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检索条件"机构=Dept. of Control and Computer Engineering - DAUIN"

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State feedback optimal control with singular solution for a class of nonlinear dynamics 15

State feedback optimal control with singular solution for a ...

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15th International Conference on Informatics in control, Automation and Robotics, ICINCO 2018

作者： Giamberardino, Paolo Di Iacoviello, Daniela Dept. Computer Control and Management Engineering Antonio Ruberti Sapienza University of Rome Italy Institute for Systems Analysis and Computer Science Antonio Ruberti Rome Italy

ISBN: (纸本)9789897583216

The paper studies the problem of determining the optimal control when singular arcs are present in the solution. In the general classical approach the expressions obtained depend on the state and the costate variables at the same time, so requiring a forward-backward integration for the computation of the control. In this paper, sufficient conditions on the dynamics structure are provided and discussed in order to have both the control and the switching function depending on the state only, so simplifying the computation avoiding the necessity of the backward integration. The approach has been validated on a classical SIR epidemic model. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： State feedback

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An economic tracking scheme for GPS-gsm based moving object tracking system 2

An economic tracking scheme for GPS-gsm based moving object ...

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2nd International Conference for engineering, Technology and Sciences of Al-Kitab, ICETS 2018

作者： Ameen, Fatima Nadhim Mohammed, Ziad Saeed Sddiq, Abdulrahman Ikram Dept. of Computer Engineering Technical College Northern Technical University Mosul Iraq Dept. of Electronic and Control Eng. Technical College Northern Technical University Kirkuk Iraq

ISBN: (纸本)9781538635780

Many tracking systems are based on the Global Positioning System (GPS), Global System for Mobile communications (GSM) and smart phones, due to their wide availability and reliability. A moving object to be tracked, it sends its GPS coordinates to the observer via SMS. However, the economic feasibility of these systems mainly depends on the total cost of the used SMS messages. In this paper, an economic tracking scheme is proposed to reduce the tracking cost. A GPS-GSM tracking system that uses the proposed scheme is implemented and tested together with two classical tracking systems under two practical test cases. The first test case is a 121 km vehicle trip and the second is a 2.4 km walking journey. The results showed the effectiveness and economic feasibility of the proposed system, which achieved a saving in tracking cost up to about 64% with respect to the tested classical systems. © 2018 IEEE.

关键词： Global positioning system

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Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator

Towards Rehabilitation of Mughal Era Historical Places using...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

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Electromyography signals processing for gait phase recognition 3

Electromyography signals processing for gait phase recogniti...

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3rd Conference on Software engineering and Information Management, SEIM 2018

作者： Zhemelev, Georgiy Dept. of Computer Systems and Software Engineering Institute of Computing and Control Peter the Great Saint-Petersburg Polytechnic University Saint-Petersburg Russia

Gait phase recognition systems are widely used in medicine to control devices aimed at restoration of patients’ motor functions and have an increasing interest in scientific society. Use of electromyography as a source of information for such systems gives considerable advantages in comparison with other data sources at the cost of complex signal processing needed. In this paper, the author outlines these advantages and suggests a method that uses discrete wavelet transform to retrieve muscle activity shape and a novel double-threshold detector to find the regions of activity. Then a robust statistical treatment is performed following a dimensionality reduction. As a result, a set of classification objects is retrieved that are suitable for further use in various clustering and classification techniques. The introduced method was tested in the Movement Physiology Laboratory of I. P. Pavlov Institute of Physiology, Russian Academy of Sciences and proved its applicability on real electromyography data. © 2018 CEUR-WS. All rights reserved.

关键词： Physiology

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Search for Coordinates of WSN Nodes using Multidimensional Scaling Method

Search for Coordinates of WSN Nodes using Multidimensional S...

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Ilya Grishin Van Dai Pham Darina Okuneva Ruslan Kirichek Dept. of Communication Networks and Data Transmission Bonch-Bruevich St. Petersburg State University of Telecommunications Saint Petersburg Russia Dept. of Software Engineering and Computer Science Bonch-Bruevich St. Petersburg State University of Telecommunications Saint Petersburg Russia Bonch-Bruevich St. Petersburg State University of Telecommunications Saint Petersburg Russia V.A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow Russia

ISBN: (数字)9781728192819

ISBN: (纸本)9781728192826

Nowadays, wireless sensor networks (WSN) are widely used for various Internet of Things applications. The sensor nodes are usually deployed randomly in the field. Thus, searching for node coordinates is one of the requirements to construct the network structure. With knowing distances between nodes and the coordinates of anchor nodes in a certain network fragment, we propose a method based on the multidimensional scaling for searching for desired node coordinates.

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Numerical and Experimental Evaluation of the Radar Cross Section of a Drone 15

Numerical and Experimental Evaluation of the Radar Cross Sec...

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15th European Radar Conference, EuRAD 2018

作者： Pisa, S. Piuzzi, E. Pittella, E. Lombardo, P. Genovese, A. Bloisi, D. Nardi, D. Dratanasio, P. Zambotti, A. Dept. of Information Engineering Electronics and Telecommunications DIET Rome Italy Telespazio A Leonardo and Thales Company Rome Italy Dept. of Computer Control And Management Engineering DIAG Rome Italy Casaccia Research Centre Rome Italy

ISBN: (纸本)9782874870538

The mono-static Radar Cross Section (RCS) of a commercial Drone (IRIS) has been simulated and measured. For simulations, the electromagnetic CAD Microwave Studio by CST has been used. This software allows to accurately model the drone geometry and material complex permittivity. Measurements have been performed in an anechoic chamber equipped with a network analyzer and a horn antenna. The foreseen applications are the localization of drones in critical scenarios by using both passive and conventional radars. Our measurements and simulations, with good agreement, show RCS values that are strongly variable with frequency. © 2018 European Microwave Association.

关键词： Drones

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Monitoring human body motions during earthquakes 11

Monitoring human body motions during earthquakes

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11th National Conference on Earthquake engineering 2018: Integrating Science, engineering, and Policy, NCEE 2018

作者： Cimellaro, G.P. Domaneschi, M. Boroschek, R. Cardoni, A. Kammouh, O. Galdo, D. Apostoliti, C. Cares, D. Mahin, S. Dept. of Civil and Environmental Engineering University of California BerkeleyCA94720 United States Dept. of Civil Structural and Geotechnical Engineering Politecnico di Torino 10129 Italy Civil Engineering Department University of Chile Blanco Encalada Santiago2002 Chile Dept. of Control and Computer Engineering Politecnico di Torino 10129 Italy

ISBN: (纸本)9781510873254

This work aims at establishing laboratory requirements and testing conditions in order to understand the physical and emotional stability of people during a ground shaking. Several individuals with different human characteristics (gender, age, height, etc.) are considered in the test. Two different laboratory setups are presented. A position device (Kinect) and video targetless tracking algorithm has been used to collect the human body position during the shaking. A two and a three dimensional shaking tables are used to generate artificial earthquakes with different frequency bands. In addition, a well detailed virtual reality setting is applied to the testing site in order to illustrate the real environment. During the experiment, a special attention has been given to the factor of "surprise", which is necessary to ensure a natural reaction of the individuals. The result of the experiment proved common behaviors among the individual samples during the shaking. This work is considered a first step towards a large test campaign, which is necessary to obtain comprehensive statistics on this topic. Copyright © NCEE 2018: Integrating Science, engineering, and *** rights reserved.

关键词： Virtual reality

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Fir-based narrowband active noise control with a new online secondary-path modeling subsystem 25

Fir-based narrowband active noise control with a new online ...

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25th International Congress on Sound and Vibration 2018: Hiroshima Calling, ICSV 2018

作者： Ma, Yaping Xiao, Yegui Wei, Guo Sun, Jinwei Ma, Liying Khorasani, Khashayar Dept. Automatic Testing and Control Harbin Institute of Technology Harbin150001 China Dept. Information and Management Systems Prefectural University of Hiroshima Hiroshima734-8558 Japan Dept. Electrical and Computer Engineering Concordia University MontrealQC Canada

ISBN: (纸本)9781510868458

Injecting auxiliary random noise is an effective approach to implementing the online secondary-path modeling (SPM) subsystem in active noise control (ANC). In this paper, a typical FIR-based narrowband ANC (NANC) system with online SPM is proposed to reduce the sinusoidal noise generated by rotating machines, especially its lower frequency portion. A first-order FIR filter or magnitude/phase adjuster (MPA) serves as a sub-controller in each frequency channel. The contributions of this work are twofold. A bandpass filter bank based on IIR notch filters is introduced to mitigate the coupling between the controller (MPAs) and the SPM subsystem, which significantly improves the performance of the overall system. Furthermore, the proposed system requires only one x-filtering block regardless of the number of targeted frequencies, which considerably reduces the computational cost of the system. Simulations as well as application to real noise are conducted to demonstrate that the proposed system is superior to its conventional version in terms of overall system convergence and online SPM quality. © 25th International Congress on Sound and Vibration 2018, ICSV 2018: Hiroshima Calling. All rights reserved.

关键词： controllers

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Dynamic estimation of visco-elastic mechanical characteristics of biological samples under micro manipulation 15

Dynamic estimation of visco-elastic mechanical characteristi...

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15th International Conference on Informatics in control, Automation and Robotics, ICINCO 2018

作者： Giamberardino, Paolo Di Aceto, Maria Laura Giannini, Oliviero Verotti, Matteo Dept. Computer Control and Management Engineering Antonio Ruberti Sapienza University of Rome Italy University Niccol Cusano Via Don Carlo Gnocchi 3 Rome Italy

ISBN: (纸本)9789897583216

This paper focuses on the possibility of using a recently fabricated micro gripper for the on line estimation of the mechanical characteristics (damping and elasticity) of a sample pinched by the jaws, with particular reference to biological tissues. A classical on line dynamical parameter estimator is computed for the given system with different estimation computations, and its effectiveness has been verified by numerical simulations. Results confirm the feasibility of a micro-robotic clinical device for surgery use equipped with a tissue recognition ability. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Tissue

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A novel frequency domain maximum likelihood approach for estimating transport coefficients in cylindrical geometry for nuclear fusion devices

A novel frequency domain maximum likelihood approach for est...

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IEEE Annual Conference on Decision and control

作者： Matthijs van Berkel Gerardus W. Oosterwegel Martijn Anthonissen Hans J. Zwart Gerd Vandersteen DIFFER-Dutch Institute for Fundamental Energy Research Energy Systems and Control group Eindhoven The Netherlands Dept. of Mathematics and Computer Science Eindhoven University of Technology Eindhoven The Netherlands Dept. of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Dept. of Fundamental Electricity and Instrumentation Vrije Universiteit Brussel (VUB) Brussels Belgium

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

This paper introduces a novel maximum likelihood approach to determine the local thermal transport coefficients belonging to diffusion and convection from excitation (perturbative) transport experiments. It extends previous work developed for linear (slab) geometry to cylindrical (toroidal) geometry for fusion reactors. The previous linear geometry approach is based on analytic solutions of the partial differential equation. However, for cylindrical geometries with convection the analytic solutions are confluent hypergeometric functions (CHFs) with complex valued arguments. Most numerical libraries do not support CHFs evaluation with complex valued arguments. Hence, this paper proposes the use of an ultra-fast transfer function evaluation based on sparse numerical solutions for the discretized partial differential equation. This solution is implemented in MATLAB and incorporated in the frequency domain Maximum Likelihood Estimation framework. Consequently, transport coefficients can be estimated consistently when measurements are perturbed by coloured and spatially correlated noise.

关键词： Fusion reactors Geometry Maximum likelihood estimation Temperature sensors Partial differential equations Frequency-domain analysis

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