Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case i...
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Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case is described in particular detail. Several examples illustrate the results.
This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of t...
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This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of the end effector is calculated by a cascade configuration of two pipelined arrays that calculate the Jacobian matrix and its time derivative, as well as the centrifugal-Coriolis and linear accelerations. These partial accelerations are then added in the adder tree. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the positional forward acceleration of the end effector is described. The serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic (DA) implementation of the positional forward acceleration may be applied, after appropriate modifications, to the general case of robots having either revolute or prismatic joints, with any type of wrist.
In this paper we present a method for image feature extraction using coordinate logic filters. Coordinate logic filters constitute a new kind of nonlinear filter, which are closely related to morphological fillers. Th...
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In this paper we present a method for image feature extraction using coordinate logic filters. Coordinate logic filters constitute a new kind of nonlinear filter, which are closely related to morphological fillers. The key issue to the coordinate logic analysis of images is the methodology of fast successive filtering and managing of the residues. The desired processing is succeeded by executing only direct logic operations among the pixels of the given image. The coordinate logic filters can be easily implemented using logic circuits or cellular automata.
This paper describes a binary image representation scheme, which is called image block representation and presents a new skeletonization algorithm, which is implemented on block represented binary images. The main pur...
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This paper describes a binary image representation scheme, which is called image block representation and presents a new skeletonization algorithm, which is implemented on block represented binary images. The main purpose of the image block representation is to provide an efficient binary image representation that permits the execution of operations on image areas instead of image points. The skeletonization algorithm operates in four subiterations: each subiteration deletes the north, the south, the west and the east boundary points, respectively. Due to the substitution of the boundary points by the block's boundary points the relevant operations are performed fast, while preserving the end points and the object connectivity.
This paper presents a model-based approach to fault detection of dynamic systems, which is robust to unmodeled dynamics. A “Quasi-ARMAX model᾿ is first proposed for describing nonlinear systems by incorporating a gro...
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This paper presents a model-based approach to fault detection of dynamic systems, which is robust to unmodeled dynamics. A “Quasi-ARMAX model᾿ is first proposed for describing nonlinear systems by incorporating a group of certain nonlinear structures into a linear ARMAX structure. The model can be used for a best linear approximation of the system, as well as for the estimation of resulting unmodeled dynamics, by a hierarchical implementation of recursive identification. Then robust fault detection is performed based on thresholding approach using Kullback discrimination information as fault detection index, in which the estimated unmodeled dynamics is incorporated.
This research is concerned with fault detection of nonlinear systems using Kullback discrimination information (KDI) as an index. A hybrid quasi-ARMAX model is proposed, which combines a linear ARMAX model and a multi...
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This research is concerned with fault detection of nonlinear systems using Kullback discrimination information (KDI) as an index. A hybrid quasi-ARMAX model is proposed, which combines a linear ARMAX model and a multi-ARX-model based on interpolation. In the case where the faults occur on the ARMAX model part, a KDI-based "robust" fault detection is performed, in which multi-ARX-model part is treated as error due to nonlinear undermodeling. In other cases, the model is transformed into several local ARMAX models and fault detection is performed by using the KDI to discriminate each identified local model. In this paper, we mainly concentrate our discussion on the latter cases.
In this paper is presented a new approach to robust non-linear control design, which can guarantee a prescribed decay rate of exponential stability for known system uncertainties. The proposed approach doesn’t employ...
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In this paper is presented a new approach to robust non-linear control design, which can guarantee a prescribed decay rate of exponential stability for known system uncertainties. The proposed approach doesn’t employ matching conditions. The non-linear power system with deterministic uncertainties is chosen as demonstration example.
The fast implementation of the linear and of the angular velocities of the end-effector of robotic manipulators, using the distributed arithmetic technique is described. The linear and angular velocities of the end-ef...
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The fast implementation of the linear and of the angular velocities of the end-effector of robotic manipulators, using the distributed arithmetic technique is described. The linear and angular velocities of the end-effector as well as the positional and the orientational Jacobian matrices is calculated by a cascade configuration of two pipelined arrays. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the linear and angular velocities of the end-effector is described, while the serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic computer architecture may be used in the real-time operation of the robot control system that requires the on-line computation of the position, of the linear and angular velocities of the end-effector and of the Jacobian matrix.
This paper describes a binary image representation scheme, called Image Block Representation and presents new algorithms for a number of basic binary image processing and analysis operations, which are rapidly impleme...
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This paper describes a binary image representation scheme, called Image Block Representation and presents new algorithms for a number of basic binary image processing and analysis operations, which are rapidly implemented on block-represented binary images. The main purpose of the Image Block Representation is to provide an efficient binary image representation that permits the execution of operations on image areas instead of image points.
This paper presents the design and implementation of an active control mechanism for noise cancellation and vibration suppression within an adaptive control framework. A control mechanism is designed within a feedforw...
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This paper presents the design and implementation of an active control mechanism for noise cancellation and vibration suppression within an adaptive control framework. A control mechanism is designed within a feedforward control structure on the basis of optimum cancellation at an observation point. The design relations are formulated such that to allow on-line design and implementation and thus result in a self-tuning control algorithm. The algorithm is implemented on an integrated digital signal processing (DSP) and transputer system. Simulation results verifying the performance of the algorithm are presented and discussed. (C) 1996 Academic Press Limited
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