A novel capturing method of tumbling objects in non-gravitational field is proposed, aiming for the future on-orbit service missions such as capturing failed satellites or manned vehicle which loses control, or removi...
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A novel capturing method of tumbling objects in non-gravitational field is proposed, aiming for the future on-orbit service missions such as capturing failed satellites or manned vehicle which loses control, or removing debris. The key technology for this capture is how to compensate for the difference of rotational motions between the chaser and the target at the moment of capture. Most conventional methods use manipulator movement for this objective while keeping the position and attitude of the chaser body constant, which limits the allowable rotational velocity and patterns of the tumbling motion of the target. In the proposed method, the chaser aligns its rotational motion with the target's one by appropriate control before capturing the target, which is expected to enlarge the allowable target rotational motion range. Technical issues to realize it are discussed and our approach to them are proposed, which is verified with some computer simulations and hardware experiments.
The development of smart contract has extended the usage of blockchain technology from a simple ledger database for decentralized cash transaction system into a platform that provides transaction intelligence, and fur...
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ISBN:
(数字)9781665461047
ISBN:
(纸本)9781665461047
The development of smart contract has extended the usage of blockchain technology from a simple ledger database for decentralized cash transaction system into a platform that provides transaction intelligence, and further into a multifunctional state-sharing running platform for designing dependable decentralized applications. However, most current fast-booming blockchain platforms keep bringing new fashion features, which will bring the cost of breaking changes between different releases of the platform. This can be a barrier for developers especially beginners to start their development. To resolve such issue, in this work, we introduce a smart contract development platform called DevLeChain, which comes with unified access method, easy-to-understand development workflow, and constant design philosophy. DevLeChain can provide an easy toolset to customize and control the underlying blockchain's behavior, whereby developers can easily start developing blockchain-based systems. Also, the provided smart contract automation testing tools allow developers to quickly realize their code.
With the surge in global data consumption with proliferation of Internet of Things (IoT), remote monitoring and control is increasingly becoming popular with a wide range of applications from emergency response in rem...
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ISBN:
(纸本)9781728140698
With the surge in global data consumption with proliferation of Internet of Things (IoT), remote monitoring and control is increasingly becoming popular with a wide range of applications from emergency response in remote regions to monitoring of environmental parameters. Mesh networks are being employed to alleviate a number of issues associated with single-hop communication such as low area coverage, reliability, range and high energy consumption. Low-power Wireless Personal Area Networks (LoWPANs) are being used to help realize and permeate the applicability of IoT. In this paper, we present the design and test of ieee 802.15.4-compliant smart IoT nodes with multi-hop routing. We first discuss the features of the software stack and design choices in hardware that resulted in high RF output power and then present field test results of different baseline network topologies in both rural and urban settings to demonstrate the deployability and scalability of our solution.
We study an ergodic control problem of random singular diffusions. This is a typical hybrid system which arises in numerous applications such as fault tolerant control systems, flexible manufacturing systems etc. Unde...
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We study an ergodic control problem of random singular diffusions. This is a typical hybrid system which arises in numerous applications such as fault tolerant control systems, flexible manufacturing systems etc. Under a certain Lyapunov type stability condition we establish the existence of an optimal control. We then study the corresponding HJB equation and establish the existence of a unique viscosity solution in a certain class.
A dynamic neural network with the hidden layer that consists of wavelets for nonlinear dynamic system identification is presented. In order to model the dynamics of nonlinear dynamic systems, the external auto-regress...
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A dynamic neural network with the hidden layer that consists of wavelets for nonlinear dynamic system identification is presented. In order to model the dynamics of nonlinear dynamic systems, the external auto-regressive connection is introduced into the wavelet based neural network. For the fast training of wavelet neural network, a PID back-propagation (PIDBP) algorithm is proposed. The procedure of using wavelet neural network for modeling is described in detail in this article. Finally, an example for identification of continuous-stirred-tanker-reactor (CSTR) is illustrated.
The rapid development of wireless communication technology facilitates the realization of the Internet of Things (IOT). Self-configuration and smart connection system have become relative important issue in accordance...
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ISBN:
(纸本)9788996865063
The rapid development of wireless communication technology facilitates the realization of the Internet of Things (IOT). Self-configuration and smart connection system have become relative important issue in accordance with extensive applications of IOT, and the energy saving concepts. Therefore, this work presents the integration of `Self-configuration and Wisdom Connection System' with Wireless Sensor Networks (WSN), IOT and ZigBee technology, to actualize self-configuration based on a received signal strength indicator Received Signal Strength Indicator (RSSI), lighting auto-configuration area, regional allocation, and sub-areas. The proposed `Self-configuration and Wisdom Connection System' automatically configures different lightings to the same position within in the range -3dBm when the RSSI value varies only slightly. The system is configured to the same lighting site within the experimental environment when the sub-area range set -3dBm. This study presents a significant contribution to new configuration of objects in IOT, context awareness control, and optimization of network control platform.
In this paper, we present a phenomenological nonlinear dynamic model for direct injection stratified charge (DISC) gasoline engines and discuss several key control problems for this advanced technology powertrain. The...
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In this paper, we present a phenomenological nonlinear dynamic model for direct injection stratified charge (DISC) gasoline engines and discuss several key control problems for this advanced technology powertrain. The model is developed and validated using dynamometer engine mapping data obtained from a 4-cylinder DISC engine. It captures the static behavior of the key components of a DISC engine, such as the torque and emissions generation and volumetric efficiency, as well as the essential dynamics for the intake manifold and engine rotational inertia. It is shown that the multi-mode operation of a DISC engine dictates a hybrid model structure and also requires a coordinated multivariable control strategy to achieve expected performance.
It is expected that more and more information will be brought into automobiles through various sensing and communication devices. To make such information useful for effective driving assistance, it must be appropriat...
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Until recently diesel generating sets were mainly used for emergency / standby purposes. However, deregulation of the electricity utilities has created new applications for these units with a corresponding opportunity...
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ISBN:
(纸本)0780363388
Until recently diesel generating sets were mainly used for emergency / standby purposes. However, deregulation of the electricity utilities has created new applications for these units with a corresponding opportunity for market growth. These conditions necessitate an improvement in the overall control provided for such generating sets. This paper is primarily concerned with the economic and effective control of generated voltage. In a conventional Automatic Voltage Regulator (AVR) this is achieved using analogue technology, but there are many advantages in employing digital technology. The increased functionality and improved cost effectiveness of microcontrollers, ensure that digital AVRs are becoming a viable option on small alternators. The implementation of such a digital AVR is described. Test results showing the voltage response to step changes in demand and application and rejection of load are provided to compare the performance of the new digital and conventional analogue devices.
We report the development of a multi-modal, flexible tactile sensing skin based on polymer substrates and integrated micromachining technology with increased mechanical robustness relative to silicon tactile devices. ...
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ISBN:
(纸本)0780378601
We report the development of a multi-modal, flexible tactile sensing skin based on polymer substrates and integrated micromachining technology with increased mechanical robustness relative to silicon tactile devices. This polymer-based tactile skin is very unique because it includes the following sensing modalities beyond surface roughness and contact force measurement: thermal conductivity, hardness, temperature, and its own curvature. These new modalities allow the demonstrated tactile sensors to characterize an object or a contact event in a more comprehensive fashion. Sensing is accomplished via thin film metal gold heaters, nickel RTD's (Resistance Temperature Device), and NiCr (nichrome) strain gauges. Experimental characterization of the sensors' performance and potential for application to robotics are presented.
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