The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external ro...
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A car-like robot with an Ackermann steering system is a type of nonholonomic which is characterised by a set of first-order differential constraints on its configuration variables, which are not integrable. This disti...
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ISBN:
(数字)9798350365191
ISBN:
(纸本)9798350365207
A car-like robot with an Ackermann steering system is a type of nonholonomic which is characterised by a set of first-order differential constraints on its configuration variables, which are not integrable. This distinctive characteristic gives rise to complex issues in the construction of feedback controllers. This research proposes reactive control using a feedback controller using PID algorithm for a car-like robot navigation. The proposed method controls the steering angle of the car-like robot to follow the prescribed path with a constant longitudinal robot velocity. The open-loop car-like dynamical system has been formulated in the form of state-space model. Two PID controllers in parallel computed the lateral position error and the yaw angle error. The summation of the two outputs from the PID controllers was inputted into the state-space model. The PID controller parameters were selected based on trial and error. The simulation results confirm the effectiveness of the proposed control algorithm.
The Internet of Things refers to the type of network that connects anything to the Internet on the basis of the protocols stipulated by the information sensing equipment for the exchange of information and communicati...
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The paper demonstrates the process of developing mathematical models for identifying breakdowns of electric motors using machine learning methods. The authors have developed three mathematical models for identifying b...
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This paper proposes a novel method to achieve and preserve synchronization for a set of connected heterogeneous Van der Pol oscillators. Unlike the state-of-the-art synchronization methods, in which a large coupling g...
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Mobile robots suffer from inherent limitations due to the tradeoff in the amount of energy consumed by their on-board processing components, and the need to increase their operational time. On the communication side, ...
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ISBN:
(数字)9798350369588
ISBN:
(纸本)9798350369595
Mobile robots suffer from inherent limitations due to the tradeoff in the amount of energy consumed by their on-board processing components, and the need to increase their operational time. On the communication side, the volatility of communication links severely hinders the ability of a mobile device to rely on computation offloading. The challenge addressed by this paper is the development of a methodology and framework to effectively migrate the location of a service from a system to another, minimizing downtime and striving to reduce any side-effects that may be perceived by the system. Solving this challenge will pave the way for more effective computation offloading solutions that can cope with the unpredictability of the edge systems. Four different approaches are compared, analyzing their performance via an empirical approach. The insights gathered from data allow the identification of the most promising solution to address the aforementioned challenge.
This work investigates the effectiveness of two training systems based on consumer hardware technologies, a first one using computer-Based Learning (CBL) and the other exploiting Virtual Reality (VR). A user study was...
This work investigates the effectiveness of two training systems based on consumer hardware technologies, a first one using computer-Based Learning (CBL) and the other exploiting Virtual Reality (VR). A user study was executed in order to compare the two training and analyze the most suitable approach for the learning of preparatory material in the context of an industrial assembly and maintenance (IMA) procedure. The results highlighted that, although trainees using VR experienced higher levels of cognitive processing and attention, the knowledge gain of CBL was comparable to that of VR for the preliminary phase training. Nonetheless, VR was still able to provide better learning gains in terms of procedural skills compared to CBL.
The paper addresses the problem of optimal control design in presence of singular solutions for single input dynamics. The dynamical extension for systems obtained adding an integrator on the input is addressed and an...
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ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
The paper addresses the problem of optimal control design in presence of singular solutions for single input dynamics. The dynamical extension for systems obtained adding an integrator on the input is addressed and analyzed. The possibility of computing the optimal control for dynamically extended systems from the solution of the initial ones is investigated, as well as the inverse procedure. These relationships are well evidenced for the singular solutions, showing the possibility of simplifying the optimal control computation. An example is introduced to better highlight the presented results.
Robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and ...
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ISBN:
(数字)9798350393965
ISBN:
(纸本)9798350393972
Robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.
In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done us...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.
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