This paper presents a genetic-based approach to multi-criteria position and configuration optimisation of mobile manipulator systems. Optimisation criteria include obstacle avoidance, least joint torque norm, manipula...
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This paper presents a genetic-based approach to multi-criteria position and configuration optimisation of mobile manipulator systems. Optimisation criteria include obstacle avoidance, least joint torque norm, manipulability and joint torque distribution. Due to the competition among various criteria, the multi-criteria optimisation problem typically exhibits many local minima. The emphasis of the paper is put on using genetic algorithms to search for global optimum and solve the minilnax problem for torque distribution. Various simulations for a system including a three-link lnanipulator mounted on a mobile platform show that the proposed genetic algorithm approach performs better than conventional methods.
The exponential stability of large-scale nonlinear parabolic systems with time-varying delays is studied in this paper using a new generalization of Gronwalrs inequality and Lyapunov theory. The systems are interconne...
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The exponential stability of large-scale nonlinear parabolic systems with time-varying delays is studied in this paper using a new generalization of Gronwalrs inequality and Lyapunov theory. The systems are interconnected by bounded operators, although this can be generalized. All the time-delays will be assumed to have bounded time derivatives for simplicity here.
Model reduction has significant importance in Large-Scale Systems. In this paper one of the main classes of model reduction-aggregation is used and the results of the two different methods are discused and compared fo...
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Model reduction has significant importance in Large-Scale Systems. In this paper one of the main classes of model reduction-aggregation is used and the results of the two different methods are discused and compared for application in Power Systems.
A practical scheme for on-line automatic tuning the existing industrial PID controllers with the assistance of a neural network is developed. A radial basis function (RBF) network have been used to implement the neura...
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A practical scheme for on-line automatic tuning the existing industrial PID controllers with the assistance of a neural network is developed. A radial basis function (RBF) network have been used to implement the neural network PID auto-tuner. A real-time version of the neural network assisted PID auto-tuner has been implemented on a personal computer (PC). Experimental testings on some generic process models, and comparison with some commercial PID auto-tuners shows favourable result on the performance of the developed scheme.
This paper describes a novel approach to the problem of control mode analysis for advanced concept gas turbine aero-engines. Using a multiobjective evolutionary algorithm, candidate control modes are selected and test...
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This paper is concerned with the problem of controlling and synchronizing chaotic systems through an appropriately synthesized adaptive strategy, namely the minimal control synthesis (MCS) algorithm is used to solve t...
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This paper is concerned with the problem of controlling and synchronizing chaotic systems through an appropriately synthesized adaptive strategy, namely the minimal control synthesis (MCS) algorithm is used to solve the stated problem. First, a traditional control strategy is used, which does not rely on any explicit property of chaotic systems, except for the boundedness of chaotic evolution. Next, by assuming the plant to be chaotic, some properties of chaotic systems are exploited to achieve the control, as in the Ott-Grebogi-Yorke (OGY) method (1990). Hence, an adaptive controlengineering approach is merged with the OGY method to control and synchronize chaotic systems.
An approach to the neural network-based feedforward control of a two-stage heat exchange process is presented. When pressure change occurs in the distillation column, the disturbance causes a variation of material bal...
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An approach to the neural network-based feedforward control of a two-stage heat exchange process is presented. When pressure change occurs in the distillation column, the disturbance causes a variation of material balance that produces undesirable material and heat imbalance. The task is fulfilled first by developing a mathematical model in a traditional way, followed by the implementation of a neural network multilayer feedforward-based controller. The dynamics and unsteady state are investigated.
A grey box model-based method for fault diagnosis is proposed in this paper which is based on a first principle model of the process unit: a heat exchanger, and on a grey box model of the fault: the deterioration of t...
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A grey box model-based method for fault diagnosis is proposed in this paper which is based on a first principle model of the process unit: a heat exchanger, and on a grey box model of the fault: the deterioration of the heat transfer surface by aging. Under normal operating conditions the heat transfer coefficient is constant or slowly decreasing due to a layer of settled material building up on the heat transfer surface, and we propose to use a recursive least squares estimator with forgetting factor to track the heat transfer coefficients during these stages. In old heat exchangers, big chunks of the settled material can break away from the surface causing the heat transfer coefficients to rise sharply. This fault is detected via detection of abrupt positive jump in the estimated heat transfer coefficients using a Hinkley detector
A novel type of electro-optic diffractive element is presented which can satisfy the requirements for a high space-time bandwidth deflector while providing for two-dimensional random access beam steering control. The ...
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ISBN:
(纸本)0819425532
A novel type of electro-optic diffractive element is presented which can satisfy the requirements for a high space-time bandwidth deflector while providing for two-dimensional random access beam steering control. The basic device consists of a multichannel array of phase modulators fabricated using Lanthanum-modified Lead Zirconate Titanate (PLZT) operating as a programmable diffractive optical element. Two-dimensional deflection control can be readily obtained by crossing two one-dimensional arrays. This device is useful for wavelengths in the Visible to Mid-IR range and is based on PLZT ceramic materials which can be readily mass-produced. It possesses the versatility and multifunctionality of liquid crystal based optical phased array systems while allowing for very fast switching speeds with good thermal stability. We present a brief comparison of this novel deflector with other scanning technologies and outline the benefits and trade-offs of the PLZT-based device. Experiments on 16- and 32-channel arrays with fullwave voltages less than 400 volts demonstrate continuous lateral beam steering control of a HeNe laser beam. We also demonstrate full deflection control with a minimum number of control lines using a modified deflector arrangement. And we present measurements showing sub-microsecond switching speeds from such PLZT-based phase modulators. Mature versions of this type of scanner will find use in a wide variety of applications including 2-D and 3-D laser displays, laser communications, and LIDAR systems.
Interlaced systems constitute a class of systems only characterized by the zero entries of their matrix configuration and a local stabilizability condition. All these systems are globally stabilizable by a recursive d...
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ISBN:
(纸本)9783952426906
Interlaced systems constitute a class of systems only characterized by the zero entries of their matrix configuration and a local stabilizability condition. All these systems are globally stabilizable by a recursive design procedure which combines steps of backstepping and forwarding. When a nonlinear system misses this structural characterization, other types of conditions (sign, growth) are needed to ensure global stabilization.
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