In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoi...
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In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented.
In order to improve the lifetime and performance of a hybrid electric vehicle, one of the most challenging tasks is to improve the performance of the electrical energy storage, regarding the electrical power and energ...
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In order to improve the lifetime and performance of a hybrid electric vehicle, one of the most challenging tasks is to improve the performance of the electrical energy storage, regarding the electrical power and energy capacity. By introducing a supercapacitor as auxiliary source to increase the system power and to take over the battery stresses, the performance of the combined energy storage unit is improved. This paper introduces a completed model of energy storage system, including a pack of batteries, a pack of supercapacitors and a control strategy. The aim is to discharge the capacitors when the required power from energy storage is above a threshold meaning that the driver needs a boost of power for a period of time. Because of their high density of power supercapacitors have more efficiency in delivering it for short time. This has a positive impact on the fuel consumption and the state of charge at the end of the drive cycle.
The, so-called, adaptive super-twist controller is considered here. It contains the adaptive gain-parameter which adjusts the level of a scalar control action on-line based on direct measurements the "equivalent ...
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ISBN:
(纸本)9781612848006
The, so-called, adaptive super-twist controller is considered here. It contains the adaptive gain-parameter which adjusts the level of a scalar control action on-line based on direct measurements the "equivalent control" obtained by a first-order low-pass filter. It is shown that the problems of the finite time convergence and keeping a small chattering amplitude can be handled simultaneously if the gain magnitude is reduced to a minimal admissible level defined by the conditions for sliding mode to exist. The suggested methodology is compared numerically with another schemes of a gain-adaptation (including sigma-adaptation) showing a high effectiveness under a significant level of uncertainties and external disturbances.
Repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting and metal rolling operations through to iterative learning control schemes. The main featur...
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Repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting and metal rolling operations through to iterative learning control schemes. The main featur...
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Repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting and metal rolling operations through to iterative learning control schemes. The main feature which makes them distinct from other classes of 2D linear systems is that information propagation in one of the two independent directions only occurs over a finite duration. This, in turn, means that a distinct systems theory must be developed for them, which can then be translated into efficient routinely applicable controller design algorithms for applications domains. In this paper, we give the first significant results on a positive realness based approach to the analysis of these processes.
This paper presents a parallel VLSI architecture for fast line drawing. The architecture implements a non incremental line drawing algorithm which allows to write simultaneously in a memory array all the pixels that a...
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This paper presents a parallel VLSI architecture for fast line drawing. The architecture implements a non incremental line drawing algorithm which allows to write simultaneously in a memory array all the pixels that approximate the straight segments. This paper explains the bottom-zip process for a simplified architecture design that reduces the circuitry redundancies in order to minimize the area. This memory architecture also provides read/write random accesses and raster outputs that permit the memory architecture to display the data serially. A 256/spl times/256 eight-bit pixel processor array has been designed using a 0.35 /spl mu/m standard cells. An exhaustive test and simulation results upon this design have demonstrated that a rate of 50 M segments per second can be achieved, independently of their length and orientation.
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