this paper deals with practical aspects of volumetric oxygen transfer coefficient determination. the attention was paid to influence of dissolved oxygen probe dynamics on measurements. A new identification method of v...
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this paper deals with practical aspects of volumetric oxygen transfer coefficient determination. the attention was paid to influence of dissolved oxygen probe dynamics on measurements. A new identification method of volumetric oxygen transfer coefficient was developed. this method involves numerical integral calculation. the new method and three other methods (graphical, logarithmic and regression) of determining volumetric oxygen transfer coefficient value were applied. the comparative simulation research was done using dissolved oxygen concentration model. All four methods were finally aplied to real biotechnological wastewater process withthe activated sludge.
We propose the use of a hybrid predictor at the receiver side of a teleoperation system to mitigate haptic artifacts due to packet losses. We define maximum wait times based on prediction angles for the sender to trig...
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ISBN:
(纸本)9783662441961;9783662441954
We propose the use of a hybrid predictor at the receiver side of a teleoperation system to mitigate haptic artifacts due to packet losses. We define maximum wait times based on prediction angles for the sender to trigger new updates and for the receiver to switch prediction methods. Results show robust minimization of signal distortion in the presence of adverse transmission conditions while preserving the data rate conveniently low.
the paper presents a method of synthesis and implementation of the multi-controller control structure for a dynamic decoupling of the multi-input multi-output (MIMO) nonlinear dynamic plant. the proposed structure use...
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the paper presents a method of synthesis and implementation of the multi-controller control structure for a dynamic decoupling of the multi-input multi-output (MIMO) nonlinear dynamic plant. the proposed structure uses some known techniques in order to reduce effects of coupling of the nonlinear plants inputs and outputs. A multi-controller structure is created after linearization of the adopted nonlinear plant model at its operating points and synthesis of the linear controller that dynamically decouple the local linear plant model. Such an adaptive controller varies its parameters depending on the current plant operating point. the presented simulation results confirm applicability of the proposed method.
In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces a...
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In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces acting on the platform body which are result of the propulsion system. In order to develop this model, we had to employ two step procedure. In the first stage we had to estimate thrust forces during the experiment. then we have used nonlinear modeling technique based on use of local linear models to obtain dynamic model relating throttle inputs withthrottle forces.
Results of the spatio-temporal analysis of a class of distributed parameter systems described by hyperbolic partial differential equations defined on a one-dimensional spatial domain are presented. For the case of the...
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Results of the spatio-temporal analysis of a class of distributed parameter systems described by hyperbolic partial differential equations defined on a one-dimensional spatial domain are presented. For the case of the two boundary inputs of Dirichlet type applied at the same point of the spatial domain, the analytical expressions for the impulse response functions are derived based on the inverse Laplace transform of individual elements of the 2×2 transfer function matrix. the considerations are illustrated with a practical example of a coaxial heat exchanger operating in parallel-flow mode which correspond to the analyzed boundary conditions.
this paper presents the architecture of the non-contact sensor for measuring the rope swinging angle in two planes. the sensor were dedicated to the all kind of the crane device, especially to overhead travelling cran...
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this paper presents the architecture of the non-contact sensor for measuring the rope swinging angle in two planes. the sensor were dedicated to the all kind of the crane device, especially to overhead travelling crane. the main objective of this statement applies a solution for improving early developed and described non-contact vision swinging sensor. In the article, the author main attention has been focused on issues related to the possibility of using a "smart camera" device as a full functional contactless two-dimensional sway sensor. All tests and considerations were conducted on the scaled physical model of overhead travelling crane with hosting capability 150kg.
We control macroscopic Brownian motion by group robots. To make an object track a required path, feedforward control input is found using our preceding model of continuum mechanical description. We use dynamical balan...
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We control macroscopic Brownian motion by group robots. To make an object track a required path, feedforward control input is found using our preceding model of continuum mechanical description. We use dynamical balance in continuum mechanics to calculate the feedforward input in each time. We see a phenomenon that the object does not move in a required direction in initial stage of Brownian motion. Due to the phenomenon, large feedback component added to the feedforward input is not avoided to make the object track a required path. We show that feedforward with feedback component works well. But appropriate prediction of a dead time must be incorporated into our continuum model.
the paper presents feedback control algorithm for active vehicle suspension systems. the algorithm uses internal model of the system which is composed with two parts: disturbances path and control path. the first is h...
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the paper presents feedback control algorithm for active vehicle suspension systems. the algorithm uses internal model of the system which is composed with two parts: disturbances path and control path. the first is highly non-stationary while the second is constituted with relatively fixed-parameters. this difference justifies the use of limited authority adaptive control, where only disturbance path is subjected to identifycation. the controller is derived in a direct adaptive form where the parameters of the controller are identified directly. Pole placement methodology is also involved to provide a room for upper-layer optimization which allows for inclusion additional requirements, for example optimal contact between wheels and road surface.
We present implementation of the proposed adaptive control algorithm working together with a partially identified LuGre friction model to improve performance of linear permanent magnet motor servo. Experimental verifi...
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We present implementation of the proposed adaptive control algorithm working together with a partially identified LuGre friction model to improve performance of linear permanent magnet motor servo. Experimental verification of the system operation is described. We discuss in detail identification of the model parameters, we describe necessary tests and comment on the model accuracy. We give detailed information about control system parameter tuning and we discuss the effect of measurement errors and numerical limitations of a discrete controller on the system performance. We investigate effects of parameter variations on the obtained tracking accuracy for different desired position trajectories.
this article proposes an inverse model control scheme for unknown nonlinear systems. the proposed scheme structures the inverse dynamics of the controlled system offline. this is done using a least squares support vec...
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this article proposes an inverse model control scheme for unknown nonlinear systems. the proposed scheme structures the inverse dynamics of the controlled system offline. this is done using a least squares support vector machine (LS-SVM) network that based on the Fuzzy C-Means (FCM) clustering technique. then the proposed network is updated online to determine the appropriate control action. A linear feedback compensator is added to ensure the closed loop stability. Simulation results of a continuous stirred tank reactor (CSTR) demonstrate the efficiency of the proposed approach.
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