Coronary artery heart disease is one of the main reasons of death in under development countries such as Iran. Based on vagueness in data and uncertainty in decision making finding an optimal way for diagnosis would b...
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We apply recent results on robust global asymptotic stabilization of the attitude of a single rigid body to the problem of synchronizing the attitude of a network of rigid bodies using graph-local information. The pro...
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In this paper we developed a framework for a computer vision system to determine kinematic information of the human hand motion, i.e., joint motion in discrete intervals of time. Since a 2D computer vision system deve...
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ISBN:
(纸本)9781601321541
In this paper we developed a framework for a computer vision system to determine kinematic information of the human hand motion, i.e., joint motion in discrete intervals of time. Since a 2D computer vision system developed does not provide complete kinematic information of the human hand, to overcome this we need a 3D vision system that uses multiple cameras and reconstructs a 3D image using reconstruction techniques. The resulting 3D image is used to determine the joint angles for all joints in the human hand. The vision system obtained is relatively inexpensive compared to commercial applications available, and can be used by persons who do not have expert knowledge of vision systems.
Active disturbance rejection control (ADRC) has been applied to solve various types of control problems across many engineering disciplines, but largely within the confine of minimum phase systems. This paper, however...
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ISBN:
(纸本)9787894631046
Active disturbance rejection control (ADRC) has been applied to solve various types of control problems across many engineering disciplines, but largely within the confine of minimum phase systems. This paper, however, explores systematically its applications to non-minimum phase (NMP) systems, particularly those with transfer functions that have right half plane zeros. It is first shown that, a regular ADRC controller, if not tuned carefully, could easily yield an undesirable solution for NMP systems. We then demonstrate the reasons behind the difficulty using transfer function analysis, leading to a solution in how we tune the ADRC for NMP systems. In particular, a systematic design and tuning procedure is obtained based on the relationship between the high frequency gain of the system and the controller bandwidth. Finally, the proposed method allows a user to easily make a tradeoff between the undershoot, which is unique in NMP systems, and the response time, using the frequency response method of gain and phase compensation.
The problem we would like to discuss and solve is based on a remote controlling of created packages containing predefined components with a predefined numbers of these components. In principle the problem acts as a ch...
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computer Assisted Diagnosis/Surgery systems provide an indisputable effect on the diagnosis and surgery of hepatic diseases. We developed a CAS system to prepare a virtual environment for a physician so as to interact...
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This paper aims to improve the performance of cooperative simultaneous localization and mapping (SLAM) by fusing multiple vehicles' local maps in a distributed manner. The information consensus filter is used to c...
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This paper addresses the computation of the L2-induced gain for switched linear systems. The main contribution of the paper is to completely characterize the induced gain of a switched system though a differential ine...
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This paper addresses the control problem of extending the travel range of a MEMS electrostatic actuator through a closed-loop voltage control scheme. Since the electrostatic actuator is inherently unstable due to its ...
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