In this paper, we consider the software and hardware implementation of an intelligent distributed system for forecasting and controlling the optimal distribution of heat in the room. Prediction is based on a pre-train...
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ISBN:
(纸本)9789897583803
In this paper, we consider the software and hardware implementation of an intelligent distributed system for forecasting and controlling the optimal distribution of heat in the room. Prediction is based on a pre-trained neural network model. The system uses calculation results of the one-dimensional heat conduction problem to correct neural model being trained and decides to turn on / off a specific air conditioner depending on the predicted data.
The paper deals with a model-based fault diagnosis for a DC motor realized using artificial neural networks. The considered process was modelled by using a neural network composed of dynamic neuron models. Decision ma...
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ISBN:
(纸本)9789728865825
The paper deals with a model-based fault diagnosis for a DC motor realized using artificial neural networks. The considered process was modelled by using a neural network composed of dynamic neuron models. Decision making about possible faults was performed using statistical analysis of a residual. A neural network was applied to density shaping of a residual, and after that, assuming a significance level, a threshold was calculated. Moreover, to isolate faults a neural classifier was developed. The proposed approach was tested in a DC motor laboratory system at the nominal operating conditions as well as in the case of faults.
Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensati...
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ISBN:
(纸本)9789897584428
Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensation). In order to compensate disturbances, unlike other models, DEC feedbacks signals coming from sensor fusion rather than raw sensory signals. In previous works, the DEC model is shown to predict human behavior and to provide a control system for humanoids. In this work, the stability of the system in the sense of Lyapunov is formally analysed. The theoretical findings are combined with simulation results, in which an external perturbation of the support surface reproduces a typical scenario in posture control experiments.
An attitude-control algorithm for ejection seats on "H" shaped motor is presented in this paper. The control algorithm is based on time-sharing strategy, and the parameters in algorithm are optimized by usin...
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ISBN:
(纸本)9789897581984
An attitude-control algorithm for ejection seats on "H" shaped motor is presented in this paper. The control algorithm is based on time-sharing strategy, and the parameters in algorithm are optimized by using PSO method. Through simulating under Matlab/Simulink in different ejection conditions, the infection of time-sharing strategy in attitude-control is analyzed, and the minimum safe altitude is compared with K36D-3.5A, ACES II and 120 ejection conditions in GJB 1800A-2007. The simulation results and analysis show that this control algorithm on "H" shaped motor can improve escape performance at low-altitude and adverse-attitude, thus proving the algorithm in this paper to be reliable and effective.
This paper studies a second cumulant/h-infinity control problem with multiple players for a nonlinear stochastic system on a finite-horizon. The second cumulant/h-infinity control problem, which is a generalization of...
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ISBN:
(纸本)9789897581984
This paper studies a second cumulant/h-infinity control problem with multiple players for a nonlinear stochastic system on a finite-horizon. The second cumulant/h-infinity control problem, which is a generalization of the higher-order multi-objective control problem, involves a control method with multiple performance indices. The necessary condition for the existence of Nash equilibrium strategies for the second cumulant/h-infinity control problem is given by the coupled Hamilton-Jacobi-Bellman (HJB) equations. In addition, a three-player Nash strategy is derived for the second cumulant/h-infinity control problem. A simulation example is given to illustrate the application of the proposed theoretical formulations.
In this paper the temperature at one side of a plate is used to control in closed loop the temperature on the opposite side of the plate. To solve this problem, Laplace transform is used to obtain the quadrupole model...
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ISBN:
(纸本)9789897581984
In this paper the temperature at one side of a plate is used to control in closed loop the temperature on the opposite side of the plate. To solve this problem, Laplace transform is used to obtain the quadrupole model of the direct heat equation and the analytical solution for the transfer function for the inverse problem. The resulting hyperbolic functions are approximated by Taylor expansions to facilitate the real-time closed loop temperature control formulation. Simulation results illustrate the advantages and permit to identify the limitations of using inverse problem to closed loop control temperature of a plate.
In the scope of this work, a frequently used gaming device-the gamepad-is investigated as a control device for industrial robots in order to extract new ideas for the improvement of existing control devices. Thus, an ...
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ISBN:
(纸本)9789897581984
In the scope of this work, a frequently used gaming device-the gamepad-is investigated as a control device for industrial robots in order to extract new ideas for the improvement of existing control devices. Thus, an approach for the integration of a gamepad control in a common industrial robot system is developed and implemented. The usability of the gamepad control is improved by adding a smartphone to the gamepad, which serves as a display to show information to the user. Finally, the developed gamepad control is compared with the operation via conventional control device.
The paper presents a new strategy based on a supervision and hybrid control accommodation to improve the water-asset management of networked open-channel systems. This strategy requires a modelling method of the netwo...
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ISBN:
(纸本)9789728865825
The paper presents a new strategy based on a supervision and hybrid control accommodation to improve the water-asset management of networked open-channel systems. This strategy requires a modelling method of the network based on a weighted digraph of instrumented points, and the definition of resource allocation and setpoint assignment rules. Two setpoint assignment rules are designed and evaluated in the case of an open-channel system composed of one difluent and one confluent showing their effectiveness.
In this paper, we propose an end-to-end-solution to the problem of multi-object tracking on a mobile robot. The tracking system consists of a process where we project 2D multi-object detections to the robots base fram...
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ISBN:
(纸本)9789897584428
In this paper, we propose an end-to-end-solution to the problem of multi-object tracking on a mobile robot. The tracking system consists of a process where we project 2D multi-object detections to the robots base frame, using RGB-D sensor data. These detections are then transformed to the map frame using a localization algorithm. This system predicts trajectories of humans and objects in the environment of the robot and can be adapted to work with any detector and track from multiple cameras. The system can then be used to build a temporally consistent costmap to improve navigation strategies.
This paper is addressed to dynamic control problem of nonholonomic differential wheeled mobile robot. it presents a dynamic controller to mobile robot, which requires only information of the robot configuration, that ...
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ISBN:
(纸本)9789728865832
This paper is addressed to dynamic control problem of nonholonomic differential wheeled mobile robot. it presents a dynamic controller to mobile robot, which requires only information of the robot configuration, that are collected by an absolute positioning system. The control strategy developed uses a linear representation of mobile robot dynamic model. This linear model is decoupled into two single-input single-output systems, one to linear displacement and one to angle of robot. For each resulting system is designed a dual-mode adaptive robust controller, which uses as inputs the reference signals calculated by a kinematic controller. Finally, simulation results are included to illustrate the performance of the closed loop system.
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