Embedded network systems use serial communication protocols and simplified media access control schemes in order to exchange information among several interconnected nodes. Within this paper a generalization of the cl...
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ISBN:
(纸本)9781479946013
Embedded network systems use serial communication protocols and simplified media access control schemes in order to exchange information among several interconnected nodes. Within this paper a generalization of the classical media access control (MAC) protocols used in small embedded serial networks of microcontrollers is investigated and an implementation platform for testing the proposed MAC schemes is described. thus, the classic master-slave and token-bus protocols turn out to be just two particular cases of the proposed generalized media access control (GMAC) algorithms: a centralized and a distributed one, respectively. By applying these generalized algorithms in practice, significant increase in data throughput is obtained, as it resulted from the simulation tests and then by practical implementation on a typical embedded network of microcontrollers.
this paper introduces a new vision based controller that uses the entries of a homography matrix to control a highly maneuverable mobile robot. It aims to reduce the sensitivity of the control to calibration errors th...
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ISBN:
(纸本)9781479946013
this paper introduces a new vision based controller that uses the entries of a homography matrix to control a highly maneuverable mobile robot. It aims to reduce the sensitivity of the control to calibration errors through connection of the perception and control in the data space of the sensor. the control law is formulated in a way that it is only dependent on features of the current image without measuring or calculating any position in the Cartesian space. Only the target image must be known and the target position should be estimated relatively to the feature plane. An evaluation of the robustness of the controller is presented and verified by simulation.
the control of a three phase AC motor is performed with a three phase inverter. A key role in the correct functioning of the inverter is the used modulation technique. In this paper is proposed a class of modulation a...
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ISBN:
(纸本)9781479946013
the control of a three phase AC motor is performed with a three phase inverter. A key role in the correct functioning of the inverter is the used modulation technique. In this paper is proposed a class of modulation algorithms for the three phase inverters which have the advantage of a very simple implementation. the equivalence between a modulation strategy from this class and classical space vector pulse width modulation is demonstrated using simulation environment Matlab/Simulink. A comparative study of different modulation techniques was done referring to power losses of semiconductors.
this paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. control...
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ISBN:
(纸本)9781479946013
this paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. controlsystem is based on a PIC microcontroller. the position of the robot can be obtained by bending it withthe cables and by blocking the position of the elements we need, using the electro-pneumatically system. the major advantage of this type of actuation consists in the fact that the robot can be actuated using a boundary control by cables, the position blocking system for any element being relatively simple. the sensorial system is described and the main features of the global system are presented. the advantages of this sensorial system for this robot architecture are discussed.
Multistability, i.e., the coexistence of a large variety of different attractors, is one of the key properties that have made memristor circuits becoming central for the development of new computing paradigms based on...
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ISBN:
(纸本)9781728182810
Multistability, i.e., the coexistence of a large variety of different attractors, is one of the key properties that have made memristor circuits becoming central for the development of new computing paradigms based on analog computation principles. Within this context, one important problem to be investigated is how to steer the circuit dynamics from one attractor to another, i.e., to switch between different attractors. the paper considers a circuit composed by an active two-terminal element coupled with a flux-controlled memristor, which contains infinitely many attracting equilibrium points. It is shown that the problem of switching among these equilibrium points can be tackled via pulse-programmed feedforward control laws which are implementable via a unique current source, suitably located in the circuit.
the paper deals with an optimal tracking problem for linear time variant systems with variable disturbances. A procedure having computational advantages is proposed. the advantages are greater in the time invariant ca...
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ISBN:
(纸本)9781665414968
the paper deals with an optimal tracking problem for linear time variant systems with variable disturbances. A procedure having computational advantages is proposed. the advantages are greater in the time invariant case. the reference and the disturbance are approximated with step functions. the proposed method is validated via simulation tests.
Frequency domain identification can be used to find the linearized model of a nonlinear system for an operating point. the methods to identify transfer function coefficients from estimates of the frequency response fu...
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ISBN:
(纸本)9781665414968
Frequency domain identification can be used to find the linearized model of a nonlinear system for an operating point. the methods to identify transfer function coefficients from estimates of the frequency response function obtained from experimental data are studied using the example of a quadcopter vertical translation dynamics. Continuous and discrete time models are identified via linear least squares approach and optimization procedures.
Mechatronic systems are usually described by integer-order state equations. Based on these integer-order models, conventional integer-order PID controllers are designed. In this paper, we use a Steward platform (ball ...
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ISBN:
(纸本)9781479946013
Mechatronic systems are usually described by integer-order state equations. Based on these integer-order models, conventional integer-order PID controllers are designed. In this paper, we use a Steward platform (ball and plate system) with different balls to investigate the robustness of the fractional-order controller against the mass changes of the ball. the closed-loop performances of the fractional-order controller are compared with integer-order controller using the same performance criteria and the same tuning algorithms. the experimental results show that the fractional-order PID controllers outperforms the conventional integer-order PID controllers.
the curvature control problem for a class of hyper-redundant robot arms with continuum elements characterized by an elastic backbone system is analyzed. the main parameters of the arm shape as curvature and curvature ...
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ISBN:
(纸本)9781479946013
the curvature control problem for a class of hyper-redundant robot arms with continuum elements characterized by an elastic backbone system is analyzed. the main parameters of the arm shape as curvature and curvature gradient are estimated. the stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a weighted state control methods. the proposed algorithm determines the control solutions using the dynamic model expressed in terms of curvature parameters. the objective of this paper is the curvature control problem of a tentacle arm with continuum elements HHR 02 (Hybrid Hyper-redundant Robot 02). Numerical simulations illustrate the effectiveness of the presented algorithms and techniques.
Speech processing is an active research field in which spoken words or sentences are processed to understand the meaning. One of the significant applications is designing spoken dialog systems whose task is to interpr...
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