Establishing an accurate count and classification of leukocytes commonly known as WBC (white blood cells) is crucial in the assessment and detection of illness of an individual, which involves complications on the imm...
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Spherical underwater robots play an important role in underwater image acquisition, and are widely used in military and scientific investigations. The spherical underwater robot needs to perform heave motion when work...
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ISBN:
(纸本)9781728186382
Spherical underwater robots play an important role in underwater image acquisition, and are widely used in military and scientific investigations. The spherical underwater robot needs to perform heave motion when working in water, and pitch attitude adjustment is the key. When the spherical underwater robot adjusts its underwater pitch attitude, due to the influence of the internal pendulum structure and water flow, there is a phenomenon that the pitch angle fluctuates. This article starts with the structure, conducts kinematics and dynamics analysis, establishes the robot dynamics model based on Newton's Euler formula, compared with the traditional PM control, the anti-interference ability is not strong, and then designs the exponential approach law sliding mode control The robot achieves stable control of the robot's pitch attitude. Experiments show that the exponential approach law sliding mode control method can effectively control the robot's pitch angle in complex underwater environments.
Ocean ambient noise is the general background of the sea, the sources of which is highly variable, the generated noise signal is random, it changes with time and space. It is usually considered that ocean ambient nois...
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Ocean ambient noise is the general background of the sea, the sources of which is highly variable, the generated noise signal is random, it changes with time and space. It is usually considered that ocean ambient noise is a special random process with certain power spectrum, so the broadband stationary random process can be used for fitting the continuous spectral noise. This paper carried out statistical analysis on sample data obtained by continuous observation in one day, and then the statistic characteristics of ambient noise frequency spectrum in low and medium frequency bands can be calculated. Generating filter with specific frequency response based on the probability density function of sound pressure level in each frequency randomly, and ocean ambient noise is reconstructed effectively by Gaussian white noise passing the filter above. The simulation results have important implication for low and medium frequency underwater acoustic signal analysis in lab conditions, and it is helpful to test the performance of platform in the oceanic background.
This paper proposes an alternate interpretation of the traditional lookup table controller via the Center Average De- fuzzier (CAD) in Fuzzy Set Theory with a set of Disjoint Block Pulse Membership Functions (DBPMFs)....
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This paper proposes an alternate interpretation of the traditional lookup table controller via the Center Average De- fuzzier (CAD) in Fuzzy Set Theory with a set of Disjoint Block Pulse Membership Functions (DBPMFs). Further, a new Heaviside Search Algorithm (HSA) is also proposed to implement the Fuzzy Lookup Table controller (FLTC) in a more efficient way. The computation complexity of our new HSA is O(Sigma R-i), where R-i is the number of membership functions for i th input variable in FLTC. Whereas the average computational complexity in traditional Linear Search Algorithm (LSA) is O((Sigma R-i)/2). In comparison with LSA, the HSA also reduces the complexity of coding significantly in the same order as the comparison of computation complexities between HSA and LSA. The balancing of Inverted Pendulum System (IPS) is adopted as the benchmark to show the feasibility and efficiency of this new FLTC and HSA.
This paper focuses on the fuzzy adaptive control of incommensurate uncertain nontriangular structure fractional order systems (FOSs). First, virtual control variable is separated by differential Mean Value Theorem, an...
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As modernization advances, people demand a better life with the prime demand for building a living environment, which is simple, convenient, intelligent, environmentally friendly, safe, and reliable. In this paper, a ...
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In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain...
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In this paper, the authors describe in detail the technology of development and creation of a tracked robot, presenting sketches of parts and components. In addition to the mechanical part, the paper presents the deve...
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In this paper, the authors describe in detail the technology of development and creation of a tracked robot, presenting sketches of parts and components. In addition to the mechanical part, the paper presents the development technology of an automated control system based on the ARM STM32, taking into account the bounce of buttons and other engineering subtleties. The authors presented a number of documents developed in accordance with State Standards, such as a functional automation diagram and a circuit diagram. The authors devote a large amount of material to photographic materials demonstrating the efficiency of development.
The high-mode experiment can be obtained by heating the plasma with the auxiliary heating system in the controlled nuclear fusion research. The performance of the auxiliary heating system can be affected by the output...
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ISBN:
(纸本)9781728186382
The high-mode experiment can be obtained by heating the plasma with the auxiliary heating system in the controlled nuclear fusion research. The performance of the auxiliary heating system can be affected by the output of main high voltage pulse power supply. The high-voltage pulse power supply based on Pulse Width Modulation (PSM) technology has the advantages of high effective frequency and little energy storage of the filter system. It is of vital importance that the stored energy released to the load should be very little when some protections occur. The power supply will be connected to the load when the IGBT is out of control, and the AC source energy will be transformed to the load through the air switch. So the air switch should be triggered to disconnect from the AC mains. The control board can detect the IGBT operating condition by the IGBT drive signal, output signal and control signal. So control board can be used to trigger the air switch in a short time, and the energy released to load is very little, which ensures that the load is very safe under protecting.
This paper presents the development of a model-based event-triggered control strategy for addressing the stabilization problem in nonholonomic robots. The proposed strategy is implemented in a practical setup. To hand...
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