This paper presents the application of Wavelet based State Dependent Parameter (WSDP) models to the identification of a Continuous Stirred-Tank Reactor (CSTR). Here, in order to characterize the process dynamics which...
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This paper presents the application of Wavelet based State Dependent Parameter (WSDP) models to the identification of a Continuous Stirred-Tank Reactor (CSTR). Here, in order to characterize the process dynamics which is highly nonlinear and multi-variable dependent, 2-D WSDP model is used. The simulation results demonstrate the effectiveness and advantages of the identified model.
The proceedings contain 154 papers. The topics discussed include: making microrobots move;dynamic modeling of robots using recursive Newton-Euler techniques;fingertip force measurement by imaging the fingernail;predic...
ISBN:
(纸本)9789898425003
The proceedings contain 154 papers. The topics discussed include: making microrobots move;dynamic modeling of robots using recursive Newton-Euler techniques;fingertip force measurement by imaging the fingernail;prediction of temperature inside a refrigerated container in the presence of perishable goods;dynamic control of mobile ad-hoc networks - network protocol parameter adaptation using organic network control;a practical method for self-adapting Gaussian expectation maximization;patterns for temporal requirements engineering - a level crossing case study;automatic calibration of a motion capture system based on inertial sensors for tele-manipulation;kinematic identification of parallel mechanisms by a divide and conquer strategy;modeling smart grids as complex systems through the implementation of intelligent hubs;and classification of power quality disturbances via higher-order statistics and self-organizing neural networks.
Presented in this paper is our effort to create a multifunctional swimming robot, i.e., robotic fish, inspired by the well-integrated, configurable multiple control surfaces existing in real fish. By virtue of the hyb...
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Presented in this paper is our effort to create a multifunctional swimming robot, i.e., robotic fish, inspired by the well-integrated, configurable multiple control surfaces existing in real fish. By virtue of the hybrid propulsion capability in the tail plus the caudal fin and the maneuverability in accessory fins, a novel, synthesized propulsion scheme composed of multiple artificial control surfaces is proposed, involving the tail plus the caudal fin, pectoral fins, pelvic fin, and dorsal fin. Multimodal locomotion is then accomplished by manipulation of control surfaces, separately or cooperatively, allowing the robot to maneuver more diversely and agilely. In particular, bio inspired Central Pattern Generators (CPGs) based locomotion control is adopted for online swimming gait generation. Aquatic testing has been carried out to demonstrate the improved maneuverability and stability of the robotic fish underwater as well as the effectiveness of the conceived multi-fin mechatronic design.
The proceedings contain 154 papers. The topics discussed include: making microrobots move;dynamic modeling of robots using recursive Newton-Euler techniques;fingertip force measurement by imaging the fingernail;predic...
ISBN:
(纸本)9789898425027
The proceedings contain 154 papers. The topics discussed include: making microrobots move;dynamic modeling of robots using recursive Newton-Euler techniques;fingertip force measurement by imaging the fingernail;prediction of temperature inside a refrigerated container in the presence of perishable goods;dynamic control of mobile ad-hoc networks - network protocol parameter adaptation using organic network control;a practical method for self-adapting Gaussian expectation maximization;patterns for temporal requirements engineering - a level crossing case study;automatic calibration of a motion capture system based on inertial sensors for tele-manipulation;kinematic identification of parallel mechanisms by a divide and conquer strategy;modeling smart grids as complex systems through the implementation of intelligent hubs;and classification of power quality disturbances via higher-order statistics and self-organizing neural networks.
The proceedings contain 154 papers. The topics discussed include: making microrobots move;dynamic modeling of robots using recursive Newton-Euler techniques;fingertip force measurement by imaging the fingernail;predic...
ISBN:
(纸本)9789898425010
The proceedings contain 154 papers. The topics discussed include: making microrobots move;dynamic modeling of robots using recursive Newton-Euler techniques;fingertip force measurement by imaging the fingernail;prediction of temperature inside a refrigerated container in the presence of perishable goods;dynamic control of mobile ad-hoc networks - network protocol parameter adaptation using organic network control;a practical method for self-adapting Gaussian expectation maximization;patterns for temporal requirements engineering - a level crossing case study;automatic calibration of a motion capture system based on inertial sensors for tele-manipulation;kinematic identification of parallel mechanisms by a divide and conquer strategy;modeling smart grids as complex systems through the implementation of intelligent hubs;and classification of power quality disturbances via higher-order statistics and self-organizing neural networks.
This paper describes the development of a virtual laboratory used as a self-based learning tool for control engineering education at undergraduate level. It relies on real time animation to emulate the operation and c...
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This paper describes the development of a virtual laboratory used as a self-based learning tool for control engineering education at undergraduate level. It relies on real time animation to emulate the operation and connectivity of the physical plant. Here, the real world laboratory plant is mimiced by a 3D-VRML (Virtual Reality Modeling Language) and Cortona automation interface. This provides a virtually interactive environment which allows users to freely manipulate the virtual plant as if they should be in the real world laboratory environment with the physical hardware.
This paper presents a novel method for trajectory generation based on dynamic movement primitives (DMPs) treated from a control theoretical perspective. We extended the key ideas from the original DMP formalism by int...
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This paper presents a novel method for trajectory generation based on dynamic movement primitives (DMPs) treated from a control theoretical perspective. We extended the key ideas from the original DMP formalism by introducing a velocity convergence mechanism in the reformulated system. Theoretical proof is given to guarantee its validity. The new method can deal with complex paths as a whole. Based on this, we can generate smooth trajectories with automatically generated transition zones, satisfy position- and velocity boundary conditions at start and endpoint with high precision, and support multiple via-point applications. Theoretic proof of this method and experiments are presented.
Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A thr...
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Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom(DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a realtime PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST.
This paper introduces an approach to analyze the power and energy consumption of a many-core *** investigation has been done by using the Intel SCC system as an experimental *** approach is to collect the time and pow...
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This paper introduces an approach to analyze the power and energy consumption of a many-core *** investigation has been done by using the Intel SCC system as an experimental *** approach is to collect the time and power profiling of an executing application on the Intel SCC *** then,we find the total energy consumed for the entire *** studied the effects of power and energy consumption in many-core systems by varying different hardware configuration parameters such as number of cores,clock frequency and voltage ***,the many-core system can be explored for its scalability,fitness in operational cost and performance.
This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired CPG (central pattern generator). A set of four key parameters are introduced serving a...
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This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired CPG (central pattern generator). A set of four key parameters are introduced serving as external stimuli to shape the CPG rhythmic activities where necessary speed and orientation modulation as well as 3-D locomotion can be obtained. In terms of the built parameter set, a library of movement primitives based on finite state machine is established to facilitate rapid and smooth gait transitions. To enhance adaptive behaviors, well-integrated sensory feedback by means of two liquid-level detectors enables the gait transition between ground and water autonomously. Simulations and experiments are also conducted to demonstrate the feasibility of a behaviorbased control architecture governed by CPGs.
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