Development of velocity observers for mechanical systems with friction deserves a special emphasis, because as evidenced in numerical and experimental tests when a state-of-the-art observer is armed, friction can indu...
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ISBN:
(纸本)9789728865825
Development of velocity observers for mechanical systems with friction deserves a special emphasis, because as evidenced in numerical and experimental tests when a state-of-the-art observer is armed, friction can induce high-frequency oscillations in the estimated signal. In this short paper, two new velocity-observation algorithms are designed, based on this previously reported observer, that eliminate the high-frequency oscillations noted. Numerical and experimental performance comparisons are carried through making use of LuGre model and a mechanical PID control system that incorporates the estimated velocity into the feedback loop.
This paper proposes a geometrical analysis of the polyhedral feasible domains for the predictive control laws under constraints. The fact that the system dynamics influence the topology of such polyhedral domains is w...
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ISBN:
(纸本)9789728865849
This paper proposes a geometrical analysis of the polyhedral feasible domains for the predictive control laws under constraints. The fact that the system dynamics influence the topology of such polyhedral domains is well known from the studies dedicated to the feasibility of the control laws. Formally the system state acts as a vector of parameters for the optimization problem to be solved on-line and its influence can be fully described by the use of parameterized polyhedra and their dual constraints/generators representation. Problems like the constraints redundancy or the construction of the associated explicit control laws at least for linear or quadratic cost functions can thus receive fully geometrical solutions. Convex nonlinear constraints can be approximated using a description based on the parameterized vertices. In the case of nonconvex regions the explicit solutions can be obtain by constructing Voronoi partitions based on a collection of points distributed over the borders of the feasible domain.
Brain machine interfaces provide a digital channel between the brain and the physical world. Electrophysiological signals such as EMG, EEG, and EOG of the brain can provide a non muscular channel to control external d...
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ISBN:
(纸本)9783540680161
Brain machine interfaces provide a digital channel between the brain and the physical world. Electrophysiological signals such as EMG, EEG, and EOG of the brain can provide a non muscular channel to control external devices. In this paper we present a survey on Electroencephalogram [EEG] based brain machine interfaces [BMI] and the feasibility of a brain interface to control wheel chairs. With the advent of noninvasive electrodes, research in EEG has been directed towards development of brain machine interfaces to replace damaged motor nerves. Restoring complex motor functions like reaching and grasping still remains a major challenge. This paper presents a preliminary study on using EEG signals for rehabilitation and the current research on EEG based BMI.
A Twin-Sine command generator is proposed, which mainly caters for high performance motion control applications. Both precalculation and real-time control set-point generator are investigated. This command generator h...
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ISBN:
(纸本)9781424408276
A Twin-Sine command generator is proposed, which mainly caters for high performance motion control applications. Both precalculation and real-time control set-point generator are investigated. This command generator has up to 3(rd) order continuity in derivative of distance command, constant speed motion is allowable and it has very low computational cost. For the application-wise, we simply test on one of the classical problems, which is a 3-link planary Manipulator and the result is positive.
This paper proposes a Low Power Adaptive Polling (LPOAP) MAC protocol for infrastructure Wireless LANs (WLANs) which is capable of operating efficiently under bursty traffic conditions. The protocol utilizes a Learnin...
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This video watermarking method uses human vision models of color information to control watermark strength and has immunity to rotations, scale changes, translations, and random distortion. It determines the watermark...
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ISBN:
(纸本)0769529941
This video watermarking method uses human vision models of color information to control watermark strength and has immunity to rotations, scale changes, translations, and random distortion. It determines the watermark strength in L*u*v* space, where human-perceived degradations of picture quality can be measured in terms of Euclidian distance, but embeds and detects watermarks in YUV space, where the detection is more reliable than the robust watermarking scheme we previously proposed. An experimental evaluation using actual video samples demonstrated that the method can embed more watermarks while keeping the same picture quality and can detect them reliably in watermarked pictures that had gone through all four types of transformations. The method can be used in various watermarking schemes.
Architecture forms the backbone of robotic control systems and has to be carefully studied before the system is built. In this paper, after insight and exclusive discussions on control system architecture requirements...
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ISBN:
(纸本)9781424408276
Architecture forms the backbone of robotic control systems and has to be carefully studied before the system is built. In this paper, after insight and exclusive discussions on control system architecture requirements of modular and reconfigurable robot manipulators are presented, a hybrid architecture is proposed and described in details. The proposed architecture has been implemented on a modular and reconfigurable robot, and the testing results show the validity of the proposed architecture.
In order to provide for the plants with healthy backing in shielded soil cultivation, the disinfection performing becomes necessary. From a number of methods, thermal disinfection from the ecological viewpoint and the...
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ISBN:
(纸本)9788021316683
In order to provide for the plants with healthy backing in shielded soil cultivation, the disinfection performing becomes necessary. From a number of methods, thermal disinfection from the ecological viewpoint and the wide spectrum of action is mostly favoured. To provide the high efficiency, with possibly low heat consumption, it should be carried out in accordance with the recommendations of the most recent literature and newest technologies should be used. The paper presents the guidelines and sources allowing the elaboration of the program making possible the control of the disinfection process of the horticulture backing with the deep penetration method. The factors and their actions on the disinfection process have been described. Their significance has been highlighted and the scopes of application given. While describing the particular factors, references have been made to the details found in the literature mentioned. Particular emphasis has been put on efficiency and energy consumption aspects in the backing disinfection process performed with the use of the deep penetration method.
In this study, behavioral system based robot control architecture is built up for a four-wheel driven and four-wheel steered mobile robot. Behavioral system is determined as evolutionary neural-fuzzy inference system ...
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ISBN:
(纸本)0769528759
In this study, behavioral system based robot control architecture is built up for a four-wheel driven and four-wheel steered mobile robot. Behavioral system is determined as evolutionary neural-fuzzy inference system for behavior generation and self-learning processes in the general robot control architecture. The kinematics and dynamic model of the mobile robot with non-holonomic constraints is used as present structure which is modeled in previous studies. The posture and speed of the robot and the configurations, speeds and torques of the wheels can be observed from the simulation plant and virtual reality viewer. The behaviors are investigated regarding their gains, fuzzy inference structures, real-time applicability and their coordination.
The IEEE 802.11e Enhanced Distributed Channel Access (EDCA) protocol allocates multiple Access Categories (ACs) with different priorities, inter-frame spaces, and contention window sizes in order to support differenti...
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ISBN:
(纸本)9789630626705
The IEEE 802.11e Enhanced Distributed Channel Access (EDCA) protocol allocates multiple Access Categories (ACs) with different priorities, inter-frame spaces, and contention window sizes in order to support differentiated Quality-of-Service (QoS) in multimedia Wireless Local Area Networks (WLANs). This paper presents an improved Medium Access control (MAC) scheme to enhance the QoS of WLANs based on the idea of using the different increasing functions for each AC to enlarge the size of contention window in the case of transmission collision. The performance of this improved scheme in the presence of wireless multimedia applications is extensively investigated and compared with the original EDCA using the well-known network simulator NS-2. The results reveal that this scheme is able to achieve higher throughput and medium utilization as well as lower access delay than the EDCA protocol. Moreover, it provides a good prioritization level between multiple ACs. Copyright 2007 ICST.
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