in this paper, a model-based scheme is presented for the detection and isolation of sensor faults in the vehicle lateral dynamics control systems. Core of the scheme is the handling of model uncertainties. This scheme...
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In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-eff...
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In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors— that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer— whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.
This paper demonstrates the testbed implementation of a simple algorithm for cooperatively locating and following environmental boundary in two-dimensional space. The algorithm alternates between clockwise and counter...
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A novel force model for needle insertion into soft tissues has been developed for virtual reality and haptics based simulation of percutaneous therapies. The forces are divided into two parts, stiffness force and fric...
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This work investigated the potential for the non-contact measurement of volumetric soil moisture profiles by detecting reflected VHF and UHF radio waves. The investigation included the development of an instrumentatio...
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This work investigated the potential for the non-contact measurement of volumetric soil moisture profiles by detecting reflected VHF and UHF radio waves. The investigation included the development of an instrumentation system to measure radio wave reflection coefficients, a calibration routine for such a system, a model for simulating electromagnetic reflections from layered dielectric media, and an algorithm devised to resolve layers of moisture from radio wave reflections of multiple frequencies. Field trials of the system were conducted in which measured reflection coefficients were compared with simulated results, and predicted moisture gradients were compared with actual moisture profiles. The model that simulated reflection coefficients in the frequency range of 80 MHz to 1 GHz was tested using hypothetical and existent moisture profiles. Results of simulated profiles indicated that reflection coefficients could be used to distinguish between volumetric surface moisture and could detect subsurface moisture to a dept. of 45.7 cm. Reflection measurements made in the field trials indicated that linear correlation could be made with volumetric moisture in the top 15.2 cm. The profile restoration algorithm closely predicted simulated near-surface moisture but had a high failure rate predicting deep subsurface moisture. Results of the study indicated that reflection coefficients could be used to detect soil moisture at dept., but the restoration algorithm did not effectively resolve moisture layers.
This paper deals with the implementation of Haar wavelet to the optimal control of linear singularly perturbed systems. The approximated composite control and the slow and fast trajectories with respect to a quadratic...
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Recently, the capsule endoscope has been developed to observe image from the inside intestine. Such a capsule endoscope does not have locomotion or hold by it self. To get proper diagnosis and meditation, it is necess...
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ISBN:
(纸本)0780393112
Recently, the capsule endoscope has been developed to observe image from the inside intestine. Such a capsule endoscope does not have locomotion or hold by it self. To get proper diagnosis and meditation, it is necessary to control capsule from outside to enable to guide locomotion. The designed and implemented capsule has feasibility to contracts the small intestine by electrical stimulus from stimulus pad. When the small intestine is contracted by electrical stimulus, the capsule can move to opposite direction which can boost moving speed of the capsule or change moving direction. The implemented stimuli capsule always monitors excessive energy transmit and automatically shut down electrical stimuli to make more secure. Also the stimuli capsule goes to stand by mode to save battery, and reset by comparator circuit which is connected to two stimulus pad. To verify the design and implement stimuli capsule, in-vitro experiments are performed with pig's small intestine.
A fundamental assumption of the tcp protocol is that packet losses indicate congestion on the network. This is a problem when using tcp over wireless links, because a noisy radio transmission may erroneously indicate ...
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A fundamental assumption of the tcp protocol is that packet losses indicate congestion on the network. This is a problem when using tcp over wireless links, because a noisy radio transmission may erroneously indicate congestion and thereby reduce the tcp sending rate. Two partial solutions, which improve the quality of the radio link, are power control and link-layer retransmissions. We consider a radio channel with multiple users and traffic classes, and investigate how parameters in the radio model influences tcp-related quality measures, such as the average delay and the probability of spurious timeout. The results indicate that the outer loop power control is robust to uncertainties in the radio model. This robustness property supports separation between the radio layer design and the ip and tcp layers.
In general-sum games, multiagent cooperation has no global objective, and only individual rationality is concerned. Agent's learning is based on the assumption of opponents' policies, and this assumption may b...
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In general-sum games, multiagent cooperation has no global objective, and only individual rationality is concerned. Agent's learning is based on the assumption of opponents' policies, and this assumption may be wrong. By defining the global objective of agents, a novel multiagent reinforcement learning algorithm was proposed. All agents selected negotiated policies during learning, and punished those agents deviating from negotiated policies to ensure the execution of these policies. It was proved that the learned Q values on each stage games converge under certain restrictions. An example was given to analyze the proven result.
In this paper a new algorithm for local estimation for approximating a function by means of local models is introduced. The instant or in-time estimation provides an attractive alternative for nonlinear identification...
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In this paper a new algorithm for local estimation for approximating a function by means of local models is introduced. The instant or in-time estimation provides an attractive alternative for nonlinear identification, since it requires less structural decisions to be made by the user. It represents a hybrid between local and global modeling. This estimation procedure is combined with a predictive control algorithm with a modification cost function for efficient control. Simulation results are provided to show the results of the proposed approach.
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