This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking ...
This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater Technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.
The main goal of Motion Capture based modeling is to understand the essence of human gait phenomenon. Actually the following methods can propose to recognize gaits: The Dynamic Time Warping. method is based on dynamic...
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The paper presents an iris ageing analysis based on comparison results obtained for three different iris matchers (two of them have not been used earlier in works devoted to iris template ageing). For the purpose of t...
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ISBN:
(纸本)9789898565365
The paper presents an iris ageing analysis based on comparison results obtained for three different iris matchers (two of them have not been used earlier in works devoted to iris template ageing). For the purpose of this research we collected an iris ageing database of samples captured even eight years apart. To our best knowledge, this is the only database worldwide of iris images collected with such a large time distance between capture sessions. We evaluated the influence of the intra- vs. inter-session accuracy of the iris recognition, as well as the accuracy between the short term (up to two years) vs. long term comparisons (from 5 to 9 years). The average genuine scores revealed statistically significant differences with respect to the time distance between examined samples (depending on the coding method, we obtained from 3% to 14% of degradation of the average genuine scores). As the highest degradation of matching scores was observed for the most accurate matcher, this may suggest that the iris pattern ages to some extent. This work answers the call for iris ageing-related experiments, presently not numerous due to serious difficulties with collection of sufficiently large databases suitable for ageing research, and limited access to adequate number of iris matchers.
In a chemotherapy scheduling process a chemotherapy is a treatment of cancer using a set of toxic drugs. In the paper we propose a Decision Support System for the anti-cancer medical treatment to improve physicians...
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It is well known that a biped robot needs actuators to walk stably on level *** now,a biped robot with torso has needed at least two actuators to achieve *** it be possible for this kind of robot to walk on level grou...
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It is well known that a biped robot needs actuators to walk stably on level *** now,a biped robot with torso has needed at least two actuators to achieve *** it be possible for this kind of robot to walk on level ground with only one actuator?This paper responds in the afrmative and proposes a simple control strategy for a planar biped robot with *** this control method,there is only one low gain proportional-derivative(PD)controller between the torso and the stance leg,while the swing leg remains totally *** PD controller utilizes states of both the torso(angle and angular velocity)and the stance *** numerical simulations show that,by adopting this controller,a planar biped robot with torso can walk stably on level ground,and that the robot can walk with a wide range of speeds and high energy efciency by changing the control *** period-one gaits,one of which is stable while the other three are unstable,are found by *** to the literature surveyed,we are the first to have a torso only driven biped robot walk stably on level ground.
Many systems repeat the same operation over and over again on a finite duration. Repetitive processes have this characteristic where repeated sweeps, termed passes, are made over the finite pass length and when each i...
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The paper presents the vision of CARMNET - a Swiss-Polish project aimed at investigating "CARrier-grade delay-aware resource management for wireless multihop/ Mesh NETworks". The project focuses on developin...
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Today's microprocessors require careful analysis of their thermal behavior both at design time as well as at runtime. However, accurate prediction of thermal behavior is possible only through simulations due to th...
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