Model order selection and parameter estimation for Gaussian mixture model (GMM) are important issues for clustering analysis and density estimation. Most methods for model selection usually add a penalty term in the o...
详细信息
the aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. there is proposed a multistage classification rule using on every stage only one set of the signal ...
详细信息
the aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. there is proposed a multistage classification rule using on every stage only one set of the signal coefficients. the hierarchical construction of wavelet multiresolution analysis was an inspiration for the multistage classification rule. the algorithm makes an optimal decision for every set of coefficients and its main advantage is a smaller dimension of classification problem on every stage.
In this paper a method to speed up a convergence of the Newton algorithm of motion planning for manipulators was presented. the method couples one dimensional optimization (with respect to a coefficient influencing th...
详细信息
In this paper a method to speed up a convergence of the Newton algorithm of motion planning for manipulators was presented. the method couples one dimensional optimization (with respect to a coefficient influencing the convergence property of the algorithm) with a virtual goal replacing a real goal of the planning. the first modification of the basic Newton algorithm can be used for any taskspace while the second one works only for low dimensional (not greater than 3) taskspaces. An algorithm based on the method was provided and its efficiency was illustrated on a planar double pendulum manipulator.
In this paper a method of designing the rule bases of fuzzy controllers for Wheel Slide Protection Systems (WSP) for rail vehicles is presented. In this method results of simulation of two reference controllers are us...
详细信息
In this paper a method of designing the rule bases of fuzzy controllers for Wheel Slide Protection Systems (WSP) for rail vehicles is presented. In this method results of simulation of two reference controllers are used, both of which use signals which are nor available during normal operation of the systems, i.e. adhesion coefficient and translation velocity of the vehicle. Simulations have performed on a simulation model of a braked rail vehicle and controllers implemented in Matlab Simulink ® . the proposed method makes possible automatization of the design process of WSP fuzzy controllers.
this paper presents new results in modeling of linear open-loop stable systems by means of discrete-time finite fractional orthonormal basis functions, in particular the Laguerre functions. New stability conditions ar...
详细信息
this paper presents new results in modeling of linear open-loop stable systems by means of discrete-time finite fractional orthonormal basis functions, in particular the Laguerre functions. New stability conditions are offered and a useful modification to finite fractional derivative is introduced, called normalized finite fractional derivative. Simulation examples illustrate the usefulness of the new modeling methodology.
In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduc...
详细信息
In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduction section. Four common methods for navigation guidance known as PNG, APNG, IPNG and AIPNG are under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object. Hence, to improve the navigation guidance methods and to adapt them with robotic problems a modified version of AIPNG is proposed for 2D problems and is developed for 3D problems utilization.
the problem of crane control system is addressed in the paper to gain scheduling system created using the fuzzy controller with Takagi-Sugeno-Kang (TSK) fuzzy implications. the method of fuzzy robust crane control sys...
详细信息
the problem of crane control system is addressed in the paper to gain scheduling system created using the fuzzy controller with Takagi-Sugeno-Kang (TSK) fuzzy implications. the method of fuzzy robust crane control system designing was based on closed-loop crane control systems with conventional proportional-derivative (PD) controllers of crane position and the load swing derived for fixed rope length and mass of a load values, which are used as key-scheduling variables. the set of controllers, scheduled by fuzzy system, are determined using the pole placement method (PPM). the problem of selecting the minimal set of fuzzy system operating points was solved and described as well in the paper.
the use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. the aim of this paper is to give a unique presentation of the...
详细信息
the use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. the aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. the modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.
the paper presents a novel approach to a problem of control in pneumatic positioning systems that is based on open loop control with specially created control strategy. this strategy is focused on low compressed air c...
详细信息
the paper presents a novel approach to a problem of control in pneumatic positioning systems that is based on open loop control with specially created control strategy. this strategy is focused on low compressed air consumption and reduction of control time at positioning. the resulting transients while positioning did not induce overshoot but yields some errors at initial strokes. this error is reduced in an adaptive way very effectively to a margin that is acceptable in different industrial applications. Simulation results have been confirmed by extended program of testing performed on laboratory stand. the proposed approach can be a basis for development of efficient, low cost, industrial pneumatic positioning devices.
In this paper an LPV non-integer order control Hayami model of an irrigation canal is derived from system identification experiments. this model is physically deduced by the simplification of Saint-Venant equations an...
详细信息
In this paper an LPV non-integer order control Hayami model of an irrigation canal is derived from system identification experiments. this model is physically deduced by the simplification of Saint-Venant equations and experimentally obtained by using the described LPV fractional identification procedure. this procedure consists on the identification of a non-linear order model in each operation point of the canal. the global LPV model is obtained by the polynomial interpolation of the parameters of the local models. the validation results show that fractional models are more accurate than integer models. therefore the fractional models have an important role to play in management and efficient use of water resources.
暂无评论