In this study, design and implementation of a remote-controlled, 4-joints flapping mechanism and autonomous-swimming biomimetic robotic fish are presented. The propulsive model of the robotic fish is given considering...
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ISBN:
(纸本)9781467312998
In this study, design and implementation of a remote-controlled, 4-joints flapping mechanism and autonomous-swimming biomimetic robotic fish are presented. The propulsive model of the robotic fish is given considering the biological fish structure. The motion control of the robotic fish is performed by using speed and position control. The forward speed of the robotic fish can be adjusted by changing oscillation frequency, oscillation amplitude and length of the oscillation mechanism. Its position is controlled by implementing different joints angles.
Wind speed forecasting is required for ensuring an efficient utilization of the wind power generated by wind turbines. This paper purposes the short-term wind speed forecasting in a 2-dimesional input space using the ...
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ISBN:
(纸本)9781467323284
Wind speed forecasting is required for ensuring an efficient utilization of the wind power generated by wind turbines. This paper purposes the short-term wind speed forecasting in a 2-dimesional input space using the developed k-nearest neighbor (k-NN) classifier. As well, the effects of the nearest neighbor number and the selected distance metric on the wind speed forecasting were analyzed and many useful inferences were mined in order to minimize the forecasting error. The results have shown that the k-NN classifier which uses wind direction and relative humidity parameters achieved the best forecasting results for k=10 in the Minkowski distance metric. On the other hand, the k-NN classifier which uses wind direction and atmosphere pressure parameters gave the worst forecasting results for k=1 in the Euclidean distance metric.
Solar radiation prediction has a great importance in electricity generation from solar energy and helps to size photovoltaic power systems. Therefore, the solar radiation parameter was predicted at 10-min intervals in...
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ISBN:
(纸本)9781467323284
Solar radiation prediction has a great importance in electricity generation from solar energy and helps to size photovoltaic power systems. Therefore, the solar radiation parameter was predicted at 10-min intervals in this study. Outside temperature, outside humidity and barometric pressure parameters were used as meteorological input variables by the developed k-nearest neighbor (k-NN) classifier. On the one hand, it is mined that solar radiation prediction was affected by the number of nearest neighbors, the dimension of input parameters and the type of distance metrics. On the other hand, it is shown that the k-NN classifier which uses Euclidean distance metric for k=4 in 3-dimensional input space outperformed the other models in terms of the prediction accuracy. Adversely, the k-NN classifier which only uses barometric pressure input provided the weakest prediction performance for k=15 in Euclidean distance metric.
In the paper the first order sensitivity analysis is performed for a class of optimal control problems for time delay parabolic-hyperbolic equations. A singular perturbation of geometrical domain of integration is int...
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In the paper the first order sensitivity analysis is performed for a class of optimal control problems for time delay parabolic-hyperbolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. The Steklov-Poincaré operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. The optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.
Agent paradigm is becoming more and more popular in design of complex multi-robot systems. Similarities between features attributed to robots and agents lead to defining an agent as a single robot control program or e...
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Agent paradigm is becoming more and more popular in design of complex multi-robot systems. Similarities between features attributed to robots and agents lead to defining an agent as a single robot control program or even calling a robot an "embodied agents". This approach can cause serious issues concerning scalability, extensibility and performance of large-scale multi-robot systems. In this paper a different approach to design and implementation of software systems managing mobile robots is presented. It is based on the logical separation of a hardware robot and a software agent. The paper focuses on improvements in system performance achieved by using the approach. Three exemplary applications are described and experimental results are provided.
A human vital monitoring system using Ad Hoc wireless network is implemented to enhance the healthcare service. Issues related to hardware and software implementation including the data packet format are addressed. Th...
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We demonstrated a handheld multispectral fluorescence confocal microscope for cervical cancer diagnostic using dual-axis confocal microscope architecture and a microelectromechanical systems scanner. The real time ima...
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We demonstrated a handheld multispectral fluorescence confocal microscope for cervical cancer diagnostic using dual-axis confocal microscope architecture and a microelectromechanical systems scanner. The real time images are acquired with frame rate up to 15 Hz.
This paper presents a direct torque control technique for brushless DC motors with non-sinusoidal back electromotive force. Direct torque control has some benefits such as faster torque response and reduced torque rip...
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An extension of principal component analysis called ip-PCA has been proposed earlier for analyzing structure in genetic data. This non-parametric framework iteratively classifies individuals into subpopulations. Howev...
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ISBN:
(纸本)9781457705397
An extension of principal component analysis called ip-PCA has been proposed earlier for analyzing structure in genetic data. This non-parametric framework iteratively classifies individuals into subpopulations. However, it is prone to false positives when dealing with large datasets and mixed-type genetic markers. We address these shortcomings by introducing a unified encoding scheme and suggesting a new terminating criterion for ipPCA. To validate the improvements, simulated datasets as well as real bovine and large human genetic datasets are analyzed. It is observed that the estimation of the number of subpopulations and the individual assignment accuracy have been improved. Furthermore, the structure resolved by this approach can be used to identify subset of individuals for further parametric population structure analysis.
In this paper, some statistical quantities of the distortion caused by noise in the rule base of type-2 fuzzy logic systems are calculated. In many papers, the justification of better performance of type-2 fuzzy logic...
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ISBN:
(纸本)9781467301596
In this paper, some statistical quantities of the distortion caused by noise in the rule base of type-2 fuzzy logic systems are calculated. In many papers, the justification of better performance of type-2 fuzzy logic systems over type-1 counterparts in noisy conditions are studied only for some specific cases. In this paper, a simple type-2 fuzzy logic system with the ellipsoidal membership function is considered. Using this fuzzy system, it is possible to statistically study the effect of noise in the rule base of fuzzy systems. Using this statistical analysis, it is shown that the type-2 fuzzy logic systems with ellipsoidal membership function is less influenced in the presence of high level of noise when compared to its type-1 counterparts.
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