An overhead crane transfers the payloads of various volumes and weights depending on the each operation case. The friction factors characterized by damped coefficients can be changed in connection with operating envir...
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An overhead crane transfers the payloads of various volumes and weights depending on the each operation case. The friction factors characterized by damped coefficients can be changed in connection with operating environment. This study develops an adaptive version of sliding mode controller for the overhead cranes without priori information of cargo mass and damped aspects. The controller simultaneously executes five duties consisted of tracking the trolley and bridge, hoisting the cargo, keeping the payload swings small during the transport process, and absolutely suppressing the cargo vibrations at destinations of trolley and bridge. The simulation results indicate that the controller asymptotically stabilizes all system responses.
An uncalibrated visual servo method based on projective homography, denoted as PHUVS, is proposed in this paper, in which a novel task function based on projective homography, instead of the traditional Euclidean homo...
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ISBN:
(纸本)9781538604915
An uncalibrated visual servo method based on projective homography, denoted as PHUVS, is proposed in this paper, in which a novel task function based on projective homography, instead of the traditional Euclidean homography, is devised to realize visual servo without priori knowledge of the camera intrinsic parameters. A Kalman-Bucy filter is developed to estimate the Jacobian matrix between task function and velocity, which is employed to design the controller to regulate the 6 degree of freedom of the PUMA560 Robot. Simulations are performed and the results confirm that the new approach is suitable for visual servoing tasks, and reveals competitive performance in comparison with traditional uncalibrated image based visual servo method.
intelligent, autonomous driving units are the new trend in the world of transportation. Risk mitigation, zero carbon emission, fuel scarcity and avoiding accidents due to driver behaviors are the key factors that are ...
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This paper describes advanced control methods using Virtual Reality technology for solving the problems of guiding endoscopes and surgical instruments in minimally invasive surgery. The paper examines how the design o...
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In this paper, the intelligent Space concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical ...
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In this paper, the intelligent Space concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical (fuzzy-neuro) description of obstacle avoidance method (walking habit) of moving objects (human beings) in a limited area scanned by the intelligent Space. A mobile robot with extended functions is introduced as a mobile haptic interface, which is assisted by the intelligent Space. The mobile haptic interface can guide and protect a blind person in a crowded environment with the help of the intelligent Space. The intelligent Space learns the obstacle avoidance method (walking habit) of dynamic objects (human beings) by tracing their movements and helps to the blind person to avoid the collision. The prototype of the mobile haptic interface and simulations of some basic types of obstacle avoidance method (walking habit) are presented.
Nowadays, the systems developed to integrate real physical processes and virtual computational processes the cyber-physical systems, are used in multiple areas such as medicine, traffic management and security, automo...
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ISBN:
(纸本)9788897999492
Nowadays, the systems developed to integrate real physical processes and virtual computational processes the cyber-physical systems, are used in multiple areas such as medicine, traffic management and security, automotive engineering, industrial and process control, energy saving, ecological monitoring and management, avionics and space equipment, industrial robots, technical infrastructure management, distributed robotic systems, protection target systems, nanotechnology and biological systemstechnology. Current paper provides an overview of CPS, their application in different fields of modern business, with main accent to intelligent transport system. Various ITS strategies and its evaluation measures are considered for transport intelligent transport system effective management. Example of transport management solutions realization process (problem definition, data collection, initial model development, verification, validation, ITS strategies developments, testing and evaluation) based on transport modelling is presented. Example is illustrated for one of the Latvian cities Adazi, where was necessary to improve accessibility level for local drivers to get to and from city center.
Distributing software effectively to multi core, many core, and distributed systems has been studied for decades but still advances successively driven by domain specific constraints. Programming vehicle ECUs is one o...
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ISBN:
(纸本)9781538606971
Distributing software effectively to multi core, many core, and distributed systems has been studied for decades but still advances successively driven by domain specific constraints. Programming vehicle ECUs is one of the most constrained domains that recently approached the need for concurrency due to advanced driver assistant systems or autonomous driving approaches. In this paper, software distribution challenges for such systems are discussed and solutions are presented for instruction precise modeling, affinity constrained distribution, and reducing task response times achieved by advanced software parallelization. Therefore, existing partitioning and mapping algorithms are advanced to consider affinity constraints, software component tags and communication costs. Our experiments along a remote controlled model car show that using our new advanced results instead of sequential implementations or software distributions provided by the operating system on a distributed heterogeneous system significantly improves its responsiveness in order to potentially reduce energy consumption and replaces error prone manual constraint considerations for mixed-critical applications.
In this paper, we propose an intelligent Decision Support System based on Data Mining (IDSSDM), which integrates several data mining techniques and considers both structured data and semi structured data. For structur...
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This paper presents an electronically tunable versatile biquadratic filter. Unlike the typical voltage-mode and current-mode filter, the proposed filter can realize voltage-mode, current-mode, transconductance-mode an...
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This paper presents an electronically tunable versatile biquadratic filter. Unlike the typical voltage-mode and current-mode filter, the proposed filter can realize voltage-mode, current-mode, transconductance-mode and transresistance-mode transfer functions without changing the circuit topology, called a mixed-mode filter. The proposed structure employs six operational transconductance amplifiers, two grounded capacitors and one external resistor that provides following advantages: realization of low-pass, band-pass, high-pass, band-stop and all-pass filter responses; orthogonal control of the natural frequency and the quality factor; employment of grounded capacitors which is more suitable for integrated circuit implementation; low active and passive sensitivities. Simulation results are also given to confirm the presented theory.
In recent years, HTML5 technology has rapidly developed and there have been the multiple forms of digital publications based on the HTML5 technology. In this paper, the research on the application of some digital publ...
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ISBN:
(纸本)9781538665800
In recent years, HTML5 technology has rapidly developed and there have been the multiple forms of digital publications based on the HTML5 technology. In this paper, the research on the application of some digital publications such as digital newspapers and network games, etc. based on the HTML5 technology is carried out, the users' experiencing effects and optimization roles are analyzed and some obvious advantages of the digital publications based on the HTML5 technology such as rich contents and novel forms, etc. are concluded. In the development of the HTML5 technology and the digital publications in the future, it is really necessary to complete the copyright protection mechanism, protect the ecology environment for marketing, resolve the disadvantages of the HTML5 technology and correctly guide the public opinions.
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