检索结果-内蒙古大学图书馆

Cost-Oriented Mobile Robot Assistant for Disabled Care

IFAC-PapersOnLine 2015年第24期48卷 128-133页

作者： Chivarov, Nayden Chikurtev, Denis Yovchev, Kaloyan Shivarov, Stefan European Polytechnical University Pernik Bulgaria Institute of Information and Communication Technologies BAS United States Code Assistance United States ISER-BAS Bulgaria

This abstract describes briefly how mobile robot assistant system for disabled persons can be cost-effective. This is done by using a widely available on the market robot parts and a web based user interface. So this system can easily be controlled even over the Internet. To be a user-friendly the robot firmware and software implements various control algorithms - like PID based motor control and collision avoidance. This results in achieving a very smooth and precise movement and a control tolerant to operator's mistakes. Different methods for sending movement commands to the mobile robot system are proposed and evaluated. The robot will be able to remind disabled persons to take medications, it will serve pre-prepared food and drinks, will turn on/off electronic devices, will alert when his/her health is getting worse and will connect to his physician, relatives or with the emergency services. © 2015, IFFCA (Internaitional Fedreation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： User interfaces Beverages Collision avoidance Cost effectiveness Disabled persons Emergency services Firmware Internet Mobile robots Websites Cost effective Electronic device Mobile robot systems PID Algorithm Precise movements software implement User friendly Web user interface

来源：评论

学校读者我要写书评

暂无评论

Class library in C++ to compute Lyapunov functions for nonlinear systems

引用

IFAC-PapersOnLine 2015年第11 11期48卷 778-783页

作者： Björnsson, Jóhann Gudmundsson, Skuli Hafstein, Sigurdur Reykjavik University Menntavegur 1 101 Reykjavik Iceland

Lyapunov functions are of fundamental importance in the stability analysis of dynamical systems. Unfortunately, the construction of Lyapunov functions for nonlinear systems is in general a very dificult problem. We present software written in C++ that computes Lyapunov functions for n-dimensional, nonlinear, time-continuous dynamical systems defined through systems of autonomous differential equations. The software implements the computation of continuous and piecewise afine (CPA) Lyapunov functions through linear programming (LP) and the computation of Lyapunov functions using radial basis functions (RBF) and collocation. In the former case a common Lyapunov function for a finite set of nonlinear systems can be computed and it is guaranteed to be a true Lyapunov function, i.e. to fulfill the defining properties of a Lyapunov function exactly and rigorously (as opposed to approximately, which is so often the case with numerically contrived results). In the latter case the computed function is smooth and is guaranteed to be a Lyapunov function outside of an arbitrary small neighbourhood of the equilibrium, if the collocation points are close enough. However, it is not obvious how to determine what is close enough. A Lyapunov property test for the CPA interpolation of the computed RBF solution is therefore also part of the software. © 2015

关键词： Lyapunov functions C++ (programming language) Continuous time systems Convergence of numerical methods Differential equations Dynamical systems Linear programming Nonlinear equations Nonlinear systems Radial basis function networks software testing System stability Autonomous differential equation Class libraries Collocation points Common Lyapunov functions Continuous dynamical system Radial Basis Function(RBF) software implement Stability analysis

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：