Due to the benefits of modularity, reusability, and productivity, component-based technology is becoming popular in robot middleware systems. Many component-based robot platforms. This paper reviews the requirements a...
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In this paper, the information consensus filter (ICF) is adapted to non-linear process and measurement models by employing an extended information filter (EIF). The nonlinear ICF is a decentralized estimator, where ea...
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This paper presents a patient specific deformable heart model that involves the known electric and mechanic properties of the cardiac cells and tissue. The accuracy and efficiency of the algorithm was tested for aniso...
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This paper proposes an approach to robust model predictive control for distributed systems with chain *** by the application of a platoon of autonomous vehicles in linear motion, we consider a system structure in whic...
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This paper proposes an approach to robust model predictive control for distributed systems with chain *** by the application of a platoon of autonomous vehicles in linear motion, we consider a system structure in which the dynamics of each subsystem is specified in relative error coordinates and in affine form, considering the input of the preceding subsystem as disturbance(since locally not known a-priori). Employing principles of RMPC suggested before by Kerrigan et al. for the case of non-distributed systems, we first show how robust strong feasibility can be guaranteed for the distributed case. The drawback of this approach is that the zone of robustness is obtained in a relatively conservative form, and that the control error, in general, cannot be forced to zero. Thus,in the second part, we include a scheme for communicating predicted control trajectories between the subsystems in order to improve the control performance and to render the solution less conservative.
Concurrent access among multiple mobile readers brings about a new problem called reader collision that a readerpsilas transmission is interfered by the others. There have been several works to solve the reader collis...
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Concurrent access among multiple mobile readers brings about a new problem called reader collision that a readerpsilas transmission is interfered by the others. There have been several works to solve the reader collision problem. While they employ time division, frequency division, space division, or centralized scheduling approach, in this paper, we introduce a cooperative, distributed reader collision avoidance algorithm. In particular, it is suitable for energy-efficient wireless mobile network environment cooperated with RFID, since the proposed DiCa (Distributed Tag Access with Collision-Avoidance) is capable of not only avoiding collisions but also changing power state autonomously through only distributed simple interactions between adjacent readers.
Based on Gaussian basis functions, a new method for calculating the Hamilton-Jacobi-Bellman equation for deterministic continuous-time and continuous-valued optimal control problems is proposed. A semi-Lagrangian disc...
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Based on Gaussian basis functions, a new method for calculating the Hamilton-Jacobi-Bellman equation for deterministic continuous-time and continuous-valued optimal control problems is proposed. A semi-Lagrangian discretization scheme is used to obtain a discrete-time finite-state approximation of the continuous dynamics. The value function of the discretized system is approximated by a Gaussian network. Limit behavior analysis provides a proof of convergence for the scheme. The performance of the presented approach is demonstrated for an underpowered inverted pendulum as numerical ***, a comparison to the approximation by continuous piecewise affine functions(the current state of the art) shows the benefits of the approximation technique proposed here.
Due to advantages in enough number of channels and favorable bandwidth, 2.4 GHz ISM band is used as the most prevalent band for the IEEE802.15.4 LR-WPAN. However, there are an increasing number of other devices and sy...
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Due to advantages in enough number of channels and favorable bandwidth, 2.4 GHz ISM band is used as the most prevalent band for the IEEE802.15.4 LR-WPAN. However, there are an increasing number of other devices and systems which may interfere with the IEEE 802.15.4 communication. Therefore, the coexistence issue is one of the most critical challenges for the IEEE 802.15.4. In this paper, we propose an Adaptive Multi-Channel Utilization scheme (AMCU), to enable a WPAN to coexist with other interfering systems. By utilizing multiple channels dynamically, it is possible that an interfered device or coordinator is recovered quickly, avoiding interference during run time as well as during association stage. In addition, in normal state, each device maintains very low duty cycle as in the standard.
Easy operation of vehicle functionality is an important distinguishing mark for competitiveness. Recently, several approaches are presented in order to assist the entry for passengers. In this paper a novel vehicle do...
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Easy operation of vehicle functionality is an important distinguishing mark for competitiveness. Recently, several approaches are presented in order to assist the entry for passengers. In this paper a novel vehicle door is proposed that increases the passengers' comfort by supporting him with additional forces while opening or closing the door but retaining the common haptic properties of a passive vehicle door. Based on a mechatronic door system, containing an appropriate sensory interface, a full active actuator and a variable impedance control an excellent haptic is provided.
This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to p...
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This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to path planning in the configuration space, approaches in the workspace save the computationally expensive step of mapping obstacles from the workspace into the configuration space. The method presented here builds on a problem formulation as a mixed-integer program considering time-varying constraints resulting from moving obstacles, as well as state and input constraints depending on the region of the work space. The method is applied to a two-link robot with static and moving obstacles and is evaluated for different situations.
This paper deals with the design and evaluation of feed forward compensation methods for the hysteresis phenomena applied to magnetorheological actuators to obtain a linearized force characteristic of the actuator. Fo...
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This paper deals with the design and evaluation of feed forward compensation methods for the hysteresis phenomena applied to magnetorheological actuators to obtain a linearized force characteristic of the actuator. For these aim two compensation algorithms, the Preisach and a modified Prandtl-Ishlinskii approach, are investigated in detail considering a magnetorheological actuator with distinctive hysteresis. In order to proof the effect of the compensation methods the actuator is finally applied in a mechatronic door assistant to evaluate advanced functionality like algorithms for collision avoidance, which requires a precise adjustable braking force.
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