A complete Lyapunov function characterizes the behaviour of a general dynamical system. In particular, the state space is split into the chain-recurrent set, where the function is constant, and the part characterizing...
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this paper proposes a path tracking control algorithm dedicated to off-road mobile robots equipped with two steering axles. Four wheel steering mobile robot allows to enhanced motion capability with respect to classic...
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LiDAR sensors are very popular for mapping and localisation with mobile robots, yet they cannot handle harsh environments, containing smoke, fog, dust, etc. On the other hand, radar sensors can overcome these situatio...
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To analyze potential relations between different imaging technologies such as RGB, hyperspectral, IR and thermal cameras, spatially corresponding image regions need to be identified. Regarding the fact that images of ...
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this paper provides a comprehensive introduction into state of the art marker-based tracking methods. therefore, optical, magnetic, acoustic and inertial tracking are described and evaluated. All presented approaches ...
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ISBN:
(纸本)9789897583049
this paper provides a comprehensive introduction into state of the art marker-based tracking methods. therefore, optical, magnetic, acoustic and inertial tracking are described and evaluated. All presented approaches are compared regarding accuracy, resolution, tracking volume, measurement rate and outdoor and indoor suitability. Additionally, typical technical limitations are mentioned for each system according to their functional principle. As a technology with increasing potential for mobile robotics, we evaluate the achievable accuracy for pose tracking using dual-axis rotating laser sweeps as used in modern tracking systems for virtual reality applications.
As examples of computationally cheap and robust sensors the eyes of a fly are well known in literature. Attempts to replicate the function of the eye in electronic technology has resulted in several algorithms and imp...
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ISBN:
(纸本)9789897583049
As examples of computationally cheap and robust sensors the eyes of a fly are well known in literature. Attempts to replicate the function of the eye in electronic technology has resulted in several algorithms and implementations based on those algorithms. these implementations are either impractical for industrial use or use costly Application Specific Integrated Circuits. In an attempt to use a low-cost Commercial off the Shelf camera as a sensor in a real-world robot navigation use-case we investigate two commonly used algorithms and find them unsuitable. We develop a new algorithm - the Distance of Travel algorithm - show its suitability and investigate its properties in both simulation and practical experiments.
In this paper, the design of an exoskeleton for the upper limb is presented, aimed primarily at training and rehabilitation in virtual environments. A mechanical model of the exoskeleton arm as haptic device is built ...
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ISBN:
(纸本)9789897583049
In this paper, the design of an exoskeleton for the upper limb is presented, aimed primarily at training and rehabilitation in virtual environments. A mechanical model of the exoskeleton arm as haptic device is built up and impedance control scheme is selected as the most suitable for force reflection at the arm. the design of a grounded exoskeleton prototype is revealed in the paper. A driving system based on braided pneumatic muscle is selected to ensure natural security in the interaction. Antagonistic drive system for each joint is shown, using pulley and Bowden cable transmissions. An approach is presented for the joint moments control by antagonistic interaction of bundles with different numbers of pneumatic muscles. control scheme of joint torque by antagonistic interaction is given, too. Computer simulations are performed to provide power reflection by virtual reality (VR), according to scenario of virtual gymnastics.
the diffusion furnace is an important and indispensable equipment in the production process of solar cell, it plays a crucial role in the photoelectric conversion efficiency of the solar cell. Production efficiency an...
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ISBN:
(纸本)9789897581984
the diffusion furnace is an important and indispensable equipment in the production process of solar cell, it plays a crucial role in the photoelectric conversion efficiency of the solar cell. Production efficiency and temperature control precision of traditional closed diffusion furnace is low. To solve this problem, this paper presents a temperature control system of continuous diffusion furnace. the system uses PID cascade control algorithm based on Smith estimating pre-compensation to achieve the temperature control of furnace and ensure the uniformity and stability of the temperature, so as to ensure the uniformity of the dopant diffusion. the simulation results verify the effectiveness of the control algorithm;and practical experiments prove the feasibility of the temperature control system.
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.
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