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.
Compressor facilities of an engineering enterprise were considered as a controlled object. Based on the analysis of the functional structure of the controlled object a group of tasks has been allocated to manage the c...
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ISBN:
(纸本)9781509027200
Compressor facilities of an engineering enterprise were considered as a controlled object. Based on the analysis of the functional structure of the controlled object a group of tasks has been allocated to manage the compression facilities. To complete the tasks software was developed, which includes a set of mathematical models of the controlled object.
the main objective of this work is the determination of the relationship between wind speed and optimum speed. In this paper we determine the mechanical energy captured from the wind turbine (WT) and transformed into ...
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ISBN:
(纸本)9781479946013
the main objective of this work is the determination of the relationship between wind speed and optimum speed. In this paper we determine the mechanical energy captured from the wind turbine (WT) and transformed into electricity by permanent magnet synchronous generator (PMSG) connected to WT. We can determine, through simulation, the mechanical angular speed (MAS),.OPTIM and optimum load resistance (ROPTIM) for the PMSG where the energy is high, considering the wind speed variable over time.
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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Increasing the intelligence level of path planning for autonomous systems and for their interaction with human walkers requires higher level representations for the humans displacement and the design of the correspond...
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ISBN:
(纸本)9781479946013
Increasing the intelligence level of path planning for autonomous systems and for their interaction with human walkers requires higher level representations for the humans displacement and the design of the corresponding ontologies. the paper proposes a sketch of an ontology of human movements for use by robots in assessing the displacement of humans in its environment and for correspondingly planning the path. the main purpose of the paper is to contribute to knowledge representation for a specific, narrow task in robotics, namely the formal representation of the knowledge about human walk, as needed for the safe and convenient displacement of autonomous systems in crowded spaces.
this paper deals several widely used, closed-loop discrete-time, speed estimators, used for the digital control of permanent magnet synchronous motors (PMSM). Aim of the paper was to develop a rotor position/speed sen...
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ISBN:
(纸本)9781479946013
this paper deals several widely used, closed-loop discrete-time, speed estimators, used for the digital control of permanent magnet synchronous motors (PMSM). Aim of the paper was to develop a rotor position/speed sensorless controlsystem with performance comparable to the sensor-based controlsystems for PMSMs over their entire operating range, including low-speed operation. Simulation analyses are performed and estimation errors are presented and compared for the proposed methods. After centralization of the obtained results, the authors indicate which method of speed estimation is better to be used at high or low speeds.
Centrality measures on graphs have found applications in a large number of domains including modeling the spread of an infection/disease, social network analysis, and transportation networks. As a result, parallel alg...
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ISBN:
(纸本)9781665410168
Centrality measures on graphs have found applications in a large number of domains including modeling the spread of an infection/disease, social network analysis, and transportation networks. As a result, parallel algorithms for computing various centrality metrics on graphs are gaining significant research attention in recent years. In this paper, we study parallel algorithms for the percolation centrality measure which extends the betweenness-centrality measure by incorporating a time dependent state variable with every node. We present parallel algorithms that compute the source-based and source-destination variants of the percolation centrality values of nodes in a network. Our algorithms extend the algorithm of Brandes, introduce optimizations aimed at exploiting the structural properties of graphs, and extend the algorithmic techniques introduced by Sariyuce el al. [26] in the context of centrality computation. Experimental studies of our algorithms on an Intel Xeon(R) Silver 4116 CPU and an Nvidia Tesla V100 GPU on a collection of 12 real-world graphs indicate that our algorithmic techniques offer a significant speedup.
In this paper we represent a decentralised control LTI system by a weighted directed graph. then we derive sufficient conditions for such systems with decentralised fixed modes (DFMs) to be stabilisable. the sufficien...
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ISBN:
(纸本)9781479946013
In this paper we represent a decentralised control LTI system by a weighted directed graph. then we derive sufficient conditions for such systems with decentralised fixed modes (DFMs) to be stabilisable. the sufficient conditions relate to whether the DFMs are quotient fixed modes (QFMs) of the system and thus can or cannot be shifted by any type of controller. It is shown that a DFM is a QFM when some graphical properties, expressed in terms of newly introduced concept of complementary cut set, exist. the sufficient conditions are stated in terms of a theorem with a constructive proof. Numerical examples are given to illustrate all aspects of the paper.
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