The constant increase of life expectancy in the last decades is constantly prompting for new and better solutions to support the overstressed medical system. Solutions for tele monitoring of elder patients in their ow...
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The constant increase of life expectancy in the last decades is constantly prompting for new and better solutions to support the overstressed medical system. Solutions for tele monitoring of elder patients in their own homes are seen as one of the key solutions in reducing the financial and human resources demand on a medical system that needs to address a constantly growing number of elder patients with fewer resources. This paper presents an efficient location tracking system design for monitoring elder patients in home environments. This system is designed to be integrated in complex context aware systems, which can provide valuable information and alerts to responsible care takers.
This paper investigates variation of infinite horizon (IH) performance of Model Predictive control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equat...
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Building simulation models play a vital role in optimal building climate control, energy audit, fault detection and diagnosis, continuous commissioning, and planning. Real system parameters are often unknown or partia...
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Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations o...
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Serial kinematic chains are widely used in robotics and computer animation among other fields. Many manipulators do not have closed-form solutions to the inverse kinematics problem, which is of great importance for ma...
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ISBN:
(纸本)9781467356404
Serial kinematic chains are widely used in robotics and computer animation among other fields. Many manipulators do not have closed-form solutions to the inverse kinematics problem, which is of great importance for many applications. In this paper we introduce a fast and accurate procedure which yields all joint angle solutions for a given manipulator or limb posture (position and orientation) and certain swivel angle. By means of a spatial decomposition method, the procedure involves finding accurate models which represent the behavior of the robot or limb in a given workspace region. We propose Support Vector Machines, a very popular machine learning method, as the method that models such behaviors. The performance of the method is tested on the Robotic Research Arm K-1207. The results confirm that the method finds accurate solutions and can be used on real world applications with real-time requirements.
Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest ori...
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ISBN:
(纸本)9781479927456
Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.
In this paper, a cloud manufacturing platform, called AMC (Advanced Manufacturing Cloud), is introduced. The AMC provides several manufacturing-related cloud services to facilitate the users to conduct supporting acti...
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In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and s...
In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.
Our study consists of the identification of the eLearning systems users’ requests. The main objective of our study is to determine an optimum between users’ requirements and available technical resources of the syst...
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Our study consists of the identification of the eLearning systems users’ requests. The main objective of our study is to determine an optimum between users’ requirements and available technical resources of the system. In order to apply the QFD method there was designed the dedicated software for information systems evaluation. This software identifies the accomplishment degree of the requirements by the quality characteristics by means of the computed global index of the method, called offset. This offset provides the optimum between requests and resources. The software also allows the simulation of the improvement of the accomplishment degree of users’ requests.
This paper studies the global leader-following consensus problem for a multi-agent system using bounded controls. Both the agents and the leader are described by a chain of integrators of arbitrary length. A saturated...
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ISBN:
(纸本)9781479900305
This paper studies the global leader-following consensus problem for a multi-agent system using bounded controls. Both the agents and the leader are described by a chain of integrators of arbitrary length. A saturated linear feedback control law is constructed for each system in the group. These feedback laws use a multi-hop relay protocol, in which each agent obtains the information of other agents through multi-hop paths in the communication network, and the feedback gains are constructed from the adjacency matrix of the communication network. It is shown that global leader-following consensus is achieved under the feedback control laws we have constructed when the communication topology among follower agents is a strongly connected and detailed balanced directed graph and the leader is a neighbor of at least one follower. Simulation results are given to illustrate the theoretical results.
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