this paper presents designing process of the control system with discrete state feedback and neural network based load torque feedforward for permanent magnet synchronous motor fed by true sine wave 3-level neutral po...
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ISBN:
(纸本)9789898565709
this paper presents designing process of the control system with discrete state feedback and neural network based load torque feedforward for permanent magnet synchronous motor fed by true sine wave 3-level neutral point clamped inverter with an output LC filter. Our main objective is to reduce the effect of load torque changes and to improve dynamic behaviour of the motor during load changing. the full state feedback algorithm has been chosen to controlthe angular velocity of the motor and to provide true sine wave of the input motor voltages. It was found that gains of the controller and feedforward path are non-stationary and depends on the angular velocity. In such a case linearization and decoupling process of the motor with LC filter is not needed. Simulation results (at the level of 3kW) illustrate the proposed approach.
the study investigates the effectiveness of 2 variations of Particle Swarm Optimization (PSO) called Area Extended PSO (AEPSO) and Cooperative AEPSO (CAEPSO) in simulated robotic environments affected by a combinatori...
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ISBN:
(纸本)9789898565709
the study investigates the effectiveness of 2 variations of Particle Swarm Optimization (PSO) called Area Extended PSO (AEPSO) and Cooperative AEPSO (CAEPSO) in simulated robotic environments affected by a combinatorial noise. Knowledge Transfer, the use of the expertise and knowledge gained from previous experiments, can improve the robots decision making and reduce the number of wrong decisions in such uncertain environments. this study investigates the impact of transfer learning on robots' performance in such hostile environment. the results highlight the feasibility of CAEPSO to be used as the controller and decision maker of a swarm of robots in the simulated uncertain environment when gained expertise from past training is transferred to the robots in the testing phase.
the use of pose-based features has demonstrated to be a promising approach for human motion recognition. Encouraged by the results achieved, a new relational pose-based feature, Trisarea, based on geometric relationsh...
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ISBN:
(纸本)9789898565716
the use of pose-based features has demonstrated to be a promising approach for human motion recognition. Encouraged by the results achieved, a new relational pose-based feature, Trisarea, based on geometric relationship between human joints, is proposed and analysed. this feature is defined as the area of the triangle formed by connecting three joints. the paper shows how the variation of a selected set of Trisarea features over time constitutes a descriptor of human motion. It also demonstrates how this motion descriptor based on Trisarea features can provide useful information in terms of human motion for its application to action recognition tasks.
Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of...
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ISBN:
(纸本)9789898565709
Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of allowed values (e.g. minimal distance). the disadvantage of such an approach is that safety issues which were unconsidered at design time are not detectable. Furthermore, a detection of issues that are only indirectly measurable is difficult to realize. In this paper, a holistic safety monitoring approach is presented that makes use of all available sensor data and tries to find an implicit definition of "safety". By such an inverse approach vehicle safety issues which are hard to be directly measurable might be detectable, too. For instance, an identification of driver-initiated critical situations (e.g. caused by distraction) could be possible if taking multiple sensor modalities into account and having an implicitly defined "safe" state. Furthermore, the article describes the selection of potential test platforms and shows already collected test data of a mobile robot platform. Presented in this work-in-progress paper is the concept of definition, implementation, and detection of implicit vehicle safety.
the architecture and implied mathematical algorithms for a redundant strap-down inertial navigator in horizontal plane are shown in the paper. As immediate application of the system, the surveillance of miniaturized v...
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ISBN:
(纸本)9789898565709
the architecture and implied mathematical algorithms for a redundant strap-down inertial navigator in horizontal plane are shown in the paper. As immediate application of the system, the surveillance of miniaturized vehicles like robotic systems was identified. the navigator redundance is achieved from its inertial measurement unit, which uses two arrays of four miniaturized accelerometers in the two detection axes in horizontal plane, and a four miniaturized gyro array along the vertical axis. the architecture of the sensors arrays dispositions is a linear one;for every detection array a fusion method based on minimum variance method is used to statistically combine the data acquired from the sensors. the system is experimentally tested by using a SDINS/GPS integrated navigator as reference system, and a car as monitored vehicle;the sensors fusion results are shown and the navigation solution errors are estimated.
作者：
Sima, VasileAdvanced Research
National Institute for Research and Development in Informatics Bd. Mareşal Averescu Nr. 8-10 Bucharest Romania
Improved algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. the basic theory and Newton's algorithms are briefly presented. Algo...
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ISBN:
(纸本)9789898565709
Improved algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. the basic theory and Newton's algorithms are briefly presented. Algorithmic details the developed solvers are based on, the main computational steps (finding the Newton direction, finding the Newton step size), and convergence tests are described. the main results of an extensive performance investigation of the solvers based on Newton's method are compared withthose obtained using the widely-used MATLAB solver. Randomly generated systems with orders till 2000, as well as the systems from a large collection of examples, are considered. the numerical results often show significantly improved accuracy, measured in terms of normalized and relative residuals, and greater efficiency than the MATLAB solver. the results strongly recommend the use of such algorithms, especially for improving the solutions computed by other solvers.
this book constitutes the thoroughly refereed post-conference proceedings of the 5thinternational Joint conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2012, held in Vilamoura, Portugal, in Feb...
ISBN:
(数字)9783642382567
ISBN:
(纸本)9783642382550;9783642382567
this book constitutes the thoroughly refereed post-conference proceedings of the 5thinternational Joint conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2012, held in Vilamoura, Portugal, in February 2012. the 26 revised full papers presented together with one invited lecture were carefully reviewed and selected from a total of 522 submissions. the papers cover a wide range of topics and are organized in four general topical sections on biomedical electronics and devices; bioinformatics models, methods and algorithms; bio-inspired systems and signal processing; healthinformatics.
An important task in underwater autonomous vehicle swarm management is the knowledge of the graph topology, to be obtained withthe minimum possible communication exchanges and amid heavy interferences and background ...
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ISBN:
(纸本)9789898565709
An important task in underwater autonomous vehicle swarm management is the knowledge of the graph topology, to be obtained withthe minimum possible communication exchanges and amid heavy interferences and background noises. Despite the importance of the task, this problem is still partially unsolved. Recently, the Fast Fourier Transform and the addition of white noise to consensus signals have been proposed independently to determine respectively the laplacian spectrum and the adjacency matrix of the graph of interacting agents from consensus time series, but both methodologies suffer technical difficulties. In this paper, we combine them in order to simplify calculations, save energy and avoid topological reconstruction errors using only the largest eigenvalue of the spectrum and instead of white noise, a high frequency, low amplitude noise. Numerical simulations of several swarms (random, small-world, pipeline, grid) show an exact reconstruction of the configuration topologies.
there are short cycle, intensity disturbance and other characteristics about formation of subsided wetlands in mining coal area with higher groundwater table, there are also differences to general wetlands about conve...
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ISBN:
(纸本)9780769549323;9781467356527
there are short cycle, intensity disturbance and other characteristics about formation of subsided wetlands in mining coal area with higher groundwater table, there are also differences to general wetlands about convension of "carbon sources, carbon sinks" and succession law, it has been a focus of attention about coal mining area of ecological restoration. the article aims to reveal the spatial and temporal changes characteristics, control elements of "carbon pool" in subsided wetlands, to reveal succession rules of "carbon sinks" in subsided coal mining wetlands with higher groundwater table. To present based target of ecological restoration with carbon of "adding sinks, source reduction" in mining coal subsided wetlands with higher groundwater table.
this paper deals withthe problem of detecting nolinear systems' parametric faults modeled as changes in the eigenvalues of a local linear state-space model. the linear state-space model approximations are obtaine...
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ISBN:
(纸本)9789898565709
this paper deals withthe problem of detecting nolinear systems' parametric faults modeled as changes in the eigenvalues of a local linear state-space model. the linear state-space model approximations are obtained by recursive subspace system identification techniques, from which the eigenvalues are extracted at each sampling time. Residuals are generated by comparing the eigenvalues against those associated with a local nominal model derived from a neural network predictor describing the nonlinear plant dynamics in free fault conditions. Parametric fault symptoms are generated from the eigenvalues residuals, whenever a given predefined threshold is exceeded. the feasibility and effectiveness of the proposed framework is demonstrated in a practical case study.
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