This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computa...
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This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computationally complex, which presents a major obstacle in their real-time implementation for industrial applications. A solution to this problem is suggested by utilising a parallel-processing approach. The controller algorithm is implemented for a robot manipulator with six degrees of freedom, utilising a transputer network, for which programming is performed in C. The execution times achieved by the distributed algorithm are well within the limit acceptable for real-time control.
This paper is concerned with invariant systems on Lie groups. A sufficient condition for a piecewise constant input to distinguish between any two distinct initial states contained in some open neighbourhood of the st...
This paper is concerned with invariant systems on Lie groups. A sufficient condition for a piecewise constant input to distinguish between any two distinct initial states contained in some open neighbourhood of the state space is given. This condition involves the parallel translation of vectors along curves thus relating observability to parallelism.
A new set of efficient two-dimensional (2D) moments is introduced, which are normalized with respect to standard deviation. They are invariant under rotation, translation and scale of the image, less sensitive to nois...
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A new set of efficient two-dimensional (2D) moments is introduced, which are normalized with respect to standard deviation. They are invariant under rotation, translation and scale of the image, less sensitive to noise and appear to have better classification performance over the existing sets of moments. Application of the proposed technique to optical character recognition is given.
Many practical systems involve sensors that provide signals at slow sample rates. Guaranteeing the intersample performance is a fundamental problem in controlling such systems. Two multirate model predictive control s...
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Many practical systems involve sensors that provide signals at slow sample rates. Guaranteeing the intersample performance is a fundamental problem in controlling such systems. Two multirate model predictive control schemes are presented as solutions to this problem. In the first control scheme, intersample responses are estimated and used as compensation for the missing measurements of the controlled output. This scheme can therefore operate at the desired fast rate. The second scheme updates the control action at the slow rate that the output is sampled, but it is different from conventional techniques. This scheme finds intersample responses using a modified Z transform, and produces the control variable by optimising a performance index that accounts for both sample and intersample behaviour. Numerical simulations demonstrate that the two multirate algorithms exhibit improved time responses compared to the conventional approach.
Self-powered broadband photodetectors utilizing 2D transition metal dichalcogenides (TMDs) are highly promising due to their remarkable light absorption capabilities and high sensitivity, making them suitable for appl...
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This article presents a project of a small-sized remotely operated underwater vehicle (ROV) being designed and developed at SMTU. Paper describes a functional scheme of the underwater vehicle, motion control units wit...
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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 use...
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This article presents a modernization project for the laboratory stand of the marine propeller layout. It was necessary to implement a modern digital control system for the layout of a marine propeller with a unified ...
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A model predictive control strategy for a concentrated solar thermal power plant is proposed. Design of the proposed controller is based on an estimated linear time-invariant state space model around a nominal operati...
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There are many software tools available for students to implement PID control laws, but these software tools are not all equally flexible, easy to use, accessible and hence effective. This paper gives a brief review o...
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