A new Matlab Toolbox based upon the observer-Kalman filter/eigensystem realisation algorithm is presented. The paper gives a brief overview of the development of the approach followed by a concise review of the releva...
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A new Matlab Toolbox based upon the observer-Kalman filter/eigensystem realisation algorithm is presented. The paper gives a brief overview of the development of the approach followed by a concise review of the relevant theory. After a description of the Toolbox functionality, an illustrative example is used to explain its successful operation.
Nanosecond-pulsed dielectric barrier discharges (DBDs) have gained significant attention for its promising applications in various fields. More systematic investigations are necessary to better understand the fundamen...
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Based on Lyapunov stability theory associated with transformation techniques, the D-stability robustness problem is first discussed for discrete large-scale systems subjected to interconnections and perturbations. Thr...
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Based on Lyapunov stability theory associated with transformation techniques, the D-stability robustness problem is first discussed for discrete large-scale systems subjected to interconnections and perturbations. Three classes of perturbation are treated: (1) unstructured parametric perturbations;(2) highly structured parametric perturbations;and (3) nonlinear perturbations. If all the eigenvalues of each nominal subsystem are located inside the specified discs D(i)(alpha(i), r(i)), respectively, sufficient conditions for D-stability are presented to guarantee that all the eigenvalues of each perturbed subsystem remain inside the same discs. Furthermore, the proposed D-stability criteria ensure that the whole discrete large-scale system is D-stable irrespective of perturbations and interconnections if the eigenvalues of each nominal subsystem lie within the same disk D(alpha, r). By these conditions, the allowable perturbation bounds that ensure the D-stability of discrete large-scale perturbed system can be estimated. Finally, numerical examples are given for illustration.
This paper develops an iterative solution model for the efficient and accurate simulation of the dynamics of a three-dimensional (3D) train-periodic slab track-subgrade (TPSTS) system. The entire system is divided int...
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Standard experiments for identifying inertia parameters of a rigid body only provide a subset of the inertia parameters of the body [1-10]. In addition, they do not use in the estimation process the complete informati...
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Standard experiments for identifying inertia parameters of a rigid body only provide a subset of the inertia parameters of the body [1-10]. In addition, they do not use in the estimation process the complete information included in the equations of motion of the rigid test body. The objective of the work described in this paper is the simultaneous, automatic experimental identification of the ten inertia parameters of a rigid body using the complete information hidden in the nonlinear model equations of the test body. This task has been solved in several steps: - mathematical modelling of the special motions of a rigid body in space. These model equations have been mapped into a form suitable for identification purposes (identification hypothesis), - design of a special measurement robot for performing the identification experiments, - laboratory experiments providing test data used for the identification experiments, - identification of the inertia parameters and accuracy tests, The accuracy of the identified parameters is satisfactory.
This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is comput...
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In the context of humanitarian demining it is essential to have a reliable and accurate sensor or an integration of heterogeneous/homogeneous sensors with efficient and reliable data fusion and processing techniques. ...
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In the context of humanitarian demining it is essential to have a reliable and accurate sensor or an integration of heterogeneous/homogeneous sensors with efficient and reliable data fusion and processing techniques. In addition, it is necessary to overcome the constrain on the resources to speed up the demining process in terms of time, cost, and safety enhancement of personnel and operation. A portable handheld mine detection approach to sensor movement is slow and hazardous for individual deminers. Armored vehicles may not thoroughly protect the occupants and may be of only limited usefulness in off-road operations. Robotized solutions with effective sensing capabilities properly sized with suitable modularized mechanized structure and well adapted to local conditions of minefields can greatly improve the safety of personnel as well as work efficiency and flexibility. Such intelligent and flexible machines can speed the clearance and perform verifying processes when used in combination with handheld mine detection tools. Furthermore, the use of many robots working and coordinating their movement will improve the productivity of the overall mine detection process through the use of team cooperation and coordination. This paper evaluates the available mine clearance technologies and disscusses their development efforts and limitations to automate tasks related to demining *** addition, it introduces technical features and design capabilities of a mobile platform needed to accelerate the demining process and achieve safety with cost effective measures.
Interoperability plays an important role in the joint command, control, communication, computer, intelligence, surveillance, reconnaissance(C4 ISR) operations. Coordinating and integrating operational processes to ful...
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Interoperability plays an important role in the joint command, control, communication, computer, intelligence, surveillance, reconnaissance(C4 ISR) operations. Coordinating and integrating operational processes to fulfill a common mission are challenged by the ever-changing battlefield and hence requires a cross-organizational process management that produces an autonomous, flexible and adaptable architecture for collaborative process evolution. The traditional business process collaboration pattern is based on the predefined "public-view" perspective and cannot meet the requirement of the joint task operations. This paper proposes a flexible visibility control mechanism and a dynamic collaboration framework for modeling and generating collaborative processes. The mechanism allows collaborators to define a set of visibility rules to generate different views of the private processes for different collaborations, which gives a great flexibility for the collaboration initiator to decide on an appropriate collaboration pattern. The framework supports collaborators to dynamically and recursively add a new process or even a new organization to an existing collaboration. Moreover, a formal representation of the processes and a set of generation algorithms are provided to consolidate the proposed theory.
In this paper, based on the Lyapunov stability theorem associated with matrix measure techniques, some new delay-independent criteria for asymptotic stability of linear perturbed time-delay systems are proposed. Furth...
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In this paper, based on the Lyapunov stability theorem associated with matrix measure techniques, some new delay-independent criteria for asymptotic stability of linear perturbed time-delay systems are proposed. Furthermore, the stability degree testing problem of the above systems is also investigated. From the given examples, we demonstrate the superiority of these quantitative results by comparing them with other approaches presented in the literature.
The main objective of this paper is the identification of the inertia parameters of a rigid body under planar motion using a planar servo-pneumatic test facility designed for vibration tests. The hardware realization ...
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The main objective of this paper is the identification of the inertia parameters of a rigid body under planar motion using a planar servo-pneumatic test facility designed for vibration tests. The hardware realization of the test facility used is discussed. The pneumatic components as well as the mechanical components of the test facility are described by linear and by nonlinear mathematical models, derived in Part I [I] of this paper. These model equations are used as identification hypotheses in the identification process. A comparison of time histories obtained by computer simulations of the nonlinear test facility model and by laboratory experiments shows that this nonlinear lest facility model provides a realistic identification hypothesis for the estimation experiments. Based on different model hypotheses the inertia parameters of the test table and of the payload have been successfully identified from laboratory experiments. The relative estimation errors of the identified parameters are less than 10%.
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