This paper investigates the stability of fuzzy polynomial positive systems with time delay by using sum-of-squares (SOS) approach. Conservative stability conditions are obtained based on the traditional stability-anal...
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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)9781479979202
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.
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)9781479979202
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.
Aimed at solving the problem of multi-AUVs formation control, an analysis has been made on a triangle formation based on leader-follower construction, with a multi-AUVs formation controller designed with communication...
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The proceedings contain 15 papers. The topics discussed include: robust output feedback interpolation based control for constrained linear systems;SVM approximation of value function contours in target hitting problem...
ISBN:
(纸本)9783642313523
The proceedings contain 15 papers. The topics discussed include: robust output feedback interpolation based control for constrained linear systems;SVM approximation of value function contours in target hitting problems;dynamic obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot;an economical testbed for cooperative control and sensing strategies of RoboticMicro-vehicles;mobile manipulators motion planning based on trajectory tracking control;study and development of the rescue robot to accommodate victims under earthquake disasters;digital traveler assistant;analysis of a class of infinite dimensional frames;using chernoff's bounding method for high-performance structural break detection and forecast error reduction;and analytical-numerical localization of hidden attractor in electrical chua's circuit.
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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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.
This paper presents a navigational framework which enables a robot to perform Long Range Navigation in the context of the Air-Cobot-Project in which a robot is used to execute an autonomous pre-flight inspection on an...
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ISBN:
(纸本)9781479979202
This paper presents a navigational framework which enables a robot to perform Long Range Navigation in the context of the Air-Cobot-Project in which a robot is used to execute an autonomous pre-flight inspection on an aircraft. The robot is equipped with Laser range finders and a mobile stereo camera system. The idea is to guide the robot to the pre-defined checkpoints using a Visual Servoing controller based on video data, while avoiding static and moving obstacles. The contribution of the paper is an avoidance technique derived from the spiral flight path of insects applied to the Laser range data. Simulation results validate the whole approach.
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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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 order to control a robot, motion data obtained from various interface devices such as haptic and teleoperating interfaces, and a motion capture system, or from predefined parametric equations are needed. It is hard...
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ISBN:
(纸本)9781479979202
In order to control a robot, motion data obtained from various interface devices such as haptic and teleoperating interfaces, and a motion capture system, or from predefined parametric equations are needed. It is hard to store and transmit the data because of their high control frequency and synchronization problem. In addition, usually, all these data are only for one target robot system, i.e., it is hard to use them to other robot system with different hardware limits. In order to solve the problems, the reduction of the original data is conducted with two stage magnitude quantization and the restoration without violating the hardware limits, such as maximum velocity, acceleration, etc., is conducted with the convolution interpolation, in this paper. The proposed method can be used in on-line data transmission and for off-line data storage.
The impedance shaping control is presented in this paper, providing an extension of standard impedance controller. The method has been conceived to avoid force overshoots in applications where there is the need to tra...
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ISBN:
(纸本)9781479979202
The impedance shaping control is presented in this paper, providing an extension of standard impedance controller. The method has been conceived to avoid force overshoots in applications where there is the need to track a force reference. Force tracking performance are obtained tuning on-line both the position setpoint and the stiffness and damping parameters, based on the force error and on the estimated stiffness of the interacting environment (an Extended Kalman Filter is used). The stability of the presented strategy has been studied through Lyapunov. To validate the performance of the control an assembly task is taken into account, considering the geometrical and mechanical properties of the environment (partially) unknown. Results are compared with constant stiffness and damping impedance controllers, which show force overshoots and instabilities.
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