We present the scientific approach of the EU-FP7 SEAM4US project to the problem of sustainable energy management of underground systems, in particular the optimal and scalable control of single metro stations and thei...
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ISBN:
(纸本)9789898565716
We present the scientific approach of the EU-FP7 SEAM4US project to the problem of sustainable energy management of underground systems, in particular the optimal and scalable control of single metro stations and their surroundings that will yield at least a 5% saving in non-traction electricity consumption, equivalent to that consumed by more than 175 households. To this end we first formulate the sustainable energy management problem as a constrained optimization problem and then present a modified Newton's method as solution. Preliminary simulation results of the model-in-the-loop are delivered and promising.
Realistic models and robust control are vital to reach a sufficient fidelity in military simulation projects including surface vessels. In this study, a nonlinear model including sea-state modelling is obtained and fe...
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ISBN:
(纸本)9789896740016
Realistic models and robust control are vital to reach a sufficient fidelity in military simulation projects including surface vessels. In this study, a nonlinear model including sea-state modelling is obtained and feedback linearization control is implemented in this model. To control the system, nonlinear analysis techniques are used. The model is integrated into a commercial framework based CGF application within a high-fidelity military training simulation. The simulation results are presented at the end of the study.
This paper proposes a practical solution to the autonomous exploration and mapping problem using a single mobile robot. Moreover, the authors implement the proposed scheme within the Robot Operating System (ROS), and ...
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ISBN:
(纸本)9789897581984
This paper proposes a practical solution to the autonomous exploration and mapping problem using a single mobile robot. Moreover, the authors implement the proposed scheme within the Robot Operating System (ROS), and validate it experimentally using PowerBot, a real wheeled mobile robot equipped with a 2D laser scanner. In essence, the proposed scheme integrates an efficient particle-filter-based SLAM algorithm, two different exploration strategies, and a path-planning and navigation module. The modular nature of the proposed scheme is intentional and advantageous. It allows the authors to compare the two exploration strategies under investigation objectively and with ease. Finally, hypotheses testing is also used to strengthen the results of the comparative analysis.
The contribution studies the problem of collaborative Kalman filtering over distributed networks with or without a fusion center from the theoretically consistent Bayesian perspective. After presenting the Bayesian de...
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ISBN:
(纸本)9789897580390
The contribution studies the problem of collaborative Kalman filtering over distributed networks with or without a fusion center from the theoretically consistent Bayesian perspective. After presenting the Bayesian derivation of the basic Kalman filter, we develop a versatile method allowing exchange of observations among the network nodes and their local incorporation. A probabilistic nodes selection technique based on prior knowledge of nodes performance is proposed to reduce the communication requirements.
The paper proposes three Gain-Scheduling (GS) control design approaches dedicated to the position control of electromagnetic actuated clutch systems. The initial nonlinear mathematical model of the plant is simplified...
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Repetitive control is known as one of the most effective methods to reduce repetitive errors with a known period in various practical control systems performing repetitive tasks. The application of Internal Model Cont...
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ISBN:
(纸本)9789898111326
Repetitive control is known as one of the most effective methods to reduce repetitive errors with a known period in various practical control systems performing repetitive tasks. The application of Internal Model control (IMC) structure for repetitive control is introduced. Two IMC-based repetitive control configurations are proposed together with their adaptive versions. A comparative simulation study is carried out for the model of a first link of the robot.
We study the controllability of the multidimensional wave equation in a bounded domain with Dirichlet boundary condition, in which the support of the control is allowed to change over time. The exact controllability i...
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A method for detecting the nature of a fault of a process controlled by SPC ( Statistical Process control) is presented. The method use the integration of SPC, traditional APC (Automatic Process control) and the Syste...
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ISBN:
(纸本)9789898111999
A method for detecting the nature of a fault of a process controlled by SPC ( Statistical Process control) is presented. The method use the integration of SPC, traditional APC (Automatic Process control) and the System Identification technique. By a statistical on line control of the parameters of a transfer function and the identification of the transfer function itself, the case of a fault due to a change in the system is recognised. An algorithm called 'batch control' for the implementation of the method in a real plant is proposed.
We describe the design of a special lower limb rehabilitation robot for leg patients and its operation. The lower limb rehabilitation robot is composed of linear motion mechanisms, links, a foot plate, a joint and two...
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ISBN:
(纸本)9789897583049
We describe the design of a special lower limb rehabilitation robot for leg patients and its operation. The lower limb rehabilitation robot is composed of linear motion mechanisms, links, a foot plate, a joint and two-axis force sensors. The links and the foot plate are rotated according to the linear motion mechanisms. The bending motions of the hip, knee, and ankle are performed. The designed rehabilitation robot was subjected to tests involving hip joint bending, knee joint bending, and ankle joint bending exercises, and the robot operated smoothly. Therefore, it can be concluded that the designed rehabilitation robot can be used on leg patients, for the three exercises stated above.
Nowadays, human-robot collaboration (HRC) is an important topic in the industrial sector. According to the current regulations, the robot no longer needs to be isolated in a work cell, but a collaborative workspace in...
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ISBN:
(纸本)9789897583803
Nowadays, human-robot collaboration (HRC) is an important topic in the industrial sector. According to the current regulations, the robot no longer needs to be isolated in a work cell, but a collaborative workspace in which human operators and robots coexist can be acceptable. Human-robot interaction (HRI) is made possible by proper design of the robot and by using advanced sensors with high accuracy, which are adopted to monitor collaborative operations to ensure the human safety. Goal of this article is to implement a fuzzy inference system, based on the ISO/TS 15066, to correctly compute the minimum protective separation distance and adjust the robot speed by considering different possible situations, with the aim to avoid any collisions between operators and robots trying to minimize cycle time as well.
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