In this paper a parametric lineal model of heading is obtained, using a remote experimentation platform for marine vehicles. This platform has an in-scale fast-ferry physical model, TF-120 which is autonomous and has ...
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In this paper a parametric lineal model of heading is obtained, using a remote experimentation platform for marine vehicles. This platform has an in-scale fast-ferry physical model, TF-120 which is autonomous and has all the elements required to emulate a real vessel. The physical model is controlled remotely from a PC using Wi-Fi communications. The tests for the data acquisition with the platform for marine vehicles were carried out in the surroundings of the Bay of Santander. The parametric model identified is used to design a PID controller for heading autopilot and a simulation of this system is performed in Simulink.
In this work a simulation platform for uninhabited marine and aerial vehicles is proposed. This platform is based in the MDA (Model Driven architecture) approach and the DEVS (Discrete Event System Specification) form...
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In this work a simulation platform for uninhabited marine and aerial vehicles is proposed. This platform is based in the MDA (Model Driven architecture) approach and the DEVS (Discrete Event System Specification) formalism. Platform independent models (PIM) are used to describe the vehicles and its interaction; then, theses models are traduced to platform-specific models (PSMs) in Matlab-Simulink, Java and other languages. DEVS formalism is designed to describe discrete events model, so in order to use continuous time models the second order quantified states simulation (QSS2) is proposed. This method is applied to an autonomous radio controlled hovercraft and its low level tracking controller.
In our paper we are proposing a complex model of the student (learner) in a virtual educational environment, supported by a multi-agent system. The whole system is centered on the student and it mainly takes into acco...
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In our paper we are proposing a complex model of the student (learner) in a virtual educational environment, supported by a multi-agent system. The whole system is centered on the student and it mainly takes into account Vygotsky's socio-cultural theory that states that social interaction plays a fundamental role in the development of cognition. The model is part of a larger project - DANTE - Socio-Cultural Models implemented through multi-agent architecture for e-learning - that has as main objective the development of a student centred framework for the virtual educational universe that facilitates collaborative learning. The virtual educational world is inhabited by agents: human agents and artificial agents that interact. Agents can be mediating agents, semiotic agents or social agents;they can be intelligent software entities or simple ones, like interface agents.
An adaptive target queue length (ATQL) adjustment algorithm proposed in this paper cooperates with certain Active Queue Management (AQM) controllers to achieve more efficient buffer management for Internet congestion ...
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ISBN:
(纸本)0977520005
An adaptive target queue length (ATQL) adjustment algorithm proposed in this paper cooperates with certain Active Queue Management (AQM) controllers to achieve more efficient buffer management for Internet congestion control. ATQL algorithm which estimates the average traffic load and dynamically adjusts the target queue length in dynamic traffic environment can be easily embedded into a series of AQM controllers. By engaging ATQL, AQM controllers are more suited to random and unpredictable traffic scenarios. Simulations are applied to validate ATQL's ability in assisting AQM controllers in sustaining stable drop probability, minimizing unnecessary packet loss, guaranteeing the link utility and maximizing the exploitation of buffer spaces.
Flow-level traffic measurement is important for network management. The widely used centralized per-flow measurement faces a great challenge due to the demanding requirement on both memory bandwidth and memory size wi...
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Background subtraction is a widely used paradigm to detect moving objects in video taken from a static camera and is used for various important applications such as video surveillance, human motion analysis, etc. Vari...
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This paper deals with the use of the Chebyshev-Padé approximation (CP) in order to achieve accurate direct discrete-time approximations to the fractional-order differentiator/integrator. It is shown how, for a gi...
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This paper deals with the use of the Chebyshev-Padé approximation (CP) in order to achieve accurate direct discrete-time approximations to the fractional-order differentiator/integrator. It is shown how, for a given order of the transfer functions, CP is much more accurate at low frequencies than the continued fraction expansion (CFE). Furthermore, CP can be more accurate than a CFE approximation of a higher order.
Both the fractal dimension (FD). and the multifractal dimensions (MFD) have been widely used to describe natural textures in image processing community. However, due to the essential difference between the fractal rea...
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In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which ...
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In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers
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