In this paper, the main attention is focused on transient property of control input signal, we propose a novel adaptive controller for time-continuous single-input single-output linear systems with an input saturation...
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ISBN:
(纸本)9781424448081
In this paper, the main attention is focused on transient property of control input signal, we propose a novel adaptive controller for time-continuous single-input single-output linear systems with an input saturation in which i-th derivatives of the output signal (i = 1, ···, relative degree) are available. To improve the control performance, a novel estimator using an observer for the tracking error signals is proposed. Using the estimator, it is shown theoretically that the tracking error between the controlled object output and the reference model output can converge to zero when the initial value of the tracking error satisfies a condition.
In recent years, because of the birthrate declining and the elderly peoplepsilas population growing, the lack of doctors and the increase of the medical cost is becoming a big problem. One of solution for this problem...
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ISBN:
(纸本)9781424435692
In recent years, because of the birthrate declining and the elderly peoplepsilas population growing, the lack of doctors and the increase of the medical cost is becoming a big problem. One of solution for this problem is to prevent the humans from diseases in order to reduce the medical cost (e.g. by using the hospital as few times as possible). In this research, we have developed a wearable vital sensor which can be used anywhere without disrupting the everyday life of the patient. Furthermore, we have implemented a ubiquitous health monitoring system, which can confirm and share the sensor information received from a cellular phone attached to the wearable vital sensor immediately through the browser. This system can also send emergency report based on sensor information to the family and the doctor. In addition, we verified the system effectiveness by evaluating the implemented system.
The paper reviews the research results in the field of automatic control of Type I diabetes mellitus obtained by the Biomedical engineering laboratory of the controlengineering and Inforamtion Technology department, ...
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The paper reviews the research results in the field of automatic control of Type I diabetes mellitus obtained by the Biomedical engineering laboratory of the controlengineering and Inforamtion Technology department, Budapest University of Technology and Economics (BME) in the last years. Beside the past, the present and the future ideas are also numbered.
This paper proposes an angular invariant feature for registration procedure to perform reliable matching between two similarity 3D protein structures. The feature is defined by a k-dimensional vector with k angles bet...
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Incorporation of computer vision into mobile robot localization is studied in this work. It includes the generation of localization information from raw images and its fusion with the odometric pose estimation. The te...
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Incorporation of computer vision into mobile robot localization is studied in this work. It includes the generation of localization information from raw images and its fusion with the odometric pose estimation. The technique is then implemented on a small mobile robot operating at a corridor environment. A new segmented Hough transform with an improved way of discretization is used for image line extraction. The vanishing point concept is then incorporated to classify lines as well as to estimate the orientation. A method involving the iterative elimination of the outliers is employed to find both the vanishing point and the camera position. The fusion between the vision based pose estimation and the odometry is achieved with an extended Kalman filter. A distance driven error model is used for the odometry while a simple error model with constant noise is assumed for the vision. An extended Kalman filter as a parameter estimator is also applied to estimate odometry parameters. Experimental results are included. The robustness and the precision of the entire system is illustrated by performing simple navigation tasks.
This paper introduces a new open-source cross-platform software library written in C++ programming language which is able to serialize and deserialize hierarchically arranged class instances and their data members via...
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This paper introduces a new open-source cross-platform software library written in C++ programming language which is able to serialize and deserialize hierarchically arranged class instances and their data members via XML files. The library provides easy and efficient way for processing, storing and managing complex object-oriented data with relationships between object instances. The library is based on mature cross-platform toolkit called wxWidgets and thus can be successfully used on many target platforms such as MS Windows, Linux or OS X. The library is published under open source licence and can be freely utilised in both open source and commercial projects. In this article, we describe the inner structure of the library, its key algorithms and principles and also demonstrate its usage on a set of simple examples.
In this paper, we present multirate sampling type dynamic quantizers for linear control systems with discrete-valued signal constraints. Although our previous works have derived an optimal dynamic quantizer and verifi...
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In this paper, we present multirate sampling type dynamic quantizers for linear control systems with discrete-valued signal constraints. Although our previous works have derived an optimal dynamic quantizer and verified its effectiveness by simulations and experiments, the result can not be applied to SIMO plants with unstable zeros. This paper overcomes the drawback by using a multirate sampling technique. We first formulate an optimal design problem for a class of multirate sampling type dynamic quantizers, and then we give a closed form solution to the problem.
In this paper a possible application of a novel adaptive control approach is reported that fits to the 'traditional line of thinking' according to which in the most practical cases neither very precise, nor ev...
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This paper deals with direction of sound wave arrival determination using time-delay estimation and beamforming methods with utilization of static microphone array with fixed geometry configuration. Theoretical part d...
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This paper deals with direction of sound wave arrival determination using time-delay estimation and beamforming methods with utilization of static microphone array with fixed geometry configuration. Theoretical part describes main principle of both methods and possibility of program implementation. Experimental part proposes hardware design of the sensory systems separately for time-delay estimation and beamforming evaluation methods due to different requirements on microphone array structure. Developed localization system is based on standard personal computer equipped with Advantech PCI-1716 multichannel data acquisition device.
We present a novel reduction method of port-Hamiltonian systems by a renormalization group. The reduced system is suitable for a fast numerical calculation in a mesoscopic scale. Especially, we aim at the development ...
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