We consider the controller design of the error-feedback servomechanism in exponentially stable non-linear systems. Using the concepts of integral manifold and singular perturbation, a non-linear controller is construc...
We consider the controller design of the error-feedback servomechanism in exponentially stable non-linear systems. Using the concepts of integral manifold and singular perturbation, a non-linear controller is constructed that ensures a desired steady state tracking rate for unknown constant set-points. The servo rate in the error-feedback servomechanism is shown to be governed by not only the plant characteristics but also the initial conditions of the plant and controller. A self-tuning scheme is proposed to speed up the servo process.
A design of a three-dimensional localiser that is intended for autonomous robot vehicles is presented. The design is implemented in air using ultrasonic beacons but can be adapted using sonar to underwater environment...
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This paper describes a project to investigate methods of using touch sensory information for establishing and/or maintaining objects in a secure grasp. The project makes use of a robotic workcell comprising a novel de...
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Knowledge of the distance between a robot and its surrounding environment is vital for any robotic system. The robot must obtain this information rapidly in order to plan and react in real-time. Our technique first su...
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Neural net architectures, with a hidden layer or functional links, have been utilized to generate prediction for one-dimensional (1-D) differential pulse code modulation (DPCM), applied to still image coding. In this ...
Neural net architectures, with a hidden layer or functional links, have been utilized to generate prediction for one-dimensional (1-D) differential pulse code modulation (DPCM), applied to still image coding. In this approach, the predictor is designed by supervised training based on a typical sequence of pixel values; i.e., the values of the coefficients of the predictor are determined by training on examples. Nonlinear as well as linear correlations are exploited. computer simulation experiments have been carried out to evaluate the resulting performance. At a transmission rate of 1 bit/pixel, for the images Lena and Baboon, the 1-D neural network DPCM provides a 4.17- and 3.74-dB improvement in peak SNR, respectively, over the standard linear DPCM system.
A method of surface modeling by polygon is presented. Its purpose is to visualize 3-D image given in the form of stacked 2-D images, such as computerized tomography data. The method is based on the cuberille model of ...
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A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, ...
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In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with...
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intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent ro...
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An innovative real time robot path planner based on neural networks for a three-degree-of-freedom robot is proposed. A new concept of so-called unit obstacle is introduced. The forbidden map for each configuration of ...
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