Aircraft are non-minimum phase, MIMO and highly nonlinear systems which undergo significant disturbances and variation in system parameters during operation. In spite of the prosperous literature in adaptive control, ...
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ISBN:
(纸本)9781479951994
Aircraft are non-minimum phase, MIMO and highly nonlinear systems which undergo significant disturbances and variation in system parameters during operation. In spite of the prosperous literature in adaptive control, application of the promising control strategy on aircraft control has been restricted by the lack of assurance in closed-loop stability. This paper proposes a robust adaptive control scheme for aircraft. The scheme is composed of an inner-level adaptive fuzzy PD control law and an outer-level supervisory control law. Importantly, the outer-level controller of the two-level scheme is designed based on a fuzzy model which takes non-minimum phase phenomena and modeling error explicitly into account. Numerical studies of the tracking control of a five degree of freedom aircraft system demonstrate the effectiveness of the proposed control strategy in the face of bursting disturbances.
This paper discusses the placement of cameras in order to achieve the highest possible localization accuracy. It is reached by using several cameras with redundant fields of views. A camera model is introduced and the...
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ISBN:
(纸本)9789897580406
This paper discusses the placement of cameras in order to achieve the highest possible localization accuracy. It is reached by using several cameras with redundant fields of views. A camera model is introduced and the components which cause the localization errors are identified. The localization accuracy measure is defined for one and for multiple cameras too. The problem of adding a new camera to the system in order to improve the accuracy is formulated. The method for finding the optimal placement of this new camera is presented. Some features are enumerated which can be applied for getting an advanced method.
CREA robot is designed to climb up concrete walls. The robot uses the suction mechanism to provide adhesion and wheel mechanism for locomotion. Eleven chambers which are connected to one common reservoir are responsib...
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ISBN:
(纸本)9789897580406
CREA robot is designed to climb up concrete walls. The robot uses the suction mechanism to provide adhesion and wheel mechanism for locomotion. Eleven chambers which are connected to one common reservoir are responsible to produce adhesion force. A controller is developed to independently control each chamber while satisfying certain criteria on the safety of the robot. It is also designed to reach minimum friction between active inflatable seals and wall. In conclusion, the controller is able to successfully meet the conditions of stability, minimum friction and safety.
Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, with the objective of defining a mathematical model which accurately repre...
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ISBN:
(纸本)9789897580406
Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, with the objective of defining a mathematical model which accurately represents the behaviour of AGVs in the system. AGVs can move freely in the warehouse (an open path AGV system is adopted), and their transportation activities can be modelled as a sequence of elementary or basic actions. In the paper, a coloured Petri net (CPN) model is proposed. It allows representing any sequence of elementary actions of AGVs (including pick-up and drop-off activities), and accurately models the interactions among AGVs, in order to guarantee the safety during the execution of activities. The CPN model can be used to analyse and implement deadlock prevention and deadlock recovery strategies, and it has been adopted in the building of a discrete-event simulator which is employed to analyse the system's performance and to evaluate scheduling policies for transportation tasks.
In this paper, we present our current work in the design and characterisation of a new shape memory alloy (SMA)-based High Phase Order Motor (HPOM). The motor can be used either in stepping mode or in servo mode of op...
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ISBN:
(纸本)9789897580406
In this paper, we present our current work in the design and characterisation of a new shape memory alloy (SMA)-based High Phase Order Motor (HPOM). The motor can be used either in stepping mode or in servo mode of operation. Each phase of the motor consists of an SMA wire with a spring. The principle of operation of the HPOM is presented. In its operation the motor resembles a stepper motor though the actuation principles are different and hence has been characterised similar to a stepper motor. This motor can be actuated in either direction depending on which SMA is actuated, which are presented in this work. The motor is modelled and simulated and the results of simulations and experiments are presented.
Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. Their main properties are briefly presented. Algorithmic details incorpor...
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ISBN:
(纸本)9789897580390
Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. Their main properties are briefly presented. Algorithmic details incorporated in the developed solver are described. The results of an extensive performance investigation on a large collection of examples are summarized. Several numerical difficulties and observed unexpected behavior are reported. These algorithms are strongly recommended for improving the solutions computed by other solvers.
In this paper, we focus on the problem of optimally placing a mixture of static and PTZ cameras based on the resolution requirement, this configuration will be useful later cameras planning. The static cameras used fo...
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ISBN:
(纸本)9789897580390
In this paper, we focus on the problem of optimally placing a mixture of static and PTZ cameras based on the resolution requirement, this configuration will be useful later cameras planning. The static cameras used for detecting an object or an event, this result is used to select the best PTZ camera within the network to identify or recognize this moving object or event. In our work the monitoring area is represented by a grid of points distributed uniformly or randomly (S. Thrun, 2002), then using surface-projected monitoring area and camera sensing model we develop a binary integer programming algorithm. The results of the algorithm are applied successfully to a variety of simulated scenarios.
The paper introduces the multi-robot area coverage problem, wherein a group of robots must inspect every point of a 2-dimensional test environment and surround all contaminations (or enemies) found. Self-organizing ro...
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ISBN:
(纸本)9789897580406
The paper introduces the multi-robot area coverage problem, wherein a group of robots must inspect every point of a 2-dimensional test environment and surround all contaminations (or enemies) found. Self-organizing robotic systems are able to accomplish complex tasks in a changing environment, using local interactions among individual agents and local environment without an external global control. Our interest in this area is motivated by an involvement in a project with a goal to solve tasks of difficult area coverage and surveillance by a large team of small autonomous robots. In the paper, the architecture to achieve this is described, and simulation results are presented to compare efficiency of coverage of the area and surround of found targets using robots groups having different sensors ranges.
This paper introduces a comparison of a linear and nonlinear one step predictive models that were used to describe the relationship between human emotional signal - excitement - as a reaction to a virtual 3D face feat...
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ISBN:
(纸本)9789897580390
This paper introduces a comparison of a linear and nonlinear one step predictive models that were used to describe the relationship between human emotional signal - excitement - as a reaction to a virtual 3D face feature - distance between eyes. An input-output model building method is proposed that allows building a stable model with the least output prediction error. Validation was performed using the recorded signals of six volunteers and the following measures: prediction error standard deviation, relative prediction error standard deviation, and average absolute relative prediction error. Validation results of the models showed that both models predict excitement signal in relatively high prediction accuracy.
We propose a flexible computer vision system using magnetic sensors. The system enables a flexible free scanning of a CCD camera and a laser slit using 3D magnetic sensors. Many numbers of views of each model from dif...
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ISBN:
(纸本)9789897580390
We propose a flexible computer vision system using magnetic sensors. The system enables a flexible free scanning of a CCD camera and a laser slit using 3D magnetic sensors. Many numbers of views of each model from different angles can be taken on measuring the configuration between a CCD camera and a laser slit projector simultaneously. The information of different views is combined to reconstruct the 3D object on a computer display. In this paper, the application for pipe measurement is introduced. Experimental results show the feasibility of our system.
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