This paper considers the design of robust H∞ filters for continuous-time linear systems with uncertainties described by integral quadratic constraints (IQCs). The synthesis problem can be converted into an infinite-d...
详细信息
This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Orga...
详细信息
Abstract One of the obstacles of applying data-driven models in industry is the lack of confidence in the accuracy of the model predictions. One way of overcoming this is by adding a confidence interval on the predict...
详细信息
Abstract One of the obstacles of applying data-driven models in industry is the lack of confidence in the accuracy of the model predictions. One way of overcoming this is by adding a confidence interval on the predictions. In this paper, we propose a new approach for the confidence interval assessment for model predictions based on a Gaussian Mixture Model (GMM) framework. The advantages of the presented approach include its capability to handle complicated non-white noise sequences, the ability to provide an accurate confidence interval, and its independence to the type of the data model to be assessed. The proposed approach is applied to an industrial case study: the Charpy impact energy prediction, which includes real industrial data containing a significant noise component and with an inherited sparse data distribution. The resulting confidence intervals reflect the prediction uncertainty against the test data. Furthermore, the GMM-based approach can also be used for model bias correction. The GMM-based confidence interval assessment for data driven models represents a valuable contribution especially in the case of critical applications.
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...
详细信息
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...
详细信息
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...
详细信息
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...
详细信息
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, ...
详细信息
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...
详细信息
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
暂无评论