Internet congestion control system is considered as a closed-loop feedback system with time-delay. A proportional-integral-differential (PID) controller is then established as active queue management (AQM) scheme to a...
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Internet congestion control system is considered as a closed-loop feedback system with time-delay. A proportional-integral-differential (PID) controller is then established as active queue management (AQM) scheme to adjust the congestion marked possibility at the links in Internet, whose parameters is auto-tuned by applying the minimization of an integral criterion for adapting the change of the network system. The simulations show that the new AQM scheme can control the size of the queue in the buffer to an expected length and has the robustness for the loading perturbation and the parameter change in the network.
In this paper a novel class of filters designed for the removal of impulsive noise in color images is presented. The proposed filter family is based on the kernel function which regulates the noise suppression propert...
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We present a receding horizon control algorithm for compensation of backlash at the input of a stable linear system under control rate constraints. The problem is first posed as a receding horizon optimal control prob...
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We present a receding horizon control algorithm for compensation of backlash at the input of a stable linear system under control rate constraints. The problem is first posed as a receding horizon optimal control problem by modelling backlash as a piecewise affine system with a state space partition consisting of three regions. This optimal control problem involves solving, at each step, 3 N quadratic programmes, where N is the optimisation horizon. As an alternative to solving the quadratic programmes, we propose a strategy based on a recently devised suboptimal receding horizon control algorithm which utilises a singular value decomposition of the Hessian of the quadratic programme. This alternative strategy leads, at the cost of some performance degradation, to much smaller computational load since a feasible rather than optimal solution has to be obtained at each step.
Repetitive processes are a distinct class of two-dimensional systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direc...
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In this paper, a novel constructive method is presented to provide a new Hamiltonian formulation with dissipation for both fully actuated and underactuated robotic systems. Firstly, a high-order partial derivative ope...
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In this paper, a novel constructive method is presented to provide a new Hamiltonian formulation with dissipation for both fully actuated and underactuated robotic systems. Firstly, a high-order partial derivative operator, unified partial derivative operator (UPDO) is introduced, and its properties are investigated, which play essential and instrumental roles in the results presented in the paper. Secondly, Hamiltonian formulation is investigated for the first time by choosing the sum of kinetic energy and virtual potential energy, rather than the physical potential energy, as the Hamiltonian function. With the help of UPDO, we give one new property of robotic systems, which is fundamental to the Hamiltonian formulation, and at the same time we can show that the Hamiltonian formulation has a very appealing structure and some nice properties for further analysis. It is shown that in the new formulation, the matching conditions become a set of algebraic equations which are much easier to solve in comparison with solving a set of partial differential equations. Finally, robust adaptive control is studied for robotic systems by augmenting the new Hamiltonian formulation introduced in the paper
This paper investigates the problem of output-feedback adaptive stabilization control design for a class of nonlinear systems with unknown direction control coefficients. By introducing novel input scaling transformat...
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This paper investigates the problem of output-feedback adaptive stabilization control design for a class of nonlinear systems with unknown direction control coefficients. By introducing novel input scaling transformations, the unknown control coefficients can be lumped together such that the original system becomes a new system and make the output feedback control design possible. After the introduction of an observer and estimator for state and parameter estimates, respectively, a constructive design procedure is given for the output-feedback adaptive stabilization control based on integrator backstepping. It is shown that, under some conditions, the controller designed ensures the state and the estimation error of the closed-loop system asymptotically converge to zero, while other closed-loop signals are uniformly bounded.
In this paper a novel approach to the impulsive noise removal in color images is presented. The proposed technique employs the switching scheme based on the impulse detection mechanism using the so called peer group c...
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We provide an overview of the DAME project, and a discussion of the progress made to date on the development of a distributed aeroengine diagnosis environment as a proof of concept demonstration for grid computing. We...
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We provide an overview of the DAME project, and a discussion of the progress made to date on the development of a distributed aeroengine diagnosis environment as a proof of concept demonstration for grid computing. We discuss the development of a demonstration diagnosis workbench system for this complex, data intensive, diagnosis application that must be operated as a distributed 'virtual organisation'. We describe the core diagnosis applications that have been implemented as grid services, and explain how these services are being deployed within the overall diagnosis process
This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details reg...
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This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details regarding embedded system modeling and its transition to the programming level are presented. Moreover, it describes the embedded system generation and provides data obtained from the hardware synthesis and the application execution. Moreover, it discusses how projects can be optimized according to requirements priorities. It finishes by highlighting the main advantage of SEEP in comparison to other existing methodologies for embedded systems design
In this paper a new class of filters designed for the removal of impulsive noise in color images is presented. The proposed filter class is based on the nonparametric estimation of the density probability function of ...
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In this paper a new class of filters designed for the removal of impulsive noise in color images is presented. The proposed filter class is based on the nonparametric estimation of the density probability function of pixels in a sliding filtering window. The comparison of the new filtering method with the standard techniques used for impulsive noise removal, indicates good noise removal capabilities and excellent structure preserving properties.
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