In this paper, we describe a system that can carry out visual simultaneous localization and mapping (VSLAM) in structured indoor environments; this system uses a small-sized low-cost commercial humanoid robot which us...
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In this paper, we describe a system that can carry out visual simultaneous localization and mapping (VSLAM) in structured indoor environments; this system uses a small-sized low-cost commercial humanoid robot which uses a camera mounted on a pan-and-tilt device (it was designed and built by us) as his head. Almost all of the VSLAM approaches use points 2D like features of the robot's environment for estimate his pose and the structure of his environment. We propose a new approach to get points 3D (i.e. feature's position and orientation with respect to the current robot's position are known) this approach is based in a monocular 3D reconstruction scheme; with this information we can improve the results in classical SLAM EKF method. Experiments had made in a structured environment, we implemented them for two cases, though; the first one was implemented without odometry and second one was carried out with partial odometry information; that means we included robot's orientation in EKF algorithm. This information had gotten with an IMU (Inertial Measurement Unit), which we installed in the robot. Finally, we want to point out that all the components used into the robotics' platform are low cost.
In this paper, we address the data-driven design of observers for the process monitoring and control purposes. Instead of identifying a standard state space model, our design schemes are based on the identification of...
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This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been ob...
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This paper presents methodology of defining the sources of interferences on the basis of measuring the quality of electrical energy and monitoring the selected parameters of voltage and current waveforms. The presente...
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This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified...
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ISBN:
(纸本)9781457710957
This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.
作者：
Bleicher, A.Schauer, T.Valtin, M.Raisch, J.Schlaich, M.
Conceptual and Structural Design Department of Civil and Structural Engineering Berlin Germany
Control Systems Group Department of Electrical Engineering and Computer Science Berlin Germany
This paper describes the development of an active vibration control system for a light and flexible stress ribbon footbridge. The 13 m span Carbon Fiber Reinforced Plastics (CFRP) stress ribbon bridge was built in the...
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This article presents the active vibration control with bio-inspired algorithms model based system utilising genetic algorithm (GA), particle swarm intelligence (PSO) and artificial immune system (AIS). The parameter ...
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In this paper, a state-feedback strategies based on time-scale separation technique for a class of strict-feedback systems in the presence of unstructured uncertainties is proposed which recovers the state trajectorie...
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Abstract In this paper we propose a distributed algorithm for solving separable convex optimization problems on graphs arising for example from estimation and control in networks. We derive a primal-dual decomposition...
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Abstract In this paper we propose a distributed algorithm for solving separable convex optimization problems on graphs arising for example from estimation and control in networks. We derive a primal-dual decomposition algorithm for solving this type of separable optimization problems in a distributed fashion given restrictions on the communication topology. The proposed algorithm is based on consensus principles in combination with local subgradient updates for the primal-dual variables. The main novelty of our algorithm consists in the way the weights in the consensus process are updated using arguments from optimization theory, while in most of the existing distributed algorithms based on consensus principles the weights have to be tuned.
This paper addresses a different technique in evaluating aircraft complexity in an Air Traffic Management (ATM) environment using Lyapunov Exponents. This approach uses a different characterisation method when evaluat...
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ISBN:
(纸本)9780889868892
This paper addresses a different technique in evaluating aircraft complexity in an Air Traffic Management (ATM) environment using Lyapunov Exponents. This approach uses a different characterisation method when evaluating the exponent. This technique can be useful when Air Traffic controllers (ATC) carry out Advanced Traffic Flow Management (TFM) functions of horizons larger than 20 minutes and it facilitates the use of designing trajectories so that congestions can be limited and to minimise maneuverability. A numerical example is given and it demonstrates its efficacy and also identify some of the pitfalls of this approach that can be addressed in the future.
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