In this paper, we show that by using two adaptive neural networks (NNs), each of which is tailored for a specific task, the tracking performance of the hard-disk-drive (HDD) actuator can be significantly improved. The...
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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 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 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 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 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 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.
A two-step fault detection theory, which consists of residual Chi-square Test and velocity detection based on robust differentiation via sliding mode, is presented. Simulation indicated that with this method excellent...
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A two-step fault detection theory, which consists of residual Chi-square Test and velocity detection based on robust differentiation via sliding mode, is presented. Simulation indicated that with this method excellent detection results were achieved, when step fault or slowly growing slope fault occurs within GPS signal.
The paper developed a block-wise approach for ICA algorithms which can improve the computational efficiency of ICA without the degradation of performance for the separation of biomedical signals. Source signals includ...
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The paper developed a block-wise approach for ICA algorithms which can improve the computational efficiency of ICA without the degradation of performance for the separation of biomedical signals. Source signals including electrocardiogram (ECG), electromyogram (EMG) and 60-Hz sinusoid are linearly mixed for experimental tests. The mean-square errors (MSE) between the original sources and the separated signals are calculated for the evaluation of separation performance. These results demonstrated that the proposed block-wise approach can achieve the desired separation performance of signals in a more efficient way.
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