Navigation is an important topic in mobile robots. In this paper, an Extended Kalman Filter (EKF) is used to localize a mobile robot equipped with an encoder, compass, IMU and GPS utilizing three different approaches....
详细信息
ISBN:
(纸本)9781467377980
Navigation is an important topic in mobile robots. In this paper, an Extended Kalman Filter (EKF) is used to localize a mobile robot equipped with an encoder, compass, IMU and GPS utilizing three different approaches. Subsequently, an input output state feedback linearization (I-O SFL) method is used to control the robot along the desired robot trajectory. The presented algorithms are verified when the robot was steered along two different track shapes. Additionally, the performance of the method is demonstrated when a faultwas simulated on the sensors.
A nonlinear control algorithm is given for a class of quadrotors operating in small angles. The control of 6-DOF moving platform using only four actuators results in an under-actuated control system. In order to trans...
详细信息
Correct discrimination of essential tremor from Parkinson's tremor is a major problem in clinical neurology as minor differences in the tremor patterns are hard to distinguish. Mathematical analysis of tremor sign...
详细信息
Correct discrimination of essential tremor from Parkinson's tremor is a major problem in clinical neurology as minor differences in the tremor patterns are hard to distinguish. Mathematical analysis of tremor signals recorded non-invasively has been widely accepted for tremor differentiation. However, classification of tremor signals collected from electromyograph or accelerometer, based on time and frequency domain techniques has limited accuracy because of overlapping frequency range and non-stationary nature of those signals. This paper describes a simple, non-invasive decision making logic method for discrimination of tremor. Wavelet transform based feature extraction technique in combination with feed forward type artificial neural network is proposed. Fractal dimensions of wavelet features of the decomposed detailed coefficients are used as the feature matrix. The neural network classified the tremor sEMG signals with 91.66% accuracy and 100% in case of accelerometer signals. Although, the classification accuracy of sEMG signal is comparable to that of accelerometer but the localized involuntary vibratory nature of tremor at the extremities of human body puts accelerometer as a better option in cases where tremor fails to excite the muscle. This proposed classification algorithm adds strength to the non-invasive signal detection methods at reduced cost and higher sensitivity.
We present a new method to accurately locate partial discharge by using a sequential fault detection and identification (FDI) algorithm for detecting a bias fault in the measurements of partial discharge in transforme...
详细信息
ISBN:
(纸本)9781467377980
We present a new method to accurately locate partial discharge by using a sequential fault detection and identification (FDI) algorithm for detecting a bias fault in the measurements of partial discharge in transformer insulation system using acoustic signals. In this paper, a novel technique is proposed to identify the possibility of measurement errors generated from acoustic emission sensors during partial discharge localization inside a transformer tank. The technique probabilistically detects and identifies possible bias on the sensors' measurement. This bias is possibly caused by sensor's fault, sensor's aging, or proximity of the PD to a certain sensor in comparison to other sensors. Correct detection of sensors' measurement bias enables high accuracy PD localization as will be demonstrated in this paper. The accuracy and convergence characteristics of the proposed algorithm are verified in a simulation environment. This study is tremendously important for scheduling and starting maintenance/repair actions cost and time efficiently or to perform a risk analysis.
The gravitational search algorithm (GSA) is a stochastic population-based metaheuristic inspired by the interaction of masses via Newtonian gravity law. In this paper, we propose a modified GSA (MGSA) based on logarit...
详细信息
ISBN:
(纸本)9781450328814
The gravitational search algorithm (GSA) is a stochastic population-based metaheuristic inspired by the interaction of masses via Newtonian gravity law. In this paper, we propose a modified GSA (MGSA) based on logarithm and Gaussian signals for enhancing the performance of standard GSA. To evaluate the performance of the proposed MGSA, well-known benchmark functions in the literature are optimized using the proposed MGSA, and provides comparisons with the standard GSA.
A nonlinear control algorithm is given for a class of quadrotors operating in small angles. The control of 6-DOF moving platform using only four actuators results in an under-actuated control system. In order to trans...
详细信息
ISBN:
(纸本)9781479932757
A nonlinear control algorithm is given for a class of quadrotors operating in small angles. The control of 6-DOF moving platform using only four actuators results in an under-actuated control system. In order to transform the dynamics in affine form, an additional constraint is applied on the actuation mechanism that reduces the independent control signals even further. In this paper, the system is decomposed in to three fully actuated subsystems;in pitch, roll and yaw domains. Local subcontrollers are designed using partial feedback linearization. The proposed multi Lyapunov function based switching control algorithm is employed to achieve tracking of Cartesian space motion and the heading angle of the quadrotor. Local stability of the closed-loop system is shown in the flight region of interest. The performance of the proposed controller is illustrated to follow a desired position, velocity and the heading angle of quadrotor.
Unmanned helicopters have been used extensively in the last few decades as a research platform for different applications. Flybarless, single-rotor helicopters are famous for their increased agility and high maneuvera...
详细信息
Unmanned helicopters have been used extensively in the last few decades as a research platform for different applications. Flybarless, single-rotor helicopters are famous for their increased agility and high maneuverability, which makes them a suitable platform for many challenging applications. This paper is concerned with the problem of attitude and flapping angles estimation of a flybar-less small scale single rotor helicopter. A nonlinear model for the Maxi Joker 3 helicopter is used to simulate test data. A Kalman filter is designed and implemented to estimate both the attitude and the flapping angles of the helicopter. Results are shown at the end of the paper to validate the performance of the proposed approach.
The preventive maintenance (PM) is scheduled periodically to restore the system condition. However, PM activities cannot generally restore the system to as good as new condition but in an intermediate situation, which...
详细信息
This paper presents a new robust control methodology to suppress the torsional vibrations in flexible drive systems. The position control of a nonlinear Two-Mass-Model system (2MM) is designed using the Immersion and ...
详细信息
This paper presents a new robust control methodology to suppress the torsional vibrations in flexible drive systems. The position control of a nonlinear Two-Mass-Model system (2MM) is designed using the Immersion and Invariance approach. First, appropriate mapping functions are derived to convert the total nonlinear 2MM system into an equivalent reduced order system with rigid dynamics. This reduced order system is used as a target system to design a position controller, which is based on the standard PI type control technique. Next through immersion and invariance, the reduced order controller is applied to the nonlinear 2MM system to suppress the torsional vibrations and yield an over-damped response similar to the target system. The control law derivation and stability analysis of the target system are described and discussed. Simulation and experiments using a 2MM drive system are used to validate the proposed control methodology.
Hydrogen energy fuel cell is one of the clean/green energy solutions for the environmental pollution, global warming, and petroleum energy shortage. This study investigates the dynamic characteristic of the green hydr...
详细信息
暂无评论