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The control of nonlinear dynamic systems is often a challenging task for practical applications if the process model under consideration is significantly influenced by uncertain parameters and bounded (additive) uncertainty and if it has to be guaranteed simultaneously that specific state constraints are not violated. According to previous work, the handling of bounded uncertainty becomes possible...
Energy efficiency has become one of the major concerns in railway operation today. Generation of energy-efficient train trajectories can be modeled as solving a complex optimization problem with nonlinear and time-varying variables under multiple constraints of equality and inequality, as train operation is a dynamically vacillating process due to complex railway operational conditions. In recent...
Industrial processes which use robotic manipulators are progressively asking for the generation of real-time trajectories in order to quickly react to unpredictable events. However, trajectories generated in real-time may violate the kinematic constraints of the system and, therefore, may be unfeasible. Several online methods have been recently proposed for the constraint management. They particularly...
In the article the whole process of a manipulator controller development is presented. The controller is designed for the execution of various benchmark tasks in the field of service robotics. Initially, a set of system behaviors is presented as the base of the universal controller structure. For that purpose the embodied agent theory and the System Modeling Language are utilized. The execution and...
Effective teleoperation requires real-time control of a remote robotic system. In this work, we develop a controller for realizing smooth and accurate motion of a robotic head with application to a teleoperation system for the Furhat robot head [1], which we call TeleFurhat. The controller uses the head motion of an operator measured by a Microsoft Kinect 2 sensor as reference and applies a processing...
The present study introduces a real-time control algorithm for applications involving energy maximisation and subject to technological limitations. Development of Wave energy converters constitutes an actual topic of research, in their designs and fluid-interactions, and particularly on their controllability. Immersed WECs are subject to fluid-interaction forces, generating unusual solicitations specific...
The growth of the world's population and the dramatic increase in average life expectancy raise awareness of the global burden of elderly diseases. Mild cognitive impairments affect elderly people, which suffer a deterioration of their capabilities, with special regard to memory. Such problems often lead to disorientation or wandering: erratic movements and changes in mobility and behavioural patterns...
This paper reviews recent developments extending sampling based motion planning algorithms to operate in dynamic environments. Sampling based planners provide an effective approach for solving high degree of freedom robot motion planning problems. The two most common algorithms are the Probabilistic Roadmap Method and Rapidly Exploring Random Trees. These standard techniques are well established,...
There is increasing evidence of shortage of ramping resources in the real-time operation of power systems. To explain and remedy this problem systematically, in this paper we take a novel look at the way the day-ahead unit commitment (UC) problem represents the information about load, generation and ramping constraints. We specifically investigate the approximation error made in mapping of the original...
This paper proposes a new sensor control algorithm to adapt the operation parameters of the sensors in order to optimize temporal coverage. Traditional sensor control algorithms rely on non-probabilistic sensor coverage models and simple target trajectory prediction methods, while the new algorithm overcomes all these limitations. The proposed approach make an optimization of one sensor at the time,...
Fractional Order (FO) PID controller is a generalisation of traditional Integer Order (IO) PID controller using fractional calculus. Compared to IOPID controller, the tuning of FOPID controller is more complex and poses several challenges particularly during real time implementation. In this paper the tuning and design of FOPID controller based on design specifications (phase margin, gain cross over...
This article addresses the problem of a real-time implementation trajectory control for a miniature Quad-rotor aircraft along a time-depedent trajectory outdoor. A robust algorithm control based on sliding mode approach is proposed for the trajectory-tracking task, that ensures the convergence to a desired path r(t) in a finite time. A polynomial smooth curve trajectory is selected as reference signal...
We consider a dual-stage precision manufacturing machine where a worktool is actuated via a motion system consisting of a “fast” stage with large bandwidth but small operating range, and a “slow” stage with smaller bandwidth but larger operating range. We design a controller based on a recently developed tracking method for constrained systems that guarantees enforcement of constraints and of an assigned...
This paper uses Sequential Action Control (SAC), a model-based method for control of non-linear systems, for fast, optimal trajectory-tracking tasks in the presence of fluid drift. Through the benchmark example of the kinematic car, it is shown that SAC outperforms a traditional offline projection - based optimization technique in terms of control effort and objective cost. Motivated by recent work...
The fundamental idea of this work is to synthesize reactive controllers such that closed-loop execution trajectories of the system satisfies desired specifications that ensure correct system behaviors, while optimizing a desired performance criteria. We define the correctness of a system's behavior according to the system's relation to the environment, for example, the output trajectories of the system...
This paper studies the event-triggered control problem for continuous-time systems subject to external disturbances. In particular, we consider continuous-time systems with bounded external disturbances. To overcome infinitely fast sampling caused by the disturbance, a combination of time-based trigger and event-based trigger is proposed, and an estimation of the magnitude of the external disturbance...
Multi-CCD panoramic camera electronic image stabilization is a technique which uses image processing to reduce the wave-like fluctuation among multi-camera images caused by camera carrier jittering. In fact, real-time processing is necessary in video stabilization applications, the previous methods cannot satisfy the requirement of real-time processing. There are several steps in need of real-time...
We consider the task of real-time pulse rate estimation from the facial video of a subject recorded in a natural setting in an office environment. For estimating the pulse rate, we exploit the fact that the pulse rate does not vary drastically from one analysis window to the next. For this purpose we sparsify the spectra of windowed traces obtained by independent component analysis of the average...
This paper presents a method for the real-time determination of joint angles, velocities, accelerations and joint torques of a human. The proposed method is based on a constrained Extended Kalman Filter that combines stereophotogrammetric and dynamometric data. In addition to the joint variables, subject-specific segment lengths and inertial parameters are identified. Constraints are added to the...
Background. The rise in cases of motor impairing illnesses demands the research for improvements in rehabilitation therapy. The study of robotics for enhancing motor recovery has been gaining momentum, but there is still little standardization of tools. Objectives. This paper shows the current development state of a proposed new robotic treatment platform, primarily geared towards post-stroke cases,...
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