Accelerated Norm-Optimal Iterative Learning control (NOILC) is a recently developed method to improve the convergence performance of the well known NOILC algorithm. This paper investigates the effectiveness of this me...
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ISBN:
(纸本)9781846000386
Accelerated Norm-Optimal Iterative Learning control (NOILC) is a recently developed method to improve the convergence performance of the well known NOILC algorithm. This paper investigates the effectiveness of this method experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained confirm that the accelerated algorithm outperforms NOILC algorithm and in particular, the improvements at initial stage can be substantial, which is of great interest in practical applications.
This work presents the kinematic modeling and motion planning algorithm for an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms each of which has one redundant joi...
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This work presents the kinematic modeling and motion planning algorithm for an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees. Initially, the kinematic modeling of this robot is conducted. Next, using such a kinematic redundancy of each chain, several motion planning algorithms are suggested. A localization algorithm of the mobile robot based on odometry is presented and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is presented. The usefulness of the proposed algorithms is verified through simulation.
This paper describes a novel noninvasive method for sensing heartbeat, respiration and body-movement biosignals of a subject in bed by using ceramic piezo devices set under the legs of the bed.
ISBN:
(纸本)9781424476428
This paper describes a novel noninvasive method for sensing heartbeat, respiration and body-movement biosignals of a subject in bed by using ceramic piezo devices set under the legs of the bed.
This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Ka...
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This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are mentioned. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints. A Feedback and feedforward controller is used to control the motion on the calculated trajectory. The paper concludes with a comparison of the trajectory computed by simulation and the trajectory measured on the real robot.
This paper deals with time-optimization of trajectories of wheeled robots within the speed and other constraints. The cubic Hermite spline curve with the method of speed profile computation is used to determine the tr...
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This paper deals with time-optimization of trajectories of wheeled robots within the speed and other constraints. The cubic Hermite spline curve with the method of speed profile computation is used to determine the trajectory. This method is summarized and extended to allow the optimization with the described constraints. It ensures fulfilment of required initial parameters of motion. The parameters of motion and trajectory are described using a model with stationary obstacles. Then algorithm of optimization is developed and tested by means of a hypothetical example. The results are computed by nonlinear solver in MATLAB. A neural network is then introduced to accelerate the calculation of the numerically computed optimal results. The trained network is compared with numerical solution.
This paper describes the design of the solution of the 3rd generation of the robot-soccer strategy system for the VŠB-TU Ostrava robot-soccer team. In this generation, we tried to completely redesign our system, imple...
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ISBN:
(纸本)9781424473359
This paper describes the design of the solution of the 3rd generation of the robot-soccer strategy system for the VŠB-TU Ostrava robot-soccer team. In this generation, we tried to completely redesign our system, implement and evaluate new, popular or advanced technologies. We divided the strategy system into two parts: the higher strategy, which makes decisions about the robots' goals, and the lower strategy, which controls the motion of the robot. The motion control is based on computing and following of trajectory. Higher strategies are built on evaluation, recognition, and performance of user defined scenarios. An additional part of the system, - the manual computer-assisted control of robots - is also described.
This paper is concerned with studying how the minimum power loss in a power system is related to its network topology. The existing algorithms in the literature all exploit nonlinear, heuristic, or local search algori...
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ISBN:
(纸本)9781424477456
This paper is concerned with studying how the minimum power loss in a power system is related to its network topology. The existing algorithms in the literature all exploit nonlinear, heuristic, or local search algorithms to find the minimum power loss, which make them blind to the network topology. Given certain constraints on power level, bus voltages, etc., a linear-matrix-inequality (LMI) optimization problem is derived, which provides a lower bound on the minimum active loss in the network. The proposed LMI problem has the property that its objective function depends on the loads and its matrix inequality constraint is related to the topology of the power system. This property makes it possible to address many important power problems, such as the optimal network reconfiguration and the optimal placement/sizing of distributed generation units in power systems. Moreover, a condition is provided under which the solution of the given LMI problem is guaranteed to be exactly equal to the minimum power loss. As justified mathematically and verified on IEEE test systems, this condition is expected to hold widely in practice, implying that a practical power loss minimization problem is likely to be solvable using a convex algorithm.
Network motion control system because of network bandwidth restriction, the sampling period must increase to lead to degrade motion accuracy. This paper regards TCP network as network infrastructure, and the tradition...
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Network motion control system because of network bandwidth restriction, the sampling period must increase to lead to degrade motion accuracy. This paper regards TCP network as network infrastructure, and the traditional linear interpolation is applied in slave system to make slave system possesses smaller sampling period than in remote system, and then maintain motion precision. About data dropout caused because of network delay, this paper utilizes TCP network guarantee characteristic that message can achieve match SDQ-based message estimator succeeding and accurate estimating the loss message to maintain good motion precision. In simulation, combine linear interpolation mechanism and SDQ-based message estimator, can improve motion NCS tracking accuracy, and under the high frequency motion position commands, there are more apparent improvement results.
This paper considers the problem of using an integral sliding mode strategy to reduce the disturbance terms acting on nonlinear systems in regular form. It is proved that the definition of a suitable sliding manifold ...
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This paper deals with the problem of numerical analysis of multidimensional systems with interval parameters in relation to the operability of MIMO systems. The problem is analyzed for the case when the relative estim...
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ISBN:
(纸本)9789604741991
This paper deals with the problem of numerical analysis of multidimensional systems with interval parameters in relation to the operability of MIMO systems. The problem is analyzed for the case when the relative estimation of the interval parameters exceeds 0.5 and based on the assumption that only the state matrix of a MIMO system contains interval parameters. The problem of operability estimation of the MIMO system is solved with interval degeneration factors. Interval degeneration factors are constructed using interval arithmetic and the singular values of the interval criterion matrices of the system. An operability analysis algorithm of multidimensional systems with interval parameters is proposed in the paper. The results are supported with an example.
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