Presented are results of simulations of B-dot detumbling for satellites with different types of non-symmetrical mass distributions. Results are next compared withthe theoretical derivation of the problem made for the...
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ISBN:
(纸本)9781467355087;9781467355063
Presented are results of simulations of B-dot detumbling for satellites with different types of non-symmetrical mass distributions. Results are next compared withthe theoretical derivation of the problem made for the case of spherically symmetrical bodies.
the paper presents comparison between two popular predictive control algorithms DMC and PFC. General description of both algorithms are presented in details for FOPDT (First Order Plus Dead Time) dynamics. Heating pro...
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ISBN:
(纸本)9781467355087;9781467355063
the paper presents comparison between two popular predictive control algorithms DMC and PFC. General description of both algorithms are presented in details for FOPDT (First Order Plus Dead Time) dynamics. Heating process with heat source and heat exchanger was used as an example control plant for testing both algorithms. Design of controllers and tuning procedures are presented. Results of control and performance tests are included as well as conclusion remarks on practical aspects of implementation of the algorithms.
this paper presents a formation control of mobile robots with a large obstacle avoidance. the mobile robots considered in this paper have multiple sonars which are used for not only constructing formation but also avo...
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ISBN:
(纸本)9781538695821
this paper presents a formation control of mobile robots with a large obstacle avoidance. the mobile robots considered in this paper have multiple sonars which are used for not only constructing formation but also avoiding obstacle. the novel modules overcoming the drawbacks of the previous navigation algorithm [6] are introduced to accomplish the obstacle avoidance and formation control. the effectiveness of the proposed techniques are demonstrated by an experiment using three mobile robots.
In this talk, the linear dynamical system subjected to uncertainty in the system matrix is considered. Using the linear matrix inequality technique we obtain the upper bounds for the deviations in linear systems. An L...
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ISBN:
(纸本)9781538695821
In this talk, the linear dynamical system subjected to uncertainty in the system matrix is considered. Using the linear matrix inequality technique we obtain the upper bounds for the deviations in linear systems. An LMI-based stabilizing feedback procedure is proposed which guarantees "as small as possible" deviations. the results of numerical simulations demonstrate the low conservatism of the obtained bounds.
the paper studies certain unconstrained optimization problems dependent of scalar parameters and defined on infinite-dimensional Hilbert spaces. the performed asymptotic analysis with respect to the scalar parameters ...
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ISBN:
(纸本)9781467355087;9781467355063
the paper studies certain unconstrained optimization problems dependent of scalar parameters and defined on infinite-dimensional Hilbert spaces. the performed asymptotic analysis with respect to the scalar parameters shows that the unconstrained parametrized optimization problems provide solutions to some optimal control problems for infinite dimensional control systems with constraints. Applicability of the general results is illustrated with two examples.
In this paper, the cascade control of the supply system for the heat exchanger is presented. the aim of the work is the construction of cascade control system, when the output for the inner loop is not measurable. thi...
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ISBN:
(纸本)9781467355087;9781467355063
In this paper, the cascade control of the supply system for the heat exchanger is presented. the aim of the work is the construction of cascade control system, when the output for the inner loop is not measurable. this signal is reconstructed by using the state observer derived from the distributed parameter model of the heat transportation and its implementation is based on the orthogonal collocation method. the idea is verified by simulation and the results are compared with single loop control system with PI controller.
Human machine interfaces (HMI) have become a part of our daily lives. they are an essential part of a variety of products ranging from computers over smart phones to home appliances. Customer's requirements for HM...
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ISBN:
(纸本)9789897585227
Human machine interfaces (HMI) have become a part of our daily lives. they are an essential part of a variety of products ranging from computers over smart phones to home appliances. Customer's requirements for HMIs are rising and so does the complexity of the devices. Several years ago, many products had a rather simple HMI such as mere buttons. Nowadays lots of devices have screens that display complex text messages and a variety of objects such as icons. this leads to new challenges in testing, the goal of which it is to ensure quality and to find errors. We combine a genetic algorithm with computer vision techniques in order to solve two testing use cases located in the automated verification of displays. Our method has a low runtime and can be used on low budget equipment such as Raspberry Pi which reduces the operational cost in practice.
In this paper a detailed description of constructive algorithms aimed at generating controllable nilpotent systems is presented. Exemplary nilpotent systems with varied degree of nilpotency, number of generators and s...
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ISBN:
(纸本)9781467355087;9781467355063
In this paper a detailed description of constructive algorithms aimed at generating controllable nilpotent systems is presented. Exemplary nilpotent systems with varied degree of nilpotency, number of generators and state space dimensionality are provided. Some combinatorial questions concerning a structure of the systems are stated and answered. Nilpotent systems can serve as useful models for practical and benchmark problems in control and motion planning tasks.
there is method for real time frequency analysis of the electromyogram is described in article. this method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method co...
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ISBN:
(纸本)9781467355087;9781467355063
there is method for real time frequency analysis of the electromyogram is described in article. this method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of real-time frequency estimation with preliminary using of band-pass filter. the method is easy to program and does not require any additional resources. the article gives an example of using this method in classification of movements problem which is actual for robotics and human-machine interfaces.
Most research on vision and force control of robot manipulators has assumed that the kinematics and constraint surface are known exactly. In this paper, the vision and force control problem of robots with uncertain ki...
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ISBN:
(纸本)9781424403417
Most research on vision and force control of robot manipulators has assumed that the kinematics and constraint surface are known exactly. In this paper, the vision and force control problem of robots with uncertain kinematics, dynamics and constraint is addressed. An adaptive setpoint control law based on neural networks is proposed. Sufficient conditions for choosing the feedback gains are presented to guarantee the stability. Simulation results are presented to demonstrate the effectiveness of the proposed controller.
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