Aiming at the deficiencies of notch filters on the aspect of vibration suppression for elastic missile with swing nozzle thrust vector control (SNTVC), an active vibration controller (AVC) is proposed. It is composed ...
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The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP ...
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The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP (iterative closest point) algorithm, corner feature matching based HAYAI algorithm, as well as point-line matching based PLICP algorithm, were used respectively to estimate the relative displacement between two consecutive measurements to calibrate the localization result from odometer approaches. Better accuracy of long-range localization of indoor mobile robot could be achieved thereby. In the simulation, both the real-time property and accuracy of the mentioned three methods used were compared, showing the effectiveness and application field of the methods.
This paper presents a hybrid navigation and control method for intelligent wheelchair. A robust and semi-supervised vision tracking method using Microsoft Kinect and obstacle avoidance navigation approach are integrat...
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This paper presents a hybrid navigation and control method for intelligent wheelchair. A robust and semi-supervised vision tracking method using Microsoft Kinect and obstacle avoidance navigation approach are integrated into a two-level controlsystem. Then, position tracking control considering nonholonomic constraints are adopted for the motion control of wheelchairs. An indoor environment is set up for evaluating the application of the proposed approaches. The experimental results show that the proposed method is effective and can be used as a hands-free controller for the intelligent wheelchair.
Trajectory planning and simulation of docking tests on the ground for space simulator is one of key technologies to complete space docking mission. A new time-optimal trajectory planning algorithm is proposed based on...
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Supervisory control reconfiguration has been paid more attention due to its capacity of handling the uncertainties including resource failures, capability degradation, and task changes in discrete event systems. Howev...
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The current situation of environmental resources requires their efficient usage through efficient process control. But, process control can not be achieved without an essential component: the communication between all...
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ISBN:
(纸本)9781467361408
The current situation of environmental resources requires their efficient usage through efficient process control. But, process control can not be achieved without an essential component: the communication between all devices, such as sensors, controllers, actuators, programming stations etc. The aim is to achieve the irrigation process of plants in greenhouse conditions. Therefore, it is submitted a comprehensive application that proposes to be a distributed controlsystem including data acquisition and processing, both local and remote monitoring of the process parameters. The distributed system is based on modern equipment: Siemens Simatic PLCs and HMI, Memsic e̅Ko Pro wireless sensors network, level sensors for irrigation tanks and actuators such as on/off valves and pumps. In terms of communication between equipments, an industrial bus and protocols were used - Profinet and wireless communication. The software part is provided by TIA Portal with STEP 7 and WinCC flexible RT and LOGO! Soft Comfort for programming the automation devices. ModbusTCP was used to develop the communication protocol between central devices.
This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-in...
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A stabilized Distributed MPC for large scale system is proposed and its designation is given in this paper for improving the global performance of closed-loop system. To make the performance of closed-loop system more...
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