In this paper, a computationally efficient guidance algorithm has been designed for a small aerial vehicle. Preflight path planning only consists of storing a few waypoints guiding the aircraft to its target. The pape...
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In this paper, a computationally efficient guidance algorithm has been designed for a small aerial vehicle. Preflight path planning only consists of storing a few waypoints guiding the aircraft to its target. The paper presents an efficient way to model no-fly zones and to generate a path in real-time in order to avoid the obstacles, even in the event of wind disturbance.
An advanced, yet simple, controller for submarine robots is proposed to achieve simultaneously tracking of time-varying contact force and posture, without any knowledge of its dynamic parameters. Structural properties...
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ISBN:
(纸本)9789728865832
An advanced, yet simple, controller for submarine robots is proposed to achieve simultaneously tracking of time-varying contact force and posture, without any knowledge of its dynamic parameters. Structural properties of the submarine robot dynamic are used to design passivity-based controllers. A representative simulation study provides additional insight into the closed-loop dynamic properties for regulation and tracking cases. A succinct discussion about inherent properties of the open-loop and closed-loop systems finishes this work.
New distributed control architecture for micro- and nanohandling cells is presented. As a modular system it is designed to handle micro- and nanorobotic automation tasks at semi- up to full automation level. The archi...
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ISBN:
(纸本)9789728865825
New distributed control architecture for micro- and nanohandling cells is presented. As a modular system it is designed to handle micro- and nanorobotic automation tasks at semi- up to full automation level. The architecture includes different visual sensors as there are scanning electron microscopes (SEM) and CCD cameras for position tracking as well as non-optical force, temperature, etc. sensors for environmental control. It allows usage of multiple nanorobots in parallel for combined autonomous fabrication tasks. The system provides a unified framework for mobile platforms and linear actors.
This paper describes the integrated design of the pressure control in a common-rail injection system. Mechanical elements and the embedded controller are considered as a whole, using a multi-disciplinary approach to m...
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ISBN:
(纸本)9789728865832
This paper describes the integrated design of the pressure control in a common-rail injection system. Mechanical elements and the embedded controller are considered as a whole, using a multi-disciplinary approach to modelling and simulation. The virtual prototype, which provides the detailed geometrical/physical model of the mechanical parts, plays the role of a surrogate of a reference hardware prototype in reduced-order modelling, validation, and/or in tuning the control parameters. The results obtained by the proposed approach are compared and validated by experiments.
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allow...
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ISBN:
(纸本)9789728865825
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allows the automatic generation of an autonomous and adaptive controller (artificial brain). The present paper introduces a new module designed to trigger causal inference;its functionality is discussed and its behavior is illustrated applying the module to solve the problem of a dynamic maze.
This paper describes the synthesis of a linear state observer based optimal control of ship electric propulsion using permanent magnet synchronous motor. The proposed approach is used for the ship speed control by mea...
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ISBN:
(纸本)9789728865832
This paper describes the synthesis of a linear state observer based optimal control of ship electric propulsion using permanent magnet synchronous motor. The proposed approach is used for the ship speed control by measuring the stator current and the motor speed. This strategy of control is made possible by using a ship speed state observer. A numerical simulation study, applied to the global system, has confirmed the efficiency and the good performances of the proposed control law.
This paper presents a novel multi agent-based diagnostic scheme of substation IED. The proposed method is the on-line diagnostic scheme for the IEDs in IEC61850-based SA system using multi-agents. Multi-agents detect ...
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ISBN:
(纸本)9789728865832
This paper presents a novel multi agent-based diagnostic scheme of substation IED. The proposed method is the on-line diagnostic scheme for the IEDs in IEC61850-based SA system using multi-agents. Multi-agents detect the fault of IED installed in substation and apply to improvement of reliability in protection and control system of substation. These agents in the SA system embedded in the station unit, the engineering unit, the trouble manager, backup IED and protection and control IED as the thread form. Through the implementation and the case studies of the proposed scheme, the availability is proven.
This paper describes an early stage of cytological image recognition and presents a comparision of two hybrid segmentation methods. The analysis includes the Hough transform with conjunction to the watershed algorithm...
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ISBN:
(纸本)9789728865832
This paper describes an early stage of cytological image recognition and presents a comparision of two hybrid segmentation methods. The analysis includes the Hough transform with conjunction to the watershed algorithm and with conjunction to the active contours techniques. One can also find here a short description of image pre-processing and an automatic nucleuses localization mechanisms used in our approach. Preliminary experimental results collected on a hand-prepared benchmark database are also presented with short discussion of common errors and possible future problems.
This paper presents a hybrid intelligent multi-agent method for monitoring and faults diagnosis. A new diagnosis process, combined with data mining and neural networks, are discussed as well as the functions and struc...
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ISBN:
(纸本)9789728865825
This paper presents a hybrid intelligent multi-agent method for monitoring and faults diagnosis. A new diagnosis process, combined with data mining and neural networks, are discussed as well as the functions and structure of agent which implements these algorithms. At last, some simulation results are shown to demonstrate the efficiency of the proposed system.
The paper addresses the development of a kinematic model for a system composed by a nonholonomic mobile robot and a camera used as feedback sensor to close the control loop. It is shown that the proposed homography-ba...
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The paper addresses the development of a kinematic model for a system composed by a nonholonomic mobile robot and a camera used as feedback sensor to close the control loop. It is shown that the proposed homography-based model takes a particular form that brings to a finite sampled equivalent model. The design of a multirate digital control is then descibed and discussed, showing that exact solutions are obtained. Simulation results are also reported to put in evidence the effectiveness of the proposed approach.
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