This paper presents the HTTP request global distribution using the fuzzy-neural decision making mechanism. Two efficient algorithms GARDiB and GARDiB2 are proposed to support HTTP request routing to the Websites. The ...
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This paper presents a short-term prediction of the disturbance storm time (Dst) index using unscented Kalman filter. Joint and dual estimation methods are studied to examine an improvement of Dst index prediction by e...
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ISBN:
(纸本)9780889868083
This paper presents a short-term prediction of the disturbance storm time (Dst) index using unscented Kalman filter. Joint and dual estimation methods are studied to examine an improvement of Dst index prediction by estimating model parameters and updating recursively. Comparison between these techniques and a fixed model parameter prediction are made in terms of root mean square error (rmse). It is found that joint and dual estimation methods give less rmse than state estimation alone for all Dst range, whereas state estimation alone shows better performance than joint and dual estimation for Dst below -80 nT.
A Nyquist-based frequency domain decentralized controller (DC) design technique for stability and guaranteed performance is proposed applicable for continuous-time systems described transfer function matrices. To guar...
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This paper presents the development of a self-tuning controller design of minimum effort active noise control (ANC) for feedforward single-input single-output (SISO) architecture which includes the feedback acoustic p...
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This paper presents the development of a self-tuning controller design of minimum effort active noise control (ANC) for feedforward single-input single-output (SISO) architecture which includes the feedback acoustic path in the controller formulation. The controller design law is derived for suitable self-tuning implementation and the self-tuning controller is evaluated in a realistically constructed ANC simulation environment. The self-tuning controller design involves a two-stage identification process where the controller is replaced by a switch. This switch is closed and opened in sequence generating two transfer functions which are then used in constructing the controller specified by a minimum effort control law. The implementation requires an estimate of the secondary path transfer function which can be identified either online or offline. The controller design and implementation are evaluated in terms of the level of cancellation at the observer through simulation studies for various values of modified effort weighting parameter in the range 0 ≤ γ ≤ 1. It was found that the optimal controller designed using this technique which is constrained only by the accuracy of the two models identified using recursive least squares algorithm, yields good cancellation level.
This paper presents the computer image processing system for robot-soccer application. It presents and explains the main parts of robot-soccer image processing: image format conversion, pitch filtering, recognition of...
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This paper describes a new technique in assisting indoor rowing exercise for paraplegics. It combines functional electrical stimulation with an energy storage element. A spring is introduced as an energy storage eleme...
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ISBN:
(纸本)9783902661555
This paper describes a new technique in assisting indoor rowing exercise for paraplegics. It combines functional electrical stimulation with an energy storage element. A spring is introduced as an energy storage element that stores energy during the driving phase and transfers energy during recovery phase of rowing stroke. The technique is implemented with a dynamic simulation model. Fuzzy logic control is used to control the knee and elbow trajectories for smooth rowing manoeuvre. The generated level of electrical stimulation for activation of quadriceps and hamstrings muscles are recorded and analysed. In view of good results obtained, it is concluded that the new technique of rowing exercise for paraplegics using spring orthosis with proper rowing manoeuvre significantly contributes to assisting paraplegic indoor rowing exercise.
This paper presents investigations into pendulum test to measure passive knee motion from a paraplegic subject. The test is used to evaluate changes in the knee angular displacement, passive stiffness and viscosity. T...
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ISBN:
(纸本)9783902661555
This paper presents investigations into pendulum test to measure passive knee motion from a paraplegic subject. The test is used to evaluate changes in the knee angular displacement, passive stiffness and viscosity. Then, genetic algorithm (GA) parameter optimization is used with Visual Nastran (Vn4D) to find passive stiffness and viscosity values for modelling the paraplegic leg. The best performance of the Vn4D leg model is achieved with the optimum values of the viscosity and the stiffness equal to 0.0031055 Nms/deg and 0.024244 Nm/deg respectively. The model was found to be the best Vn4D model with actual subject's leg properties to represent paraplegic leg model.
This paper presents a short-term prediction of the disturbance storm time (DST) index using unscented Kalman filter. Joint and dual estimation methods are studied to examine an improvement of DST index prediction by e...
详细信息
ISBN:
(纸本)9780889868120
This paper presents a short-term prediction of the disturbance storm time (DST) index using unscented Kalman filter. Joint and dual estimation methods are studied to examine an improvement of DST index prediction by estimating modal parameters and updating recursively. Comparison between these teachniquies and a fixed model parameter prediction are made in terms of root mean square error (rmse). It is found that joint and dual estimation methods give less rmse than state estimation alone for all DST range, whereas state estimation alone shows better performance than joint and dual estimation for DST below-80 nT.
The paper presents an obstacle detection method for mobile robots using a structured background. This method is based on differences of appearance between obstacles and the background in the camera images. The basic i...
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ISBN:
(纸本)9789898111999
The paper presents an obstacle detection method for mobile robots using a structured background. This method is based on differences of appearance between obstacles and the background in the camera images. The basic idea is to cover the ground of the workspace with a known structure. If part of this structure is obscured, this can be detected and indicates the existence of an obstacle. The method uses a reference symbol, chosen to exhibit certain features, to construct a reference image of the structured background. To detect possible obstacles we calculate the Fourier descriptors (FD) of all contours included in a given image and compare them with those of the stored reference symbol. This enables us to recognize all reference symbols which are not obscured by obstacles. We then determine the positions and dimensions of all existing obstacles by calculating the occupied symbol areas. The method is implemented as part of a robot-vision system for fully automated stockkeeping. In this paper the results are shown using a MATLAB implementation.
This chapter deals with an application of the algebraic formalism in nonlinear control systems on the nonlinear controller design for a fluid tank system. A nonlinear discrete-time model of a fluid tank system and its...
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