In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like...
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In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.
In this paper, we discuss a possible navigation solution for two autonomous marine robots, of which one is submerged. The situation is a sub task of the overall mission scenario of a recent research project. The goal ...
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In previous work on joint multiple point sets registration, the multiple point sets are often formulated by a Gaussian mixture model (GMM) and the registration is then cast to a clustering problem, which aims to explo...
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In previous work on joint multiple point sets registration, the multiple point sets are often formulated by a Gaussian mixture model (GMM) and the registration is then cast to a clustering problem, which aims to exploit global relationships on the multiple point sets. However, local relationships on the multiple point sets are ignored in the state-of-the-art joint multiple point sets registration techniques. In this paper, the multiple point sets are assumed to be generated from a GMM. Local features of the multiple point sets, such as shape context, are proposed to infer the membership probabilities of the GMM. The problem of joint multiple point sets registration can be performed by maximum likelihood of the GMM. The parameters of GMM and registration are estimated by an expectation maximization algorithm. Comprehensive experiments demonstrate that our proposed method has better performance than the state-of-the-art methods.
Medium voltage drives (MVDs) are commonly used in high-power applications and show significant impact on the overall system dynamics due to their large size and high power demand. Although detailed switching models fo...
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To solve the false correlation caused by negative influence in selecting opinion leader, a micro-blog opinion leader selection method using emotional contribution model is proposed. When the retweeters and reviewers o...
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To solve the false correlation caused by negative influence in selecting opinion leader, a micro-blog opinion leader selection method using emotional contribution model is proposed. When the retweeters and reviewers of the tracked object is made, there is not all positive content but kinds of contents of negative, thus they are divided into effective influence or ineffective, which means the all contents made by retweeters and reviewers are taken as an emotional contribution model. In the process of object tracking by using emotional contribution model, messages dissemination occurs mostly in the early, so the early spread the greater influence. As the result, when the tracked object has negative forwarding or reply, the proposed method can infer the polarity of emotion based on variant LSTM. Then, we get the effective influence ranking of opinion leader by each object's coverage rate. The experimental results show coverage rate of proposed model has improved 4.9% than the Page Rank algorithm.
In order to solve the scheduling problems of Re-entrant Hybrid Flowshop (RHFS), this paper investigates the mathematical programming model of RHFS, and proposes the wolf pack based algorithm (WPA) as a global optimiza...
In order to solve the scheduling problems of Re-entrant Hybrid Flowshop (RHFS), this paper investigates the mathematical programming model of RHFS, and proposes the wolf pack based algorithm (WPA) as a global optimization method. Multi-Sticking Crape Masking procedure scheduling problems in painting workshop of a bus manufacturing enterprise are of typical features of RHFS. We regard it as an application objective of the proposed algorithm, applying WPA and multiple evolutionary algorithms to solve the problems. The results show that the algorithm can solve re-entrant scheduling problems of hybrid flowshop more effectively compared with other conventional methods.
作者：
M PlaczekM MackowskiSilesian University of Technology
Faculty of Mechanical Engineering Institute of Engineering Processes Automation and Integrated Manufacturing Systems Konarskiego 18A 44-100 Gliwice Poland Silesian University of Technology
Faculty of Automatic Control Electronics and Computer Science Institute of Informatics Akademicka 16 44-100 Gliwice Poland
This paper discusses the issue of dependability of a measuring system from the electromagnetic compatibility (EMC) point of view. During the tests, the equipment for conducting electromagnetic compatibility tests was ...
This paper discusses the issue of dependability of a measuring system from the electromagnetic compatibility (EMC) point of view. During the tests, the equipment for conducting electromagnetic compatibility tests was used. The tests were carried out in accordance with the EMC Directive 2014/30/EU and the harmonized standard IEC 61000-4-6. The measuring system equipped with non-classical piezoelectric transducers called MFC was considered. The MFC transducer was used as a sensor connected to the NI 9191 CompactDAQ Chassis. During the research, the influence of conducted disturbances on the transmission wire was examined. One of the elements of the test bench was an EM-clamp (providing both inductive and capacitive coupling) consisting of a tube of split ferrite rings of two different grades, which can be clamped over the cable under test in a non-invasive way.
Detection of liquid mixture of different volume ratio is very important in industrial purposes. The paper reports a sensing mechanism of binary liquid mixture for different volume fraction, based on the measurement of...
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Detection of liquid mixture of different volume ratio is very important in industrial purposes. The paper reports a sensing mechanism of binary liquid mixture for different volume fraction, based on the measurement of refractive index of the mixture. Here, a highly sensitive liquid filled core Photonic Crystal Fiber structure has been proposed to detect liquid mixture solution. Numerical investigation of the proposed structure is carried out by employing full vectorial Finite Element Method (FEM).
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