In this paper, a generalized predictive control (GPC) algorithm is developed for linear discrete systems that is capable of effectively addressing the presence of disturbances that are periodic in nature. First, a GPC...
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In this paper, a generalized predictive control (GPC) algorithm is developed for linear discrete systems that is capable of effectively addressing the presence of disturbances that are periodic in nature. First, a GPC algorithm is derived based on the assumption of the presence of a periodic disturbance. Next, a feedforward disturbance learning scheme is proposed for estimating the periodic disturbance. Finally, two *** conditions are provided to guarantee the convergence of the disturbance learning law.
We investigate two-way and one-way single-photon quantum key distribution (QKD) protocols in the presence of loss introduced by the quantum channel. Our analysis is based on a simple precondition for secure QKD in eac...
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We investigate two-way and one-way single-photon quantum key distribution (QKD) protocols in the presence of loss introduced by the quantum channel. Our analysis is based on a simple precondition for secure QKD in each case. In particular, the legitimate users need to prove that there exists no separable state (in the case of two-way QKD), or that there exists no quantum state having a symmetric extension (one-way QKD), that is compatible with the available measurements results. We show that both criteria can be formulated as a convex optimization problem known as a semidefinite program, which can be efficiently solved. Moreover, we prove that the solution to the dual optimization corresponds to the evaluation of an optimal witness operator that belongs to the minimal verification set of them for the given two-way (or one-way) QKD protocol. A positive expectation value of this optimal witness operator states that no secret key can be distilled from the available measurements results. We apply such analysis to several well-known single-photon QKD protocols under losses.
This paper deals with method of representing robotic soccer game in a simulated and/or real form. This representation is used for controlling robots playing soccer. Our approach to robot soccer is to view it as a loca...
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This paper deals with method of representing robotic soccer game in a simulated and/or real form. This representation is used for controlling robots playing soccer. Our approach to robot soccer is to view it as a local interaction game. We describe our concept of virtual grid and implementation of robot soccer simulator in this paper, as tools for building the strategy and tactical movement database for real game. This strategy we will use as strategy model for 11th FIRA RoboWorld Cup. Strategy learning from game observation is important for discovering strategies of the opponent team and searching of tactical movements groups replaying, simulation and synthesis of anti-strategies.
The application of mobile robot control using multi-agents is executed in a game form within the mechatronic task of robot soccer. The game dynamic nature and the infinite number of possible strategic variations under...
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This paper presents the design of an embedded control and monitoring system for small sport and ultra-light airplanes. The focus is on the system's structure and a description of module architecture. The project i...
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This paper elaborates the present stage and predictable direction of future development of Sine Wave Calculator (SWC), a simple method for signal analysis in time domain that provides accuracy comparable to the best c...
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This paper elaborates the present stage and predictable direction of future development of Sine Wave Calculator (SWC), a simple method for signal analysis in time domain that provides accuracy comparable to the best classical methods (relative errors about few times 10-6). The main SWC advantages are extreme simplicity, possibility of selection of samples and straightforward calculations, which makes it preferable solution for quick implementation. The main shortage is still unknown mathematical analysis of errors, which are probably unequal for different signal parameters.
Virtual 3D models play important role in a today factory layout design, physical modeling, control synthesis, performance analysis, dynamic simulation and visualization of real systems. In this paper, we go one step f...
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Virtual 3D models play important role in a today factory layout design, physical modeling, control synthesis, performance analysis, dynamic simulation and visualization of real systems. In this paper, we go one step further and besides visualization, we monitor all measurable states in the real system and use active 3D models in-the-loop for real-time supervisory control. Such concept enables an event detection not possible with conventional sensors, including the ability to predict possible outcomes in the system operation. A virtual environment simulator and the way it can be connected to other simulators (e.g., Matlab/Simulink), is presented. The examples of virtual sensors, and collision free-based trajectory planning for robotic manipulators are demonstrated
In a large number of applications fuzzy controllers have replaced existing linear controllers and brought new quality of control. The design of fuzzy controllers has a heuristic character and therefore, the setting of...
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In a large number of applications fuzzy controllers have replaced existing linear controllers and brought new quality of control. The design of fuzzy controllers has a heuristic character and therefore, the setting of fuzzy controller parameters may become a tedious, time consuming job. The paper presents a method for initial setting of fuzzy controllers based on the use of state space trajectories associated with controller inputs. The described state space-based design approach does not depend on a type of emulated controller, so both linear and nonlinear controllers, including a human operator, can be transformed into an adequate fuzzy control function. The initial setting algorithm has been successfully tested by simulations in Matlab.
Artificial music composition is one of the ever rising problems of computer science. Genetic Algorithm has been one of the most useful means in our hands to solve optimization problems. By use of precise assumptions a...
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Artificial music composition is one of the ever rising problems of computer science. Genetic Algorithm has been one of the most useful means in our hands to solve optimization problems. By use of precise assumptions and adequate fitness function it is possible to change the music composing into an optimization problem. This paper proposes a new genetic algorithm for composing music. Considering entropy of the notes distribution as a factor of fitness function and developing mutation and crossover functions based on harmonic rules and trying to keep the melodies intact during these processes would result in a musical piece pleasant to human ears and interesting for human mind. This algorithm does not have the constraints of the previous algorithms. Restraining mutation and crossover functions with a goal of producing melodies based on acceptable melodies composed by humans, this algorithm is not bound to any genre, instrument or melody. The experimental results of this approach show that it is near to the human composing and the results produced from it are more acceptable than the ones produced by its predecessors.
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