This paper presents about an intelligent service robot named Moratuwa Intelligent Robot (MIRob) that can acquire knowledge through interactive discussion with the user while handling the uncertain information in the u...
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Vehicles with multiple drivetrains, like hybrid electric vehicles, are over-actuated systems with an infinite number of feasible solutions. Hence, energy efficiency, as the secondary objective, is considered to determ...
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ISBN:
(纸本)9781942112495
Vehicles with multiple drivetrains, like hybrid electric vehicles, are over-actuated systems with an infinite number of feasible solutions. Hence, energy efficiency, as the secondary objective, is considered to determine the optimum solution. However, the resulting optimisation problem, which is nonlinear due to multi-modal operation of electric machines, must be solved very quickly to comply with stability requirements of vehicles dynamics. A theory is developed for the first time to formulate and parametrically solve the energy-efficient torque distribution problem for vehicles with multiple different drivetrains. The parametric solution is deployable on ordinary electronic control units (ECUs) as a small-size lookup table that makes it very fast in operation. Simulation results indicate effectiveness of the provided solution as energy management strategies for hybrid electric vehicles and fully-electric ones with multiple different drivetrains.
Railway transportation is a predominant transportation medium in the world. The railway transportation is one of the conventional systems that subjects to many accidents annually in most of the countries. Comparativel...
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In the paper the practical implementation of a discrete PID algorithm (DPID) with non-uniform sampling is presented. Studies starts with the discretized well known continuous PID equation with trapezoidal integration ...
In the paper the practical implementation of a discrete PID algorithm (DPID) with non-uniform sampling is presented. Studies starts with the discretized well known continuous PID equation with trapezoidal integration method. As a result, difference equation associated with the respect continuous-time model is obtained. Then, MATLAB/Simulink block model is developed in such way that a change sampling time during simulation is enabled. Algorithm is tested numerically in modeled DC motor speed control system. In order to compare results with conventional fixed-step controller, functions of control quality and number of samples are used. In the next step, developed DPID with non-uniform sampling is implemented to microprocessor of Arduino board and put into a series of experimental tests. Obtained results are compared to simulation. In the last part of the paper advantages and disadvantages of the proposed system are described, conclusions are drawn and directions of future work are pointed out.
The paper presents cooperation of two heterogeneous mobile robots which are two-wheeled robot and an unmanned aerial vehicle. Those platforms are fully autonomous and are equipped with indoor positioning system to acq...
The paper presents cooperation of two heterogeneous mobile robots which are two-wheeled robot and an unmanned aerial vehicle. Those platforms are fully autonomous and are equipped with indoor positioning system to acquire position of each. This paper introduces simple algorithms of path planning in static environment which is known for rover robots and path handling for both platforms. Accurate environment map is given a priori. The main aim of this work are the simulation tests of the simple cooperation algorithm. Tests were conducted in Simulink and its results are presented in both mobile platforms trajectories and path errors in x and y directions. The presented results show the effectiveness of proposed method.
A concept of the porous core electromagnet is studied. The form for the electromagnet core was printed using 3D technique. The core was manufactured manually using iron filings and cured in room temperature and air pr...
A concept of the porous core electromagnet is studied. The form for the electromagnet core was printed using 3D technique. The core was manufactured manually using iron filings and cured in room temperature and air pressure. The aim of this paper is to deliver initial analysis of the proposed powder core together with the modelling procedure by the using finite element method, and to compare the experimental results of the manually manufactured electromagnet. The material property of the numerical model was adjusted to fit the experimental results. Finally, the electromagnet was tested in the levitation real–time experiment.
This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitab...
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This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.
This paper presents the design, development and implementation of a bio-inspired fault diagnosis scheme applied to a cold gas based spacecraft prototype. The proposed framework relies on the Artificial Immune System m...
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This paper presents the identification process of the electric propulsion system for Unmanned Aerial Vehicles. Prepared identification test rig was described in details. It allows to control the electric motor with a ...
This paper presents the identification process of the electric propulsion system for Unmanned Aerial Vehicles. Prepared identification test rig was described in details. It allows to control the electric motor with a propeller and to measure the parameters like thrust force, torque, current and supply voltage, that were used during identification. The worked out and presented identification test helps to check and verify the electric propulsion properties and to develop more accurate simulation models of UAVs.
The paper presents a simple method for obstacle detection and avoidance. The system can be applied for unmanned multirotors and is based on laser scanner detections. What is more, the proposed system supports the pilo...
The paper presents a simple method for obstacle detection and avoidance. The system can be applied for unmanned multirotors and is based on laser scanner detections. What is more, the proposed system supports the pilot during the manual flights. The proposed simple obstacle detection and avoidance algorithm was described in details. The main aim of the work was the in-flight test. The results were presented in the UAV trajectories plot and PWM control signal time plots. Obtained results validate the effectiveness of the proposed collision avoidance method. The described approach helps to ensure collision free conditions for UAV operators.
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