The experiments for control courses play an essential role in enriching the student learning experience in control engineering and robotics education. However, most of existing popular control facilities, such as inve...
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ISBN:
(纸本)9798350360882;9798350360899
The experiments for control courses play an essential role in enriching the student learning experience in control engineering and robotics education. However, most of existing popular control facilities, such as inverted pendulum, mobile robots, manipulators and flying vehicles, are often not portable devices for flexible use, such as take-home use. In this paper, we show that it is feasible to use a low cost and portable wheel-leg robot for controller design purpose. The wheel-leg robot is reconfigurable from simple to complex systems and can be used for both introductory and advanced levels of control courses. Specifically, the fundamental control method, PID, together with advanced techniques including Kalman filter, adaptive balancing, wheel-leg coordinating control are employed for balancing control in this study. Extensive results show that the wheel-leg robot can be an exemplary platform for demonstrating the core control concepts, such as stability (via balancing control), robustness to uncertainties (e.g. body weight changes), and disturbance handling (against load changes or external forces).
In the realm of signal and image processing, digital filters are important for spectrum analysis. In this paper windowing methods are used to analyze the FIR filter responses of all types of filters. Based on the prov...
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In cloud computing, microservices architecture has become the preferred choice for many applications. Accordingly, several small and decoupled containerized services hosted on different servers communicate through the...
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ISBN:
(纸本)9798350360882;9798350360899
In cloud computing, microservices architecture has become the preferred choice for many applications. Accordingly, several small and decoupled containerized services hosted on different servers communicate through the network. Therefore, communication latency significantly impacts end-to-end latency. Kubernetes, the de facto standard for container orchestration, cannot reduce this overhead due to its lack of awareness of service interactions. We present LEAD, a Latency-Efficient Application Deployment framework that integrates with Kubernetes without modifying its core components. LEAD considers the inter-service relationships and resource constraints, improving service placement to reduce end-to-end latency. The idea behind LEAD is straightforward: keep the cooperating services close to each other to exploit faster in-node communication and automate this process. The proposed idea is realized by leveraging a scoring algorithm and monitoring framework to achieve dynamic improvement of service placement. Our experimental results show an average 20% improvement in the 99th percentile latency compared to Kubernetes default scheduler.
Safety concepts and risk considerations have become increasingly important in engineering due to standards like IO-Link and the dissolution of the OT and IT pyramid, and also due to Industry 4.0. As the underlying com...
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Unlike teaching theoretical subjects, teaching practical subjects have differences and require some special considerations. In a higher education institution (HEI) with a technical focus, learning practical skills is ...
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Digital Twins (DTs) are powerful tools for decision making that mirror real-world systems and continuous interactions between them. We study on the application and capabilities of DTs in the realm of wireless communic...
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ISBN:
(纸本)9798331516000;9798331515997
Digital Twins (DTs) are powerful tools for decision making that mirror real-world systems and continuous interactions between them. We study on the application and capabilities of DTs in the realm of wireless communications, using two leading wireless communication tools: Wireless InSite and Sionna. Specifically, we compare the fidelity of the two wireless communication tools by measuring several metrics with a real-life dataset. Our comprehensive analysis aims to determine the capabilities of Digital Twins in the context of wireless communications, offering valuable insights for future researchers in the field.
A pH automation system using Arduino is a project that utilizes the Arduino microcontroller board to automate pH measurement and control in various applications such as hydroponics, aquaponics, and water treatment. Th...
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In image processing the key to correctly identify the medicinal herbs is crucial. Mislabeling of medicinal plants can have adverse effects. Plants can be recognized by their size, color, and texture of its leaves and ...
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This report introduces a cloud-based video conversion solution aimed at optimizing cost-effectiveness while maintaining performance for WantCloud B.V. in the context of the growing demand for multimedia content on the...
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This paper introduces a project enabling non-coders to control a Poppy Ergo Jr. robotic arm with Dynamixel servomotors. Originally using a Raspberry Pi and Pixl board, various constraints related to importation led to...
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ISBN:
(纸本)9798400709944
This paper introduces a project enabling non-coders to control a Poppy Ergo Jr. robotic arm with Dynamixel servomotors. Originally using a Raspberry Pi and Pixl board, various constraints related to importation led to adopting a ROBOTIS OpenCM9.04 board. A client-server architecture was implemented for remote control, with creative coding platforms (***, Processing, Pure Data, Python) as clients. The server, utilizing a two-layer architecture, manages communication and interfaces with the ROBOTIS OpenCM9.04 board. The OSC andWebSocket protocols were chosen for communication due to their flexibility and their ease of use. Clients were developed for each platform, leveraging compatibility layers.
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