In this paper, we present our current work in the design and characterisation of a new shape memory alloy (SMA)-based High Phase Order Motor (HPOM). the motor can be used either in stepping mode or in servo mode of op...
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ISBN:
(纸本)9789897580406
In this paper, we present our current work in the design and characterisation of a new shape memory alloy (SMA)-based High Phase Order Motor (HPOM). the motor can be used either in stepping mode or in servo mode of operation. Each phase of the motor consists of an SMA wire with a spring. the principle of operation of the HPOM is presented. In its operation the motor resembles a stepper motor though the actuation principles are different and hence has been characterised similar to a stepper motor. this motor can be actuated in either direction depending on which SMA is actuated, which are presented in this work. the motor is modelled and simulated and the results of simulations and experiments are presented.
Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. their main properties are briefly presented. Algorithmic details incorpor...
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ISBN:
(纸本)9789897580390
Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. their main properties are briefly presented. Algorithmic details incorporated in the developed solver are described. the results of an extensive performance investigation on a large collection of examples are summarized. Several numerical difficulties and observed unexpected behavior are reported. these algorithms are strongly recommended for improving the solutions computed by other solvers.
In this paper, we focus on the problem of optimally placing a mixture of static and PTZ cameras based on the resolution requirement, this configuration will be useful later cameras planning. the static cameras used fo...
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ISBN:
(纸本)9789897580390
In this paper, we focus on the problem of optimally placing a mixture of static and PTZ cameras based on the resolution requirement, this configuration will be useful later cameras planning. the static cameras used for detecting an object or an event, this result is used to select the best PTZ camera within the network to identify or recognize this moving object or event. In our work the monitoring area is represented by a grid of points distributed uniformly or randomly (S. thrun, 2002), then using surface-projected monitoring area and camera sensing model we develop a binary integer programming algorithm. the results of the algorithm are applied successfully to a variety of simulated scenarios.
the proceedings contain 149 papers. the topics discussed include: human-robot intelligent cooperation - methodologies for creating human-robot heterogeneous teams;control of networked distributed pico-satellite system...
ISBN:
(纸本)9789898565709
the proceedings contain 149 papers. the topics discussed include: human-robot intelligent cooperation - methodologies for creating human-robot heterogeneous teams;control of networked distributed pico-satellite systems - small satellites for challenging tasks;computational experience in solving continuous-time algebraic Riccati equations using standard and modified Newton's method;a layered multi-agent model for multi-configuration platoon control;enhanced iterated local search algorithms for the permutation flow shop problem minimizing total flow time;parametric fault detection in nonlinear systems - a recursive subspace-based approach;human-robot intelligent cooperation - methodologies for creating human-robot heterogeneous teams;a reactive trajectory controller for object manipulation in human robot interaction;a strategy for dynamic controller emulation in packet-based networked control;and path following control of rhombic like vehicles - performance assessment with dynamic vehicle model.
the proceedings contain 149 papers. the topics discussed include: human-robot intelligent cooperation - methodologies for creating human-robot heterogeneous teams;control of networked distributed pico-satellite system...
ISBN:
(纸本)9789898565716
the proceedings contain 149 papers. the topics discussed include: human-robot intelligent cooperation - methodologies for creating human-robot heterogeneous teams;control of networked distributed pico-satellite systems - small satellites for challenging tasks;computational experience in solving continuous-time algebraic Riccati equations using standard and modified Newton's method;a layered multi-agent model for multi-configuration platoon control;enhanced iterated local search algorithms for the permutation flow shop problem minimizing total flow time;parametric fault detection in nonlinear systems - a recursive subspace-based approach;human-robot intelligent cooperation - methodologies for creating human-robot heterogeneous teams;a reactive trajectory controller for object manipulation in human robot interaction;a strategy for dynamic controller emulation in packet-based networked control;and path following control of rhombic like vehicles - performance assessment with dynamic vehicle model.
the paper introduces the multi-robot area coverage problem, wherein a group of robots must inspect every point of a 2-dimensional test environment and surround all contaminations (or enemies) found. Self-organizing ro...
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ISBN:
(纸本)9789897580406
the paper introduces the multi-robot area coverage problem, wherein a group of robots must inspect every point of a 2-dimensional test environment and surround all contaminations (or enemies) found. Self-organizing robotic systems are able to accomplish complex tasks in a changing environment, using local interactions among individual agents and local environment without an external global control. Our interest in this area is motivated by an involvement in a project with a goal to solve tasks of difficult area coverage and surveillance by a large team of small autonomous robots. In the paper, the architecture to achieve this is described, and simulation results are presented to compare efficiency of coverage of the area and surround of found targets using robots groups having different sensors ranges.
this paper deals withthe problem of torque ripple minimization of permanent magnet synchronous motor. the novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC volta...
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ISBN:
(纸本)9789897580390
this paper deals withthe problem of torque ripple minimization of permanent magnet synchronous motor. the novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC voltage demanded for proper operation of the motor. An additional voltage matching circuit with state feedback controller is introduced in order to control of the inverter DC voltage. In the proposed solution model of a plant (i.e. permanent magnet synchronous motor fed by voltage source inverter with additional voltage matching circuit) is non-linear and non-stationary. An adaptive state feedback controller is developed by using an artificial neural network, which approximates non-linear control gain surfaces. A simple adaptation algorithm based on 2 low-order low-pass filters is used. Simulation results illustrate the proposed approach in comparison to typical drive with voltage source inverter and stationary state feedback controller.
this paper introduces a comparison of a linear and nonlinear one step predictive models that were used to describe the relationship between human emotional signal - excitement - as a reaction to a virtual 3D face feat...
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ISBN:
(纸本)9789897580390
this paper introduces a comparison of a linear and nonlinear one step predictive models that were used to describe the relationship between human emotional signal - excitement - as a reaction to a virtual 3D face feature - distance between eyes. An input-output model building method is proposed that allows building a stable model withthe least output prediction error. Validation was performed using the recorded signals of six volunteers and the following measures: prediction error standard deviation, relative prediction error standard deviation, and average absolute relative prediction error. Validation results of the models showed that both models predict excitement signal in relatively high prediction accuracy.
Recently, robots and automation systems have been at the front of research withthe majority of systems still operating independently using onboard computation, memory manipulation and communication. With improvements...
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Recently, robots and automation systems have been at the front of research withthe majority of systems still operating independently using onboard computation, memory manipulation and communication. With improvements in communication technology and the increasing availability of network, new approaches where robot and automation processing is performed remotely with access to large scale datasets, support a range of functions. Cloud robotics supplements performance enhancement of robotics and autonomous systems by providing a global infrastructure in innovative ways. this paper summarizes recent research into five traits of Cloud robotics for performance enhancement in robotics and autonomous systems: 1) Remote Brain, 2) Big Data and Shared Knowledge-base, 3) Collective Learning, 4) Intelligence and Behavior, and 5) Cloud architectures. Towards the end, in this survey, we present future directions for research in cloud robotics. (C) 2014 the Authors. Published by Elsevier B.V.
We propose a flexible computer vision system using magnetic sensors. the system enables a flexible free scanning of a CCD camera and a laser slit using 3D magnetic sensors. Many numbers of views of each model from dif...
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ISBN:
(纸本)9789897580390
We propose a flexible computer vision system using magnetic sensors. the system enables a flexible free scanning of a CCD camera and a laser slit using 3D magnetic sensors. Many numbers of views of each model from different angles can be taken on measuring the configuration between a CCD camera and a laser slit projector simultaneously. the information of different views is combined to reconstruct the 3D object on a computer display. In this paper, the application for pipe measurement is introduced. Experimental results show the feasibility of our system.
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