Bluetooth is currently emerging as one of the most promising personal wireless network technologies. The automation industry is also showing interest in using Bluetooth for more industrial applications. However, probl...
详细信息
Bluetooth is currently emerging as one of the most promising personal wireless network technologies. The automation industry is also showing interest in using Bluetooth for more industrial applications. However, problems with unreliable links and time delays must be explicitly addressed in any wireless control application. This paper discusses two specific problems that may occur when using Bluetooth in a control loop: long random delays and bit errors. Simple solutions to these problems are presented. The ideas have been tried out, both in simulations and in experiments, on a rotating inverted pendulum controlled over a Bluetooth network.
A weapon system consisting of a swarm of air vehicles whose mission is to search for, classify, attack, and perform battle damage assessment, is considered. It is assumed that the target field information is communica...
详细信息
A weapon system consisting of a swarm of air vehicles whose mission is to search for, classify, attack, and perform battle damage assessment, is considered. It is assumed that the target field information is communicated to all the elements of the swarm as it becomes available. A network flow optimization problem is posed whose readily obtained solution yields the optimum resource allocation among the air vehicles in the swarm. Hence, the periodic reapplication of the centralized optimization algorithm yields the benefit of cooperative feedback control.
This paper presents a novel watermarking technique for digital audio signals. A visually recognizable binary image served as a watermark is embedded into an audio signal in discrete cosine transform domain. In order t...
详细信息
ISBN:
(纸本)7801501144
This paper presents a novel watermarking technique for digital audio signals. A visually recognizable binary image served as a watermark is embedded into an audio signal in discrete cosine transform domain. In order to enhance robustness and make good use of masking characteristics of the audio signal, the techniques of pseudo-random permutation and energy-based permutation are used during watermarking. The experimental results show that the proposed watermarking technique is robust to several signal manipulations, such as filtering, compression, and so on.
An integration of a fuzzy controller and modified Elman neural networks (NN) approximation-based computed-torque controller is proposed for motion control of autonomous manipulators in dynamic and partially known envi...
详细信息
An integration of a fuzzy controller and modified Elman neural networks (NN) approximation-based computed-torque controller is proposed for motion control of autonomous manipulators in dynamic and partially known environments containing moving obstacles. The navigation technique of robot control using artificial potential fields is based on the fuzzy controller. The NN controller can deal with unmodeled bounded disturbances and or unstructured unmodeled dynamics of the robot arm. The NN weights are tuned online, with no off-line learning phase required. The stability of the closed-loop system is guaranteed by the Lyapunov theory. The purpose of the controller, which is designed as a neuro-fuzzy controller, is to generate the commands for the servo-systems of the robot so it may choose its way to its goal autonomously, while reacting in real-time to unexpected events. The proposed scheme has been successfully tested. The controller also demonstrates remarkable performance in adaptation to changes in manipulator dynamics. Sensor-based motion control is an essential feature for dealing with model uncertainties and unexpected obstacles in real-time world systems.
In this paper we will describe the development of models for prediction of powertrain performance. Our goal is to develop a library of components to model combustion, gas dynamics and mechanical response. We will also...
详细信息
We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distrib...
详细信息
Genetic algorithms are one of the effective algorithms for hard optimization problems. They can escape from the local minima, however, the amount of their computation is often large. To decrease the amount of the comp...
详细信息
Genetic algorithms are one of the effective algorithms for hard optimization problems. They can escape from the local minima, however, the amount of their computation is often large. To decrease the amount of the computation and enhance the algorithms, the uniform design is combined into the genetic algorithm. The new genetic operator has the local-search property similar to that in traditional optimization techniques and needs a minimal amount of computation in certain meanings. Thus the new genetic algorithm can generate a diversity of population and explore the search space effectively. Moreover, the new algorithm is globally convergent. The numerical results also show the effectiveness of the new algorithm with its less computation, and higher convergent speed for all test functions.
Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is ...
详细信息
Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.
In this paper, a systematic design approach based on time-delay feedback is developed for chaotification of a continuous-time, feedback linearizable system. The chaotification is accomplished based on nonlinear contro...
详细信息
ISBN:
(纸本)0780364341
In this paper, a systematic design approach based on time-delay feedback is developed for chaotification of a continuous-time, feedback linearizable system. The chaotification is accomplished based on nonlinear control theory and an approximate relationship between a time-delay differential equation and a discrete map. An example is given to illustrate the systematic design procedure.
This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of ...
详细信息
This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.
暂无评论