Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main be...
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Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided
The paper includes a proposal of a new model of coherent concurrent tasks scheduling and a of resources assignment, that are characteristic for the problem of dependable system synthesis. Optimal tasks scheduling, par...
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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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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 underlie the parameters and execution structure of communications systems between the main controlcomputer and a group of mobile robots. A CCD camera monitors the action on the field. The database of possible strategic formations and movements is the first source of information for control module of programming equipment within the controlcomputer. An advanced communication system becomes a second source of information for influence of the decision processes, allowing distribution of part information on the level of mobile robots.
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 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 is aimed at reducing the number of accidents. There are a lot of ultra-light airplanes with no measurement units in the Czech Republic. A low cost flight control and monitoring system is the best solution. Ultra-light airplane is a very nice example of a mechatronic design and its realization.
The known Additive Increase Multiplicative Decrease algorithm has been further investigated and a novel, improved TCP-friendly flow control algorithm derived. This algorithm provides basic flow congestion control for ...
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A design of fuzzy model-based predictive control for industrial furnaces has been derived and applied to the model of three-zone 25 MW RZS pusher furnace at Skopje Steelworks. The fuzzy-neural variant of Takagi-Sugeno...
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One of the most challenging problems of clustering is detecting the exact number of clusters in a dataset. Most of the previous methods, presented to solve this problem, estimate the number of clusters with model base...
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One of the most challenging problems of clustering is detecting the exact number of clusters in a dataset. Most of the previous methods, presented to solve this problem, estimate the number of clusters with model based algorithms, which are not able to detect all types of clusters and also face a problem in detecting coupled clusters in a dataset. In this paper we propose a new method for finding the number of clusters in a dataset utilizing information theory and a top-down hierarchical clustering algorithm. The algorithm starts from a large number of clusters and reduces one cluster in any iteration and then allocates its data points to the remaining clusters. Finally, by measuring information potential, the exact number of clusters in a desired dataset is detected. Our method shows high capability and stability in detecting the number of clusters even in complex datasets, as it is computational efficient too. We show the effectiveness of the proposed method by experimenting on several artificial and real datasets and comparing its results with two developed methods for finding the number of clusters in a dataset. The comparisons show superiority of the proposed method.
Design parameters of a supervisory (SV) system intended for a distributed Raman amplifier (DBA) is investigated theoretically. The pump is low frequency modulated to transmit supervisory information which forms part o...
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Design parameters of a supervisory (SV) system intended for a distributed Raman amplifier (DBA) is investigated theoretically. The pump is low frequency modulated to transmit supervisory information which forms part of the fault management system in a Raman amplified fiber optic network. Issues regarding modulation frequency of the SV signal and its effect on the integrity of the signal are studied. Power penalty issues due to introduction of the SV signal in the optical network are also studied. These theoretical studies are based on numerical solution of coupled propagation equations for counter-pumped DRA.
Channel assignment problem in cellular communication is a difficult combinatorial optimization problem. There is no exact polynomial-time solution for it and searching the whole solution space is infeasible for large ...
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Channel assignment problem in cellular communication is a difficult combinatorial optimization problem. There is no exact polynomial-time solution for it and searching the whole solution space is infeasible for large problems. By defining the problem's cost function as the energy function of a chaotic Hopfield neural network, we devise a framework for finding competitive suboptimal or even optimal solutions for combinatorial optimization problem in general, and channel assignment problem in particular. In our architecture, we inject chaotic noise in order to help the network escape from local minima of the energy function while we enforce problem constraints by external inputs of neurons. Experimental results show the superiority of our method to other methods.
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