Based on our previous work in the development of a multimodal animated avatar oriented to human-machine interaction and social robotics, a facial expression recognition system is presented in this paper. Both the avat...
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Based on our previous work in the development of a multimodal animated avatar oriented to human-machine interaction and social robotics, a facial expression recognition system is presented in this paper. Both the avatar's architecture and facial recognition system have been oriented to FACS Action Units recognition and generation, so they can be easily integrated. The resulting animated system is able to maintain nonverbal and verbal bidirectional communication, enhancing the interaction with the avatar and making it more natural for the users.
This paper discusses energy harvesting techniques suitable for use with wireless remote condition monitoring, especially in the context of fixed asset monitoring. Different commercially available off-the-shelf technol...
This paper discusses energy harvesting techniques suitable for use with wireless remote condition monitoring, especially in the context of fixed asset monitoring. Different commercially available off-the-shelf technologies for energy harvesting are discussed, together with power management technologies and a discussion on system operation. The potential benefits of retrofitting energy harvesting to a battery powered wireless remote condition monitoring system is also presented.
Abstract This paper deals with robust invariant sets construction for discrete-time linear time-invariant dynamics. The case of a zonotopic disturbance set is analysed in detail by exploiting the properties of these g...
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Abstract This paper deals with robust invariant sets construction for discrete-time linear time-invariant dynamics. The case of a zonotopic disturbance set is analysed in detail by exploiting the properties of these geometrical structures. A constructive method is provided for diminishing the conservatism of ultimate bound invariant sets. It is shown that the resulting zonotopic set is related to the minimal robust positively invariant set in the sense that their boundaries have common points.
Friction Stir Welding (FSW) is a relatively new solid state joining technique, which is versatile, environment friendly, and energy and time efficient. For a comprehensive understanding of the effects of process condi...
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Friction Stir Welding (FSW) is a relatively new solid state joining technique, which is versatile, environment friendly, and energy and time efficient. For a comprehensive understanding of the effects of process conditions, such as tool rotation speed and traverse speed, on characterisations of welded materials, it is essential to establish prediction models for different aspects of the materials' behaviours. Because of the high complexity of the FSW process, it is often difficult to derive accurate and yet transparent enough mathematical models. In such a situation, a systematic data-driven fuzzy modelling approach is developed and implemented in this paper to model FSW behaviour relating to AA5083 aluminium alloy, consisting of microstructural features, mechanical properties, as well as overall weld quality. This methodology allows constructing transparent fuzzy models considering both accuracy and interpretability attributes of fuzzy systems. The elicited models proved to be accurate, interpretable and robust and can be further applied to facilitate the optimal design of process parameters, with the aim of finding the optimal combinations of process parameters to achieve desired welding properties.
Abstract We consider inherent robustness properties of model predictive control (MPC) for continuous-time nonlinear systems with input constraints and terminal constraints. We show that when the linear quadratic contr...
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Abstract We consider inherent robustness properties of model predictive control (MPC) for continuous-time nonlinear systems with input constraints and terminal constraints. We show that when the linear quadratic control law is chosen as the terminal control law, and the related Lyapunov matrix is chosen as the terminal penalty matrix, MPC with nominal prediction model and bounded disturbances has some degree of inherent robustness. We emphasize that the input constraint sets can be any compact set rather than convex sets, and our results do not rely on the continuity of the optimal cost functional or control law in the interior of the feasible region.
Safety analysis is a key activity for the development of railway transportation systems. The analysis is used not only to determine whether new systems do not expose the general public to unduly high levels of risks, ...
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Abstract In this paper the concept of set invariance for time-delay systems is introduced with a specific attention to the linear discrete-time case. We are interested in the definition of a D(elay) -invariant set wit...
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Abstract In this paper the concept of set invariance for time-delay systems is introduced with a specific attention to the linear discrete-time case. We are interested in the definition of a D(elay) -invariant set with respect to a bounded polyhedral subset of the state-space. D -invariance conditions are derived based on the Minkowski addition in a first stage, and subsequently translated in feasibility-based tests in order to obtain an efficient computation time
A Sliding Mode (SM) Regulator is proposed for an Antilock Brake System (ABS) control problem by employing Block control SM and regulation concepts. This regulator has robustness against matched and unmatched perturbat...
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The SCAlable & ReconfigurabLe Electronics plaTforms and Tools project (SCARLETT) was started by European Commission to develop the IMA 2G concept. This paper mentions the main objectives of the SCARLETT project an...
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The aim of this paper is to design and analyze an observer based on high-order sliding mode to estimate states and unknown inputs in a continuous stirred tank reactor (CSTR). Additionally, the designed HOSM allows to ...
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