this study focuses on a stabilizing control for the electrically-assisted bicycle equipping a power-steering system. We have developed the power-steering system for the bicycle on whose front seat a child sits. the po...
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ISBN:
(纸本)9781479952007
this study focuses on a stabilizing control for the electrically-assisted bicycle equipping a power-steering system. We have developed the power-steering system for the bicycle on whose front seat a child sits. the power-steering system has the ability to recover the maneuverability of handlebars compromised by a child sitting on the front seat. the power-steering system has also capability to realize automatic stabilization. Hence, in this paper, 1) a simple inverted pendulum model is introduced to simulate the behavior of the bicycle, and 2) a stabilizing control is designed based on the simple model.
Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing p...
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ISBN:
(纸本)9789898565716
Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing proportional control of trajectory curvature. this paper presents computationally efficient techniques for path planning and path-following control for this application, using a 3D simulated brain environment. Path planning algorithms for this class of steerable needles have been developed using Rapidly-exploring Random Trees (RRTs). this paper expands on these methods, using quaternions for representation of rotation, and enhancing computational efficiency through use of interpolation, and by relaxing the entry constraint. For path-following, a look-ahead proportional controller for position and orientation is presented. Simulations in a 3D brain-like environment demonstrate the performance of the proposed planner and path-following controller. the look-ahead is seen to improve path-following performance.
In the current perspectives, renewable power sources bring new challenges for the power distribution. Substantial advances in the reliability and flexibility in the overall power consumption can be achieved via a netw...
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ISBN:
(纸本)9789898565389
In the current perspectives, renewable power sources bring new challenges for the power distribution. Substantial advances in the reliability and flexibility in the overall power consumption can be achieved via a network of intelligent and controllable appliances, especially on the micro level, i.e. on the level of individual electric appliances within the scope of one household or one institution. In the paper, we identify the typical problems of the smart household approach and present a communication and control model which offers a solution to these problems based on the multi-agent system approach.
the proceedings contain 196 papers. the topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a prop...
ISBN:
(纸本)9789898565211
the proceedings contain 196 papers. the topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a proposal of multiobjective fuzzy regulator design for state space nonlinear systems;rotor speed sensor fault detection in induction motors;visual anomaly detection in production plants;global optimal solution to SLAM problem with unknown initial estimates;spacecrafts' control systems effective variants choice with self-configuring genetic algorithm;robust arbitrary reference command tracking with application to hydraulic actuators;an application of goal programming technique for reconfiguration of transfer lines;a control strategy for reducing fuel consumption in a hybrid electric vehicle;and towards manufacturing execution systems for the food and beverage packaging industry.
the proceedings contain 196 papers. the topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a prop...
ISBN:
(纸本)9789898565211
the proceedings contain 196 papers. the topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a proposal of multiobjective fuzzy regulator design for state space nonlinear systems;rotor speed sensor fault detection in induction motors;visual anomaly detection in production plants;global optimal solution to SLAM problem with unknown initial estimates;spacecrafts' control systems effective variants choice with self-configuring genetic algorithm;robust arbitrary reference command tracking with application to hydraulic actuators;an application of goal programming technique for reconfiguration of transfer lines;a control strategy for reducing fuel consumption in a hybrid electric vehicle;and towards manufacturing execution systems for the food and beverage packaging industry.
this paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (drivable and steerable wheels both at front and rear) operating in cluttered environments. Four path following co...
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ISBN:
(纸本)9789898565716
this paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (drivable and steerable wheels both at front and rear) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration;the fourth is a nonlinear controller built upon a kinematic model of a RLV using Lyapunov functions. All the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. the dynamic modelling of a RLV is lastly introduced. Simulated results present a comparative performance assessment of the controllers while dealing, or not, with vehicle dynamics. the main conclusions of these controllers are summarized, leading to a possible application in the actual vehicles that will operate in the remote handling missions of the internationalthermonuclear Experimental Reactor (ITER).
In recognition of the ever increasing energy prices, reactive power compensation is getting more and more into the forefront. Climate protection and energy is one of the most discussed issues of current policy. Produc...
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ISBN:
(纸本)9789898565709
In recognition of the ever increasing energy prices, reactive power compensation is getting more and more into the forefront. Climate protection and energy is one of the most discussed issues of current policy. Production of electrical energy from primary sources to its consumption occurs however in the process of losses. Although these total losses are obviously only a small portion of the current-dependent losses in electricity transmission, the final absolute value of those losses go to billions of kilowatt. Part of the current-dependent losses in networks raises inductive reactive power from the operation of common appliances. Many home electric appliances like refrigerators, deep-freezes, washing machines, washers, pumps, etc. produce vaste energy called reactive power, which can be reduced. this technique can lower electricity consumption (from 10 to 30% - different by countries). Current possibilities of devices for reduction of reactive power for home usage are only very limited with high price. Paper deal with a development of miniaturized solution based on 32b MCU (Micro controller Unit) with wireless communication unit and independent powering circuit. We mentioned need of a very fine measurement of an input voltage and current as well as remote monitoring option.
this paper addresses the reliable synchronization problem for a general class of uncertain chaotic systems with adaptive mechanism. By combining adaptive method and linear matrix inequality (LMI) optimization techniqu...
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