A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation ...
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A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation signals. The levels, the sub-models on each level and their interconnections are developed and described following a systematic modelling procedure. The computational properties (degree of freedom and differential index) of the developed model have been analyzed and a sub-model has been transformed to meet the index-one requirement for solving the resulting differential algebraic equation (DAE) model by standard methods implemented in MATLAB. The model is extensively verified against engineering expectations using parameter values found in the literature, and a good agreement was found. Parameter sensitivity analysis has also been performed.
An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compre...
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An unmanned aerial vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compre...
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An unmanned aerial vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a model predictive control (MPC) outer loop controller specifies the command signals for the 7-h locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.
In order to infer intent from gesture, a broad classification of types of gestures into five main classes is introduced. The classification is intended as a generally applicable basis for incorporating the understandi...
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In order to infer intent from gesture, a broad classification of types of gestures into five main classes is introduced. The classification is intended as a generally applicable basis for incorporating the understanding of gesture into human-robot interaction (HRI). Examples from human-robot interaction show the need to take into account not only the kinematics of gesture, but also the interactional context. Requirements for the operational classification of gesture by a robot interacting with humans are suggested and initial steps in its deployment are discussed.
The paper offers the possibility of the design of unknown input detection for dynamic systems under external noise effect. The presented geometric based fundamental problem in residual generation (FPRG) method uses on...
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The paper offers the possibility of the design of unknown input detection for dynamic systems under external noise effect. The presented geometric based fundamental problem in residual generation (FPRG) method uses on the one hand the Kalman filtering and on the other hand the moving horizon estimation (MHE) when stochastic noise on the input and on the output, with additive failure directions, are presents. The paper combines the optimal Kalman and MHE method with geometric based unknown input observer strategy. The MHE solution makes to treat constraints during the estimation process possible. A numerical example supports the necessity of constrained unknown input estimation
Some shortcomings of current statistical model for maneuvering target are discussed. The applicable bound of modified Rayleigh distribution was derived. Based on the result, a new current statistical model description...
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Some shortcomings of current statistical model for maneuvering target are discussed. The applicable bound of modified Rayleigh distribution was derived. Based on the result, a new current statistical model description was proposed. computer simulation by MATLAB shows that the tracking accuracy of the new method is preferred to the old one.
Most of the adaptive regulators assume an apriori known time-delay. the time delay mismatch can cause unwanted instability. Stability region applicable for this uncertainty is investigated in connection with the requi...
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Interesting structural considerations can be derived from comparison of the topologies and forms of regulators obtained by the pole-placement design, the GTDOF control and the MPC. Practical advice is given to the pol...
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The global and local stability of process systems in generalized Lotka-Volterra form is studied in this paper using entropy-like and quadratic Lyapunov function candidates. The global stability check for LV models is ...
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Interesting structural considerations can be derived from comparison of the topologies and forms of regulators obtained by the pole-placement design, the GTDOF control and the MPC . Practical advice is given to the po...
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Interesting structural considerations can be derived from comparison of the topologies and forms of regulators obtained by the pole-placement design, the GTDOF control and the MPC . Practical advice is given to the polynomial orders of the MPC . Two new simple method is introduced for iterative ID and control based on these findings.
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