In this paper a new systematic method to derive the equation of motion of n-rigid robotic manipulators with revolute joints is considered. The equation of motion for this robotic system is obtained based on Kane formu...
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ISBN:
(纸本)9781479967438
In this paper a new systematic method to derive the equation of motion of n-rigid robotic manipulators with revolute joints is considered. The equation of motion for this robotic system is obtained based on Kane formulation. Based on the developed formulation, an algorithm is proposed that recursively and systematically derives the equation of motion. Finally, a computational simulation for a manipulator with three revolute joints is presented to show the ability of this algorithm in deriving and solving high degree of freedom of robotic systems.
Closed-loop identification of MIMO systems is considered. An iterative Leaky Least Mean Squares (LLMS) algorithm is proposed for the development of ARX structure. The performance of the proposed algorithm with respect...
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ISBN:
(纸本)9781479956869
Closed-loop identification of MIMO systems is considered. An iterative Leaky Least Mean Squares (LLMS) algorithm is proposed for the development of ARX structure. The performance of the proposed algorithm with respect to the existing recursive algorithms is investigated in a simulation study. The simulation results show that the proposed algorithm can produce more accurate parameter estimates than the conventional recursive algorithms.
In order to solve the problem how to detect the wave head for traveling-wave based fault location when fault occurs, a new kind of wave head detecting algorithm for precise positioning which based on Kalman filtering ...
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ISBN:
(纸本)9781467371070
In order to solve the problem how to detect the wave head for traveling-wave based fault location when fault occurs, a new kind of wave head detecting algorithm for precise positioning which based on Kalman filtering is proposed. Model of voltage traveling wave is set up according to the actual characteristics of traveling wave signal. Recursion method of Kalman filtering is used to process the signal which contains fundamental component and harmonic component in the model. Getting the filter results and wave head signal can be achieved by subtracting the result from the original signal. The single-phase grounding model is established, then use this method to extract the wave head signal from the transient travelling wave signal in this model. Simulation results show that, the method proposed can effectively detect the wave head, so it has promoted value.
This bachelor thesis deals with recursive estimation of a dependence of the models with discrete variables on variables that are either discretely or continuously distributed. To this purpose Bayes formula, described ...
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This bachelor thesis deals with recursive estimation of a dependence of the models with discrete variables on variables that are either discretely or continuously distributed. To this purpose Bayes formula, described in the first chapter, is used, to which an additional assumption of conditional independence is added so that it can be used dynamically. The second chapter describes an approximation algorithm, which is used for recursive approximation of the density of random variable that has been estimated by the Bayesian equation. The third chapter deals with the application of the whole model on a special form of logistic regression. Results are shown on the examples using simulated data. At last, the model along with approximation algorithm is applied on a trading with futures. Powered by TCPDF (***)
Single-mode excitation is a powerful tool for studying many oceanographic processes. Meanwhile, the complex time-variant ocean environment poses a great challenge for single-mode excitation because Green's functio...
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Single-mode excitation is a powerful tool for studying many oceanographic processes. Meanwhile, the complex time-variant ocean environment poses a great challenge for single-mode excitation because Green's function matrix of sound field changes quickly. In their previous work, the authors built a system to excite single-mode in a relative simple environment. The purpose of this paper is to study the feasibility of single-mode excitation in rapidly time-variant ocean environment. An improved recursive algorithm is presented to adapt for time-variant environment where the single-mode can be excited within very short time by this algorithm. A typical time-variant shallow water environment is simulated, and results of the single-mode excitation in this environment are presented.
A new method of global optimal planning for mobile robot navigation in environment with random obstacles is proposed using the first local then global path planning strategy. This method includes three main algorithms...
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A new method of global optimal planning for mobile robot navigation in environment with random obstacles is proposed using the first local then global path planning strategy. This method includes three main algorithms: the first one utilizes the global path planning method based on target direction angle tracking modeling;the second is the evaluation sub-target point method based on recursive algorithm;the third one makes use of the local trajectory planning method based on quantum-behaved particle swarm optimization. The results from simulation experiments show that the proposed method is effective and can be used in the real-time path planning of mobile robots. It also demonstrates that current method performs better than the method based on the first global followed by local path planning modeling.
In this paper, the joint fault and state estimation problem is investigated for a class of nonlinear systems with eventtriggered transmissions and missing measurements. In the proposed event-triggered transmission sch...
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In this paper, the joint fault and state estimation problem is investigated for a class of nonlinear systems with eventtriggered transmissions and missing measurements. In the proposed event-triggered transmission scheme, in order to reduce unnecessary network traffic, the current measurement is released only when it changes greatly from the previously transmitted one. A Bernoulli distributed sequence taking values on 0 or 1 is introduced to govern possible missing measurements in the transmission. Special effort is made to obtain and then minimize certain upper bound of the estimation error covariance in the simultaneous presence of the linearization errors and imperfect measurement transmissions. It is noticeable that, in the proposed method, the traditional assumption on the availability on the probability density functions of the states and the innovations conditional on the measurements is no longer needed, and therefore the application scope is much widened. Moreover, the fault and states can be jointly estimated, thereby providing a way of simultaneously monitoring the system and diagnosing the *** estimator gain is calculated via solving two recursive matrix equations, and the corresponding algorithm is therefore suitable for online applications. An illustrative example is provided to show the effectiveness of the proposed algorithm.
A number of binary modulation schemes are proposed for LED based Visible Light Communication (VLC) systems to jointly achieve data transmission and brightness control. These binary modulation based solutions are spect...
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ISBN:
(纸本)9781479935130
A number of binary modulation schemes are proposed for LED based Visible Light Communication (VLC) systems to jointly achieve data transmission and brightness control. These binary modulation based solutions are spectrally inefficient because they consider the LED light source as single device. We observe that most of the commercial LED lights use more than one LED per light source and the possibility of individual current control of these LEDs would provide better brightness control resolution as well as higher data transmission rates. To achieve this we propose multi-level multi-pulse position modulation block coding scheme to jointly control multiple LEDs providing flicker free VLC link. The brightness level of the light source is controlled based on the number of LEDs switched on simultaneously. New algorithms are developed for symbol encoding/decoding as well as to enumerate the maximum number of symbols that can be encoded for the selected brightness level and the number of levels. Improvement in spectral efficiency is analyzed and compared with the contending binary modulation schemes.
In this paper, the authors consider an adaptive recursive algorithm by selecting an adaptive sequence for computing M-estimators in multivariate linear regression models. Its asymptotic property is investigated. The r...
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In this paper, the authors consider an adaptive recursive algorithm by selecting an adaptive sequence for computing M-estimators in multivariate linear regression models. Its asymptotic property is investigated. The recursive algorithm given by Miao and Wu （1996） is modified accordingly. Simu- lation studies of the Mgorithm is also provided. In addition, the Newton-Raphson iterative algorithm is considered for the purpose of comparison.
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