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This paper demonstrates some experimental proofs of the model for the classification and identification of robot sensing data. Autonomous robots are equipped with varied sensors to assist them in understanding and interacting with their environments. In contrast to traditional model approaches that are based on the Gaussian assumption, we propose the application of the infinite Gaussian mixture model...
The observer presented in this paper, which was based on the use of three minimalistic bio-inspired Visual Motion Sensors (VMS) detecting Optic Flow (OF) cues, states was intended as a backup solution in the case of Inertial Measurement Unit (IMU) failure. Contrary to most previous Guidance Navigation and Control (GNC) solutions for planetary landing, which have involved a sensor suite including an...
This paper describes an algorithm for robotic motion planning that is capable of optimising several cost functions simultaneously to provide optimised, feasible and collision-free paths. The algorithm is based on the best-first graph search algorithm using a Pareto frontier to evaluate costs at each node. Additionally, we include a calculation of the distribution of robot trajectories when the path...
In this paper, a nonlinear control method called flatness-based control (FBC) is proposed to manage the delivered wind turbine (WT) energy to the grid. The studied system includes a three-bladed horizontal wind turbine and a permanent magnet synchronous generator (PMSG) which is connected to the grid through a back to back converter. The proposed control method is carried out by planning the appropriate...
Saturation strongly affects the performance of interior PM machines and thus the use of linear (constant parameter) equivalent-circuit models for such machines generally results in substantial errors. This paper investigates the use of a linear magnetic model which is combined with a flux-linkage limit, so that it corresponds to a flux density or saturation limit. The model is used to predict the...
This paper presents an incremental sampling-based approach for trajectory imitation in cluttered environments using the RRT* algorithm. Inspired by the discrete Laplace-Beltrami operator the underlying distance metric is based upon the difference from a reference trajectory through a quadratic distance term incorporating velocity and acceleration deviations along the trajectory. Mathematically-backed...
In order to realize lateral control of vehicles on an automated highway system (AHS), it is necessary to measure and/or predict vehicle deviation from the path to be followed (reference line). In this study, a simple multiple look-ahead distance scheme is proposed; in particular, simple feedback control that uses vehicle lateral deviations at three look-ahead points is proposed. Simulations are conducted...
This work addresses discrete time modeling, implementation and design options for the current control of three phase grid tied PWM converters. Based on an accurate discrete time model of the PWM converter, closed loop current control is reviewed from the perspective of the synchronous and stationary reference frame. Then, implementation options for the synchronous frame proportional integral (SFPI)...
A comparison between standard model predictive control (MPC), an L1-norm based MPC formulation and timeoptimal control is presented in this work. It is shown that MPC with an L1-norm based cost functional can successfully approximate time-optimal control with the advantage of a computationally less complex problem formulation. Furthermore, compared to standard quadratic form based MPC, the L1-norm...
Aiming at the velocity jump caused by joint failure of manipulator, a method is proposed to reduce velocity jumps in both Cartesian space and joint space. Based on the analysis of velocity jump, the reduction problem is turned into an optimization problem of finding the best compensation vector for joint velocity. The gradient of the reduced manipulability is applied to represent the weight for joint...
The main aim of this paper is to point out the possibility of utilizing Petri net-based approaches at solving different kinds of problems. Place/transition Petri nets (P/T PN) are utilized here to model the problems and to find the succession(s) of steps leading to their solving. The steps are conditioned either by knowledge based on experience or by a group of rules, constraints, limitations, etc...
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...
An approach to design of electromechanical system control based on the speed bi-gradient method is considered. The design procedure is applied for a control system consisting of Lagrangian output subsystem and affine input subsystem. The simulation results show well-enough tracking of output subsystem trajectories to reference signal under parametric uncertainties.
The paper represents the flight-dynamic singlerotor helicopter mathematical model and describes its elements. The features of flight-dynamic single-rotor helicopter are given. We describes the math model applications and discuss the simulation results in conclusions.
Dim objects tracking, like asteroids or satellites, require high performance algorithm. Track-Before-Detect (TBD) algorithms could be applied for such scenario, but the computation power is very demanding. Giant amount of trajectories that could be processed is the main problem. The application of GPGPU allows the computation using optimized Downsampled Spatio-Temporal TBD (ST-TBD) algorithm for small...
We propose a system for continuous reauthentication of web users based on the observed mouse dynamics. Key feature of our proposal is that no specific software needs to be installed on client machines, which allows to easily integrate continuous reauthentication capabilities into the existing infrastructure of large organizations. We assess our proposal with real data from 24 users, collected during...
In this paper, we propose an obstacle avoidance algorithm for finite-time formation protocols of multi-agent systems, which are required to move in the specific formation and avoid obstacles meanwhile. Firstly we will introduce these finite-time formation protocols, and introduce the finite-time consensus of these protocols and other results which have been published. And then, we will apply these...
In this paper, we propose and implement the data mining techniques for verification of hand-writing recorded in an image. The captured images are considered independent of writing material in this system. This system consists of six sub-modules. Namely, i) Sample image data acquisition and preprocessing; ii) Vectors generation; iii) Computation of clusters; iv) Cluster Head Computation v) Pattern...
This paper examines the issue of staying within the voltage capacity of a fixed bus voltage inverter during increasing magnetization state (MS) of variable flux permanent magnet synchronous machines (VF-PMSMs). MS manipulation using a fast stator id pulse is shown to induce a large voltage even at low speeds. In order to utilize the power conversion capability and improved efficiency regions of VF...
This paper considers the problem of modeling complex motions of pedestrians in a crowded environment. A number of methods have been proposed to predict the motion of a pedestrian or an object. However, it is still difficult to make a good prediction due to challenges, such as the complexity of pedestrian motions and outliers in a training set. This paper addresses these issues by proposing a robust...
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