Accidents at crossroads or intersections account for half of all fatal accident occurrences inJapan. It is conjectured that the occurrence of overlooking or misjudgment at crossroads or atintersections is more than th...
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ISBN:
(纸本)9781615677566
Accidents at crossroads or intersections account for half of all fatal accident occurrences inJapan. It is conjectured that the occurrence of overlooking or misjudgment at crossroads or atintersections is more than those on the road between intersections. Accident reductionmeasures for such situations are important in view of total accident reduction needs. Researchand development for accident prevention system in similar situations is ongoing in Japan andabroad. In order to develop an appropriate accident prevention system, the authors studied theeffectiveness of accident prevention systems such as (a) road-to-vehicle cooperation system,(b) vehicle-to-vehicle cooperation system and (c) autonomous system to the near miss incidentscene classified by its occurrence mechanism. It was found that each system proves effective inpreventing an accident that could arise from near miss incident scene.
This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using a pseudolinear measurement model of nonholonomic mobile robots. Takagi-Sugeno...
This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using a pseudolinear measurement model of nonholonomic mobile robots. Takagi-Sugeno fuzzy model based on an observation for a nonlinear system is adopted to represent the process and measurement models of the vehicle-landmark system. The complete system of the vehicle-landmark model is decomposed into several linear models. Using the Kalman filter theory, each local model is filtered to find the local estimates. The linear combination of these local estimates gives the global estimate for the complete system. The simulation results shows that the new approach performs better, though nonlinearity is directly involved in the Kalman filter equations, compared to the conventional approach.
The paper presents passivity conditions for a class of stochastic Hopfield neural networks with state-dependent noise and with Markovian jumps. The contributions are mainly based on the stability analysis of the consi...
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ISBN:
(纸本)9789898111326
The paper presents passivity conditions for a class of stochastic Hopfield neural networks with state-dependent noise and with Markovian jumps. The contributions are mainly based on the stability analysis of the considered class of stochastic neural networks using infinitesimal generators of appropriate stochastic Lyapunov-type functions. The derived passivity conditions are expressed in terms of the solutions of some specific systems of linear matrix inequalities. The theoretical results are illustrated by a simplified adaptive control problem for a dynamic system with chaotic behavior.
In this paper a further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. Its main advantage in comparison with the complicated Lyapunov function...
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ISBN:
(纸本)9781424428755
In this paper a further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. Its main advantage in comparison with the complicated Lyapunov function based techniques is that its fundament is some simple geometric consideration allowing to formulate the control task as a Fixed Point Problem for the solution of which various Contractive Mappings can be created that generate Iterative Cauchy Sequences for Single Input - Single Output (SISO) systems. These sequences can converge to the fixed points that are the solutions of the control tasks. Recently alternative potential solutions were proposed and sketched by the use of special functions built up of the "response function" of the excited system under control. These functions have almost constant values apart from a finite region in which they have a "wrinkle" in the vicinity of the desired solution that is the "proper" fixed point of these functions. It was shown that at one of their sides these fixed points were repulsive, while at the opposite side they were attractive. It was shown, too, that at the repulsive side another, so called "false" fixed points were present that were globally attractive, with the exception of the basins of attraction of the "proper" ones. This structure seemed to be advantageous because no divergences could occur in the iterations, the convergence to the "false" values could easily be detected, and by using some ancillary tricks in the most of the cases the solutions could be kicked from the wrong fixed points into the basins of attraction of the "proper ones". It was expected that via adding simple rules to the application of these transformations good adaptive control can be developed. However, due to certain specialties of these functions practical problems arose. In the present paper novel transformations are presented that seem to evade these difficulties. Their applicability is illustrated via simulations in the ad
Many types of agricultural facilities have been constructed at many places around the world. Although most of the operations are mechanized at these facilities, high noise from mechanical systems often prevents operat...
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Many types of agricultural facilities have been constructed at many places around the world. Although most of the operations are mechanized at these facilities, high noise from mechanical systems often prevents operators from discharging their duties efficiently and results in an unsafe environment. Virtual low-noise space is defined as the space required by operators in order to smoothly communicate in a high-noise environment, i.e., they feel as though they are working in a low-noise environment. The virtual low-noise space has three functions: to reduce the noise around the operators' ears, to communicate by speech without noise, to recreate the audio image on the basis of the operators' mutual positions. In this research, virtual low-noise space was constructed using noise-canceling headphones, microphones, a TV camera, and computers.
A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfipsilas discontinuous control, after introducing a chained form transformation with o...
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A new control strategy is presented for a VTOL aerial robot with four rotors. A kinematics control law is first derived using Astolfipsilas discontinuous control, after introducing a chained form transformation with one generator and three chains to the original model. This was motivated by the fact that the discontinuous kinematic-model without using a chained form transformation assures only a local stability of the kinematic based control system, instead of guaranteeing a global stability of the control system. Finally, a computer simulation is given to demonstrate the effectiveness of our approach.
Reactivity between nanoimprint mold material and optical glass has been investigated by measuring the contact angle between these materials in a nitrogen atmosphere at high temperature up to 1000 °C. Since the lo...
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A neural network based fault tolerant control for unknown nonlinear systems is proposed. The faultless system is controlled by a nonlinear Internal Model controller (IMC), where both the direct and inverse models of t...
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A neural network based fault tolerant control for unknown nonlinear systems is proposed. The faultless system is controlled by a nonlinear Internal Model controller (IMC), where both the direct and inverse models of the plant are carried out by neural networks. Using the residual signal generated from the fault detection path, an extra neural-network fault compensation loop is introduced. This neural network is a two layer perceptron and the weights and bias are updated on-line by the modified-gradient approach, which tries to minimize the control error induced by the fault. In this context, a fault tolerant control scheme is obtained. This scheme is tested in simulation in a pH plant with good results.
A robotic forceps is controlled by voice instructions in the framework of a fuzzy coach-player system. In the proposed system, we can deal with some fuzziness included in voice instructions and the system is composed ...
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A robotic forceps is controlled by voice instructions in the framework of a fuzzy coach-player system. In the proposed system, we can deal with some fuzziness included in voice instructions and the system is composed of two instruction levels in order to increase the efficiency of voice instructions. One is a local instruction level that uses any action commands directly. The other is a global instruction level that uses a task command. Such a fuzzy coach-player system is applied for the manipulation of a robotic forceps and the effectiveness of the present system is verified through some actual experiments.
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