In this paper, the intelligent space (iSpace) concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general math...
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In this paper, the intelligent space (iSpace) concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical (fuzzy-neuro) description of obstacles avoidance method (walking habit) of moving objects (human beings) in a limited area scanned by the intelligent space. A mobile robot with extended functions is introduced as a mobile assistant robot, which is assisted by the iSpace. The mobile assistant robot (MAR) can guide and protect a blind person in a crowded environment with the help of the iSpace. The iSpace learns the obstacle avoidance method (walking habit) of dynamic objects (human beings) by tracing their movements. The learned walking habit is encoded in a mathematical structure and is sent to the control of MAR. control of MAR estimates the path of dynamical obstacles and helps to the blind person to avoid the collision. The prototype of the mobile assistant robot and simulations of some basic types of obstacle avoidance method (walking habit) are presented.
A controlsystems engineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detai...
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A controlsystems engineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systems engineering.
The advanced control system for control of nonlinear, slowly time variant and delayed processes is described in the paper. The proposed control system performs automatic tuning of fuzzy gain-scheduling controller para...
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The advanced control system for control of nonlinear, slowly time variant and delayed processes is described in the paper. The proposed control system performs automatic tuning of fuzzy gain-scheduling controller parameters. The parameters are tuned according to a non-linear process model, which is identified by performing simple experiments on the actual process. The proposed control system (ASPECT) is implemented as a software product and currently runs on several PLC platforms.
Some basic ideas underlying the EU project IFATIS (intelligent fault tolerant control in integrated systems) are described. Faults in the plant (controlled system) as well as in the controllers (computersystems) are ...
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In this paper we present the optimized design of the 6 degree-of-freedom (DOF) haptic display VISHARD6, which is directed towards modularity, universal applicability, and high force capability. To investigate the perf...
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In this paper we present the optimized design of the 6 degree-of-freedom (DOF) haptic display VISHARD6, which is directed towards modularity, universal applicability, and high force capability. To investigate the performance regarding force, velocity, and acceleration a generic method for output performance analysis of haptic interfaces is proposed. The device is evaluated according to these measures and experimental results are presented.
This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the pr...
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Some basic ideas underlying the EU project IFATIS (intelligent fault tolerant control in integrated systems) are described. Faults in the plant (controlled system) as well as in the controllers (computersystems) are ...
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Some basic ideas underlying the EU project IFATIS (intelligent fault tolerant control in integrated systems) are described. Faults in the plant (controlled system) as well as in the controllers (computersystems) are taken into account. Plant modules and controller modules are considered as resources. Needed application functions (partial processes) are to be allocated to such resources to run in a normal or degraded mode. In case of fault induced resource reduction, resource managers on different levels can take care of arbitration and allocation, thus providing for unrestricted continuation or graceful degradation. Some outlines concerning implementation and hardware/software architecture are presented.
This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the pr...
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This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the properties of input (or fault) observability in linear systems. The extension of the results to nonlinear systems as well as the mathematical conditions of the calculation of the inverse system, which provides the inverse in finite algorithmic steps, are given. The applicability of the inversion process to fault reconstruction in nonlinear systems is demonstrated.
In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations ...
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In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations of these systems are derived. Finally, it is shown that controllability of the original systems can be determined by that of the subsystems, which are obtained through isomorphic decomposition. The corresponding sufficient and necessary conditions are given. Two new theoretical results have been proved.
In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structur...
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In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structures. Three new theoretical results were proved. A method for constructing the transformation has been derived. The conditions for such decomposition of complex linear systems are given.
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