A survey of robotic competitions all over the world, their short history and present state is given. Contests are classified according to their difficulty and conditions. Typical competition categories, also with inte...
A survey of robotic competitions all over the world, their short history and present state is given. Contests are classified according to their difficulty and conditions. Typical competition categories, also with interesting robot constructions are described. Sense, advantages and disadvantages of contests are discussed, especially concerning educational purposes. At the same time, our experiences with organising the contest Istrobot are presented.
This paper presents a scheduling technique for a library of arithmetic logarithmic modules for FPGA illustrated on a RLS filter for active noise cancellation. The problem under assumption is to find an optimal periodi...
详细信息
ISBN:
(纸本)0769521487
This paper presents a scheduling technique for a library of arithmetic logarithmic modules for FPGA illustrated on a RLS filter for active noise cancellation. The problem under assumption is to find an optimal periodic cyclic schedule satisfying the timing constraints. The approach is based on a transformation to monoprocessor cyclic scheduling with precedence delays. We prove that this problem is NP-hard and we suggest a solution based on Integer Linear Programming that allows to minimize completion time. Finally experimental results of optimized RLS filter are shown.
Until today humans using computers to control technical systems must learn how to use and interact with a system that only understands numerical input and produces numerical output. This requires a high level of abstr...
详细信息
Until today humans using computers to control technical systems must learn how to use and interact with a system that only understands numerical input and produces numerical output. This requires a high level of abstraction and causes a loss of necessary "feeling" how the real process works. With multimedia computing technology we are now able to reduce the level of abstraction again. By using all major human senses in combination, that are, auditory, visual, haptic and olfactory modalities, we are able to implement simple and intuitive control applications for technical equipment. This requires new strategies for the design of human computer interaction. The state of development and use of multimodal interactive user interfaces are presented. Aspects and issues of human engineering concerned with the different modalities are discussed and new paradigms of human computer interaction are introduced.
This work will present the state of development and use of multimodal interactive user interfaces. Advanced human-to-process communication uses virtual- and augmented-reality-Systems to achieve intuitive process contr...
详细信息
This work will present the state of development and use of multimodal interactive user interfaces. Advanced human-to-process communication uses virtual- and augmented-reality-Systems to achieve intuitive processcontrol again. Hypermedia learning systems, catalogs and simulators improve operator skills. All this leads to a new paradigm of human computer interaction. In order to achieve simple and intuitive control of any technical equipment, all abilities of human communication should be efficiently combined.
Common engineering approaches and modelling approaches from software engineering are brought together. For the domain of processautomation, i.e. product and plant automation, an implementation oriented approach for a...
详细信息
This paper concerns the problem of the stochastic stability and H ∞ control for the time-delay systems with randomly Markovian jumping parameters. A new approach is proposed to analyze the delay-dependent condition o...
详细信息
This paper concerns the problem of the stochastic stability and H ∞ control for the time-delay systems with randomly Markovian jumping parameters. A new approach is proposed to analyze the delay-dependent condition on the stochastic stability by the stochastic Lyapunov-Krasovskii functional approach. It is shown that this new stochastic stability condition combines the so-called delay-independent and delay-dependent conditions. H ∞ disturbance attenuation problem of the systems is also addressed. At last a numerical example illustrates the effectiveness of the proposed approach, and the conservativeness is compared with the existing results.
According to the multi-model approach a nonlinear dynamical process is approximated in different working points by local valid linear models. The global valid model output is calculated as the weighted sum of the sub-...
详细信息
In this paper, the proportional (P) neuron, integral (I) neuron and derivative (D) neuron are introduced and a new neural network: PID neural network (PIDNN) is built. Based on the PID neural network, a strong coupled...
详细信息
ISBN:
(纸本)0780388739
In this paper, the proportional (P) neuron, integral (I) neuron and derivative (D) neuron are introduced and a new neural network: PID neural network (PIDNN) is built. Based on the PID neural network, a strong coupled time varying system is decoupled and controlled. The paper displays the perfect performances of the PIDNN in the multivariable time-varying systems.
Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computati...
详细信息
Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.
The absolute reliability of a fault diagnostic device is assumed in most of reliability optimal allocation methods, and the fault diagnostic device is ignored in the system reliability model. In this paper, the hardwa...
详细信息
ISBN:
(纸本)0780382730
The absolute reliability of a fault diagnostic device is assumed in most of reliability optimal allocation methods, and the fault diagnostic device is ignored in the system reliability model. In this paper, the hardware and software conditions on which the fault diagnostic device depends upon are analyzed. The fault diagnostic device is assumed imperfect and is regarded as a part of the whole system reliability model. Therefore, a more practical reliability optimal allocation method of a control system is provided. The method is used in sensors reliability optimal allocation of satellite attitude control system.
暂无评论