Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the feat...
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The underwater hull cleaning is a center of interest of a big number of researchers from the fifties. Here we aim to facilitate the cleaning of the hull using a new robotic system with an arm manipulator. We developed...
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The underwater hull cleaning is a center of interest of a big number of researchers from the fifties. Here we aim to facilitate the cleaning of the hull using a new robotic system with an arm manipulator. We developed the geometric and the dynamic modeling of the station components. In fact, the station has seven degrees of freedom four rotations and three translations. Besides, we used the SimMechanics software for the dynamic simulation of the station. In conclusion, our study shows that the underwater station with arm manipulator can be important for the hull cleaning ***.
We propose a new time-invariant control for linear quadratic tracking problems with references and disturbances generated by linear exo-systems. The control consists of a static feedback and a static pre-filter simila...
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With industrial development,the cargoes that need to be lifted by rotary cranes are getting larger and heavier,which tend to exceed the rated load of a single crane,so it is common for two cranes to deliver a cargo **...
With industrial development,the cargoes that need to be lifted by rotary cranes are getting larger and heavier,which tend to exceed the rated load of a single crane,so it is common for two cranes to deliver a cargo ***,even with wide real applications,the studies of cooperative dual rotary crane systems(CDRCS) still do not attract enough *** order to solve the above problems,an accurate model for CDRCS is established by Lagrange’s modeling *** this model,we take into account not only the swing of the rope,but also the wobble of the *** be more precise,there are no simplifications in the process of modeling.
Cargo Carriers (roof boxes) are containers mounted to a car roof, which provide extra cargo space enabling to travel in both comfortable and safe way. Adding a cargo carrier affects the car aerodynamics, modifies the ...
Cargo Carriers (roof boxes) are containers mounted to a car roof, which provide extra cargo space enabling to travel in both comfortable and safe way. Adding a cargo carrier affects the car aerodynamics, modifies the pressure distribution and results in a change of forces acting on the car. In the presented work a number of numerical simulations using Computational Fluid Dynamics (CFD) were performed to examine how the roof box position affects the aerodynamical performance of the car.
The work concerns the problem of modeling and simulation of the averaged dynamics of PWM converters, which may operate alternately in the continuous current mode (CCM) and the discontinuous current mode (DCM). To capt...
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The work concerns the problem of modeling and simulation of the averaged dynamics of PWM converters, which may operate alternately in the continuous current mode (CCM) and the discontinuous current mode (DCM). To capture different descriptions of converter dynamics in different current modes, the hybrid system concept is utilized. The derivation of the hybrid system, which models the average dynamics of the exemplary converter, is presented in details. The performance of the proposed hybrid systems is confirmed by numerical simulation tests.
We consider distributed online convex optimization problems, where the distributed system consists of various computing units connected through a time-varying communication graph. In each time step, each computing uni...
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The paper is aimed at presenting a study of the main limitations and problems influencing the robustness of diagnostic algorithms used in diagnostics of complex chemical processes and to present the selected exemplary...
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We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents’ actions belong to a compact convex Euclidean space and the agents’ cost functions are coupled. We...
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This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. The proposed procedure has several features which distinguish it from the other procedures for the problem. F...
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