically by change in buoyancy and moves horizontally due to wings. In this paper, we validate the experimental lift and drag characteristics of a glider from the literature using Computational Fluid Dynamics (CFD) approach. This approach is then used for the assessment of the steady state characteristics of a glider under development. Flow behavior and lift and drag force...
Models of human mobility have broad application in fields such as mobile computing, network planning and resource preservation. In LTE network, the rapid increasing number of mobile broadband users requires the availability of enhanced data services and efficient mobility management. This paper focuses on service evolved Node B (eNodeB) prediction in LTE cellular network based on human mobility, and...
In this study an adaptive fuzzy terminal-based neuro-sliding mode control (AFTNSMC) was proposed for control of ankle joint using intraspinal microstimulation (ISMS). The controller is based on the combination of an adaptive terminal-based neural controller with sliding-mode control (SMC). The most advantage of terminal dynamics is the fast convergence compared to the conventional gradient descent...
In this paper, we assume that a single pedestrian is a single blob, and define the representative properties of blobs to selection between merge and split of blobs. And we collect attribute information of the blob and make decision tree by using the ID3 algorithm. Next, we experimented for dividing the decision tree by directing the status of merge and split, as a result, it is possible to generate...
DC-DC converter is a variable structure control system inherent due to the characteristics of the power switch. Sliding mode control technology is ideally suited for variable structure control system. In this paper, the sliding mode controller is designed based on the hysteresis modulation. The sliding surface parameters and the width of the hysteresis loop are given. Finally, a simulation of BUCK...
Robotic surgery is being used widely due to its various benefits that includes reduced patient trauma and increased dexterity and ergonomics for the operating surgeon. Making the whole or part of the surgical procedure autonomous increases patient safety and will enable the robotic surgery platform to be used in telesurgery. In this work, an Electrosurgery procedure that involves tissue compression...
A persistent question in multivariate neural signal processing is how best to characterize the statistical association between brain regions known as functional connectivity. Of the many metrics available for determining such association, the standard Pearson correlation coefficient (i.e., the zero-lag cross-correlation) remains widely used, particularly in neuroimaging. Generally, the cross-correlation...
Modeling the passive behavior of the knee in subjects with spasticity involves the applied external torques (e.g. gravitational torque), the intrinsic moments due to tissue properties, as well as active, neurally defined moments resulting from the hypersensitivity of reflexes introduced by disability. In order to provide estimates of the necessary intrinsic terms in the equation of motion, the push-pull...
A singing voice synthesizer has been developed for an entertainment tool. Using the synthesizer, operator can control pitch, loudness, and depth of vibrato for the vowel-like output sound by his arm motions. The phonetic quality of the sound is controlled by a wrist angle of the operator. Since unnecessary formant transition often occurs in this phoneme determination, the improved algorithm is proposed...
A novel method of doing co-ordinate transformation for LC/van der pol(vdp) oscillator is proposed. It allows vdp to be solved as a conservative system by applying Hamiltonian formulation using calculus of variation. The procedure is developed to calculate the constant of integration, a generalized concept of energy. Such constant of integration, which is different from energy, has implication on the...
In industry, the four-bar mechanism is popularly applied in the trajectory generation. Different types of trajectories are generated by the chosen of the ratio of links. However, the five-bar mechanism is more flexible to generate a specific path due to it has two degrees of freedom. The geared five-bar mechanism is then commonly used by reducing the degree of freedom of the mechanism into one by...
System-level design for hybrid systems is complex and error-prone. To ensure correctness, formal methods are usually considered, and have been successfully applied in practice. Refinement for discrete systems is well-known, while little work has been done for hybrid systems. In this paper, we first present an envelope semantics for hybrid systems, where control and physical devices are separately...
Simulation of retail space is a growing topic in the multi-agent systems community. Those systems vary depending on many issues, such as the type of store, or type of behaviour. The kind of issue that is wished to be simulated, or the type of data used to build the simulation, are other subjects of variations. Our ambition is to develop a simulator using a generic model, based on real data easy to...
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