Each stage of the sewage treatment process emits odor causing compounds and these compounds may vary from one location in a sewage treatment works to another. In order to determine the boundaries of legal standards, r...
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This paper considers an algebraic approach for selection of the control structure aiming at facilitating the design of decentralised control schemes. This requires the selection of inputs, outputs, as well as their co...
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Dynamic optimization by multiple shooting requires integration and sensitivity calculation. A new semi-implicit Runge-Kutta algorithm for numerical sensitivity calculation of index-1 DAE systems is presented. The algo...
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This paper presents an analysis of classical and modern control methods for blood glucose control of diabetic patients under intensive care. Employing a modified two- compartment model proposed by Bergman, et al. (197...
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The main goal of the paper is to show that nonlinear model based predictive control is an effective alternative method for controlling uncertain nonlinear underactuated systems satisfying real time expectations where ...
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The main goal of the paper is to show that nonlinear model based predictive control is an effective alternative method for controlling uncertain nonlinear underactuated systems satisfying real time expectations where uncertainty is caused by friction and disturbance. The paper presents control algorithms for a two degree of freedom robot and for two underactuated systems, the small size model of a planar crane and a weeled mobile robot, which are based on nonlinear model predictive control. The continuous time dynamic model has been discretized and the finite dimensional optimization problem is solved by conjugate gradient technique in every horizon. Extended Kalman filter is used for state and disturbance estimation. For the crane the initial approximation of the control sequence within the actual horizon is determined by using the flatness properties. For development purposes a multiprocessor system has been elaborated where the control algorithm is running under QNX real-time operating system. The paper also presents experimental results that demonstrate the applicability of the proposed algorithms under real time conditions.
Switching adaptive control scheme is developed, which provides global asymptotic stability property with respect to state vector of the plant with functional uncertainty. in the presence of disturbance the scheme ensu...
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This paper presents a mobile robot system with vision based teleoperation for the use in unstructured outdoor environment. Our system makes use of a camera-laser combined sensor system, which gives suitable informatio...
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This paper presents a mobile robot system with vision based teleoperation for the use in unstructured outdoor environment. Our system makes use of a camera-laser combined sensor system, which gives suitable information for the operator in such unstructured environments with homogenous reflection, as the surface of the frozen Lake Balaton. The role of the human vision is essential in visual guided teleoperation. A comprehensive overview of the human's 3D sensing, and the role of the different vision cues is introduced. The need for the combined 2D-3D vision, our approach for that and the first experimental results in teleoperation are presented.
Most of the hearing disorders might be treatable in the early age of life. There are variant methods to test the hearing abilities of an infant;still none of them cover the whole auditory system by itself. Thus a comp...
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ISBN:
(纸本)9638241683
Most of the hearing disorders might be treatable in the early age of life. There are variant methods to test the hearing abilities of an infant;still none of them cover the whole auditory system by itself. Thus a comprehensive audiometry with high hit probability is required. Crying is the first tool of communication for an infant. Emotions, state of health or several organ functions can be obtained from it. Normally, an auditory feedback works between the produced sound and the brain. When this feedback has problems, crying may differ from the original one. Authors are to find these differences by acoustic analysis. This paper deals with acoustic features of the infant cry in order to detect hearing impairments.
The filtered-X affine projection (AP) algorithm is applied for active control of the tonal noises generated by periodic noise sources like rotating machines. The convergence analysis of a complex filtered-X (CFX) AP a...
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The filtered-X affine projection (AP) algorithm is applied for active control of the tonal noises generated by periodic noise sources like rotating machines. The convergence analysis of a complex filtered-X (CFX) AP algorithm using multi-reference signals is then investigated. Next, computer simulation is presented to show that the CFX AP algorithm yields faster convergence than the CFX LMS algorithm.
In autonomous distributed robot systems, many robots cooperate together to carry out many difficult tasks that single robot can not realize. But, in order to cooperate together the robots should communicate with each ...
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In autonomous distributed robot systems, many robots cooperate together to carry out many difficult tasks that single robot can not realize. But, in order to cooperate together the robots should communicate with each other. Therefore, the communication among robots is very important problem to be solved. In this paper, we propose an adaptive reservation-time division multiple access (AR-TDMA) medium access control protocol. We carried out computer simulation to evaluate the performance of proposed method. The simulation results show that the proposed protocol has better scalability characteristics and object transportation time compared with a conventional protocol.
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