For worm robots applied to pipe inspection and colonoscopy, earthworm-like robots with a locomotion pattern in backward wave or green caterpillar-like robots with a locomotion pattern in forward wave have been studied...
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controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to ac...
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controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to account for such complexity and nuances is detrimental to the applications of any advancedcontrol *** paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise *** this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop ***,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller *** our best knowledge,this has not been done in the context of *** formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork *** example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.
Recent years, increase of patients with a sleep apnea syndrome (SAS) becomes a serious problem. The EEG arousals appeared in the sleep EEG of whole night recording gives specific information for clinical diagnosis on ...
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Feature extraction for mental fatigue and relaxation states is helpful to understand the mechanisms of mental fatigue and search effective relaxation technique in sustained work environments. Experiment data of human ...
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Some kinds of living creatures like fish, form groups and show aggregate movements. Although there are many papers about the model of fish-like behavior, the comparison with behavior of model and actual fish has not b...
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Some kinds of living creatures like fish, form groups and show aggregate movements. Although there are many papers about the model of fish-like behavior, the comparison with behavior of model and actual fish has not been reported in almost papers. The purpose of this study is to build the model which generates the action similar to behavior of actual fish. The model will be represented as the computer algorithms. And if the algorithm is implemented to the artificial system, the behavior of the system is in agreement with actual fish. In this paper, it is proposed the simple fish behavior model, and built the simulation system to check and evaluate the model. The system simulates the behavior of virtual small robots, and the robots is controlled by the proposed simple fish behavior model. The virtual robot will be received the force from the environment, and every robot which is a part of the environment will exert an influence on the behavior of other robots. To realize this simulation system, bitmap image is used as the force potential field. The value of one place in the potential field is represented by the one pixel's color intensity in the bitmap image. On the other hand, the water tank experiment was conducted using Japanese Horse Mackerel in Tokushima Fisheries Research Institute. The results of the simulation, the robots behave like a school of fish, however the trajectories of robots have the some kind of differences to actual fish swimming. The statistical, chaos and fractal analysis are tried to find the characteristics of robot and fish trajectories. As the results of these analyses of the simulation and experiment, the very interesting trends were recognized about the differences of the trajectories and swimming/moving speed.
Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t...
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Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered to be a powerful QPs solver due to its parallel processing capability and feasibility of hardware implementation[2].
Automatic EEG spike detection provide valuable information for diagnosis of epilepsy. In the past 30 years, a number of algorithms were proposed. However, the basic idea of most algorithms is to identify spike activit...
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Recently, the applications of the virtual space become more popular. In some cases, the experiments in real space require huge time and huge costs. For such cases, experiments in the virtual space are applied. We have...
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Understanding of fish's behavior is one of the big subjects in fishery in order to catch the fish effectively. It is important to improve the efficiency of fishery and we must develop the new effective fishing met...
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Understanding of fish's behavior is one of the big subjects in fishery in order to catch the fish effectively. It is important to improve the efficiency of fishery and we must develop the new effective fishing method. The aim of this study is to extract the three-dimensional trajectory of fish swimming behavior. We develop the one of stereo camera system to extract fish trajectory from motion picture images. Furthermore, the chaos and fractal analyses are introduced to explain the complexity of fish behavior as intellectual animal behavior. We show the obtained results of the time series of swimming velocity using its reconstructed data and the effectiveness of 3D chaos and fractal analysis.
A novel adaptive ILC approach is proposed for the control tasks of tracking iteration-varying desired trajectory. The output the controlled system is reformulated as a function of initial states and control inputs onl...
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ISBN:
(纸本)9781509009107
A novel adaptive ILC approach is proposed for the control tasks of tracking iteration-varying desired trajectory. The output the controlled system is reformulated as a function of initial states and control inputs only. Then, an iteration-dynamical linearization is proposed for the controlled system. With the identical initial conditions, the system output is finally formulated by the input series only. Then, a learning control law is designed according to the iteration dynamical linearization, where the unknown system parameter is estimated by an iterative updating law. Simulation study confirms the efficiency and application of the proposed method.
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