A symbolic manipulation procedure, which both computes and automatically decomposes the generalized frequency response functions of nonlinear rational, polynomial and integrodifferential equation models into a set of ...
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A symbolic manipulation procedure, which both computes and automatically decomposes the generalized frequency response functions of nonlinear rational, polynomial and integrodifferential equation models into a set of closed-form nth order transfer functions, is presented. The symbolic representation exposes the explicit relationship between the model parameters and the nonlinear transfer functions in the frequency domain and leads to important insights into the characterization of nonlinear systems. Examples for each model type are included to demonstrate the symbolic transfer function approach.
An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the s...
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An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for the mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented method.
In this paper we deal with stochastic optimization problems where the data distributions change in response to the decision variables. Traditionally, the study of optimization problems with decision-dependent distribu...
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This paper deals with the control problem of a refrigeration vapor compression system proposed as a benchmark for the IFAC Conference on Advances in PID controllers (PID'18). This refrigeration system is a multiva...
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Edge inference (EI) is a key solution to address the growing challenges of delayed response times, limited scalability, and privacy concerns in cloud-based Deep Neural Network (DNN) inference. However, deploying DNN m...
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作者：
Dai, JunLi, XinbinHan, SongYu, JunzhiLiu, ZhixinYanshan University
Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University
Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Qinhuangdao066004 China Peking University
State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China
This paper investigates the cooperative link configuration problem for Autonomous Underwater Vehicle (AUV) in Underwater Acoustic (UWA) sensor networks with Energy Harvesting (EH), which aims to maximize long-term cum...
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Active techniques have been introduced to give better detectability performance for cyber-attack diagnosis in cyber-physical systems (CPS). In this paper, switching multiplicative watermarking is considered, whereby w...
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This paper presents an investigation into the utilisation of digital signal processing and parallel processing techniques for the real-time simulation of a flexible manipulator system. A finite dimensional simulation ...
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This paper presents an investigation into the utilisation of digital signal processing and parallel processing techniques for the real-time simulation of a flexible manipulator system. A finite dimensional simulation of the system is developed using a finite difference approximation to the governing dynamic equation of the manipulator. The proposed algorithm allows dynamic modification of the boundary conditions and the inclusion of a distributed actuator and sensor term in the system dynamic equation. The algorithm developed is implemented on a number of uni-processor and multi-processor, homogeneous and heterogeneous parallel architectures. The partitioning and mapping of the algorithm on the homogeneous and heterogeneous architectures is also explored. A comparison of the results of these implementations is made and discussed to establish merits of design and real-time processing requirements in the control of flexible manipulator systems. (C) 1996 Academic Press Limited
作者：
Enab, YMFaculty of Engineering
Automatic Control & Computer Engineering Department El-Mansoura University El-Mansoura Egypt
The reason for the present upsurge of interest in intelligent control is that the present generation of controlsystems are incapable, to a greater or lesser extent, of dealing with problems of a certain complexity. F...
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The reason for the present upsurge of interest in intelligent control is that the present generation of controlsystems are incapable, to a greater or lesser extent, of dealing with problems of a certain complexity. Fortunately, the human operator (HO) is often expert in keeping the complex controlsystems on the right track. In this paper a method for controller design has been investigated based on a concept of developing a mathematical model for HO behaviour. The method treats HO behaviour as a dynamic process by itself, transformed from the unknown dynamics of the ship to be controlled. The method of controller design entails observing the human controller, constructing a model of the human controller, and using that model as a basis for an automaticcontrol system. During the observation phase the HO controls the ship and the data representing the state of the ship and human actions are registered. During the modelling phase, a human operator behaviour model (HOBM) is constructed as a neural network and its parameters are estimated. During the testing phase, the HOBM controls the ship and its performance is evaluated under the observation phase conditions and completely different conditions. The method has been successfully applied using computer simulation for the ship steering problem.
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