This paper deals with robust invariant sets construction for discrete-time linear time-invariant dynamics. The case of a zonotopic disturbance set is analysed in detail by exploiting the properties of these geometrica...
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Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. T...
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Because of the wide use of smartphones in our daily activities, a wide range of mobile applications have been developed to serve as assistive technologies. However, there is a lack of applications in the Arabic langua...
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We present a technique for kernel-based identification of Wiener systems. We model the impulse response of the linear block with a Gaussian process. The static nonlinearity is modeled with a combination of basis funct...
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This paper describes the software environment for computer assisted design of three-phase squirrel cage induction machines. The finite element method is used as a computational technique to account for detailed geomet...
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The paper presents a method for the determination of the capacitance matrix needed in modelling and simulation of signal transmission in multiple coupled interconnecting lines. The method utilises capacitance measurem...
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The paper presents a method for the determination of the capacitance matrix needed in modelling and simulation of signal transmission in multiple coupled interconnecting lines. The method utilises capacitance measurements and thus one of its useful application areas is in the validation of numerous previously published algorithms based on various approximations to field equations, originally developed for the computation of capacitance matrices. The technique described is based on the active separation of the capacitance network, achieved through the use of a unity-gain amplifier. Thanks to the circuit configurations introduced with a unity-gain amplifier it is possible to make direct capacitance measurements in the multiconductor interconnecting structures. Measurement procedures are described and analysis of errors in measured quantities caused by the imperfections of measuring equipment is discussed. A sample of results obtained in measuring manufactured test structures is included for illustration of the method and measuring procedures.
As the Industrial Internet of Things evolves, ever more data acquisition devices are integrated inside factories, silos, agriculture facilities, industrial facilities, cars and many other applications. One of the most...
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This work proposed an improvement for the visual odometry based on a new hardware design concept. Generally, a visual odometry system relies on one stereo camera to detect the 3D features which are used as input for t...
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Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, it is subject to noise and variation, and ...
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Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, it is subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour, based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design process. Such iterative refinement could be reduced, we argue, if a more profound theoretical understanding of robot-environment interaction existed. In this paper, we therefore present a modelling method that generates a faithful model of a robot's interaction with its environment, based on data logged while observing a physical robot's behaviour. Because this modelling method - non-linear modelling using polynomials - is commonly used in the engineering discipline of system identification, we refer to it here as "robot identification". We show in this paper that using robot identification to obtain a computer model of robot-environment interaction offers several distinct advantages: 1. Very compact representations (one-line programs) of the robot control program are generated 2. The model can be analysed, for example through sensitivity analysis, leading to a better understanding of the essential parameters underlying the robot's behaviour, and 3. The generated, compact robot code can be used for cross-platform robot programming, allowing fast transfer of robot code from one type of robot to another. We demonstrate these points through experiments with a Magellan Pro and a Nomad 200 mobile robot.
New developments in computer networks and communications provide new possibilities for control purposes. control systems for highly complex plants are themselves very complex and heterogeneous. A new software infrastr...
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