Connectivity maintenance of flocking is vital for stability and fast state convergence of the entire multirobot system. To this end, the problem of flocking of multiple nonholonomic wheeled mobile robots with connecti...
详细信息
In this paper, surface electromyography (sEMG) from muscles of the lower limb is acquired and processed to estimate the singlejoint voluntary motion intention, based on which, two single-joint active training strategi...
详细信息
Nanomanipulation under scanning electron microscopy(SEM)enables direct interactions of a tool with a *** recently developed a nanomanipulation technique for the extraction and identification of DNA contained within su...
详细信息
Nanomanipulation under scanning electron microscopy(SEM)enables direct interactions of a tool with a *** recently developed a nanomanipulation technique for the extraction and identification of DNA contained within sub-nuclear locations of a single cell *** nanomanipulation of sub-cellular structures,a key step is to identify targets of interest through correlating fluorescence and SEM *** DNA extraction task must be conducted with low accelerating voltages resulting in low imaging *** is imposed by the necessity of preserving the biochemical integrity of the *** poor imaging conditions make the identification of nanometer-sized fiducial marks *** paper presents an affine scale-invariant feature transform(ASIFT)based method for correlating SEM images and fluorescence microscopy *** performance of the image correlation approach under different noise levels and imaging magnifications was quantitatively *** optimal mean absolute error(MAE)of correlation results is 68634 nm under standard *** with manual correlation by skilled operators,the automated correlation approach demonstrates a speed that is higher by an order of *** the SEM-fluorescence image correlation approach,targeted DNA was successfully extracted via nanomanipulation under SEM conditions.
In this paper, the problem of parameter estimation is investigated for a class of discrete-time linear systems with missing outputs and outliers. It is assumed that the unknown parameters are constant and the evolutio...
详细信息
In this paper, the problem of parameter estimation is investigated for a class of discrete-time linear systems with missing outputs and outliers. It is assumed that the unknown parameters are constant and the evolution of the systems is subject to some unknown but bounded noises. To solve such a problem, a recursive algorithm based on set membership identification is proposed and employed. Besides, the data validation is processed and outliers are set aside. The effectiveness of the algorithm is verified by performing some numerical simulations.
Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** there are various wireless communication protocols available to accomplish the control networks. Recently,...
详细信息
Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** there are various wireless communication protocols available to accomplish the control networks. Recently, IEEE802.15.4e protocol for low latency deterministic network has been introduced that shows prominent theoretical characteristics under effective frequency planning to minimize mutual interference. Factory automation, highly exacting from low latency point of view, requires sensors refresh rate not more than of order 10 milliseconds. This new protocol meets such stringent requirement of industrial automationsystems. In this paper, we compare the new protocol with its previous version and observe its suitability for industrial networked controlsystems as a communication protocol. We introduce different LLDN(low latency deterministic network) superframe configurations that show trade-offs among various network parameters. It gives an insight of relationship among various network parameters like sensors refresh rate, number of devices accommodated in network and data payload exchanged between coordinator and end devices with emphasis on different levels of security incorporated.
This paper studies the stability of state estimation for a discrete-time linear stochastic system, the states of which are measured by multiple sensors and transmitted over multiple wireless channels. Random packet lo...
详细信息
ISBN:
(纸本)9781479947249
This paper studies the stability of state estimation for a discrete-time linear stochastic system, the states of which are measured by multiple sensors and transmitted over multiple wireless channels. Random packet loss process introduced by each wireless channel is modeled by an independent and identically distributed(i.i.d.) Bernoulli process. The estimation strategy designed in this paper is based on Covariance Intersection fusion of local state estimates of the observable subsystem of each sensor. The sufficient conditions, imposing constraint on the packet success probability of each channel, are established by taking into account each observable subsystem structure to guarantee the expectation of the trace of estimation error covariance matrices is exponentially bounded, and the upper bound is given. Simulation examples are provided to demonstrate the effectiveness of the results.
Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the de...
详细信息
ISBN:
(纸本)9781479947249
Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning *** control input is added into the derived control strategy,with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position,it can also realize obstacle avoidance for agents between themselves.
This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To...
详细信息
This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To overcome the problem that only positions are measured, a observer is designed to estimate the velocity for each follower. By employing the estimated states, the distributed observer-based controller is proposed using only position measurements. Furthermore, the condition for the distributed tracking problem on the directed graph is derived, such that the tracking errors and observer errors semi-globally converge to zero. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The ...
详细信息
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller. A non-singular terminal sliding mode position controller is used here due to its good performance, under which state errors would converge to zero in finite time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
暂无评论