The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Typically, in order to organize the traffic in networks, some routing protocol is involved to establish and maintain paths for data flow. In the light of routing limitations in wireless environments, particularly restrictive when low power nodes are involved in a dynamic environment, the paper presents a different approach to organize the network traffic. In the proposed solution each node takes an...
Exoskeletons are wearable robots i.e. robots coupled to the body of a user and commanded by him/her. The fields of application involve among others, the military as well as the medical industries. This paper presents the design of part of an exoskeleton aimed to enhance the performance of people that have had spinal injury or that suffer from some problem or pain in the lumbar area. An experimental...
In this paper we propose a new experimental model of forearm exoprosthesis, designed to help persons during the recovery process following a trauma accident, or to improve the quality of life for persons with permanent disabilities. The forearm exoprosthesis was designed and realised using a combination of classic manufacturing and rapid prototyping technology. For the command and control system,...
This paper presents the mechanical design, kinematic matrices, achievable workspace and dynamic model of an upper limb exoskeleton. This project aims to rehabilitate individuals that have suffered injuries at their upper limb, by creating a wearable exoskeleton which provides a large workspace.
In the case of existence of disturbances in a classical single input single output feedback control system, the controller can take action after the disturbance makes the controlled variable move away from the desired value. On the other hand, a cascade control scheme will take an immediate corrective action by using an inner loop controller. In this paper, the use of controller synthesis to tune...
This paper deals with the study of the invariance of polyhedral sets with respect to dynamical systems described by discrete-time delay difference equations (DDE). Set invariance in the original state space, also referred to as D-invariance, leads to conservative definitions due to its delay independent property. This limitation makes the D-invariant sets only applicable to a limited class of systems...
An ideal coreless linear motor produces no forces in non-driving directions. However, in practice, the translator can be misaligned with the center of the stator due to manufacturing tolerances, which causes undesired normal parasitic forces. This misalignment on the other hand provides the ability to generate force in the normal direction. This paper proposes a novel commutation method which utilizes...
This paper describes the development of several controllers to handle a trajectory tracking problem for a differentially wheeled robot. Both simulations and tests on a real robot were performed. A simple kinematic controller has been implemented to calculate desired velocities based on current position and trajectory. In order to also consider the current velocities, i.e. the dynamics of the system,...
In this paper, the problem of trajectory tracking of a nonlinear system with unknown but bounded model parameters uncertainties is addressed. The proposed control strategy combines a robust model predictive control law with a proportional-integral (PI) regulator. The predictive controller guarantees the tracking of the reference trajectory, whereas the PI regulator ensures a good tracking accuracy...
This paper deals with the development of a control law for the regulation of the lactic acid concentration in its biotechnological production process. The studied system consists in a continuous bioreactor using wheat flour as raw material. Three reactions take place at the same time in the bioreactor: the gluten hydrolysis, the maltose saccharification and the glucose fermentation. This paper considers...
Particle Swarm Optimization represents a heuristic approach that can be used to solve difficult optimization problems. With some relative few modifications this method can be applied to a specific problem. In this work an optimal PID control algorithm for a bacterial growth bioprocess associated with enzymatic catalysis is designed and analyzed. The controller parameters are calibrated using particle...
In a financially volatile market, as the stock market, it is important to have a very precise prediction of a future trend. Because of the financial crisis and scoring profits, it is mandatory to have a secure prediction of the values of the stocks. Predicting a non-linear signal requires advanced algorithms of machine learning. The literature contains studies with different machine learning algorithms...
This paper describes the WiPlatform, a scalable, sensing and event processing solution with applicability in building home automation systems, environmental monitoring systems, home care and other related applications. At the base of the system stays the WiSensors, a low power 802.11 Wi-Fi device powered by an RN-131C chip to which various sensors and actuators can be connected. Depending on the application...
In this paper an easy-to-use approach using cubic spline interpolation is proposed for providing initial estimations for digital image correlation (DIC) grid point locations and rotations on objects with major deflection. One of the main problems in using DIC for deflection measurements is that direct correlation fails since image sample rotations can differ considerably across two images. The proposed...
In this paper an algorithm for trajectory-tracking and obstacle avoidance for wheeled mobile robots (WMR) is presented. The algorithm creates a trajectory composed of a global trajectory generated off-line and local obstacle avoidance trajectories that are created when an obstacle is detected by the sonar sensors. Only one discrete-time sliding-mode controller is required to track the resulting trajectory...
In this paper, a new approach of the super twisting sliding mode control of nonholonomic mobile robot system is proposed. Computer simulations and real time implementations are performed on a real mobile robot (Pioneer-3DX) with parameter uncertainties and external disturbances. The simulation results and real experiments have shown the improved performance of the proposed controller in terms of a...
This paper presents a new cycle time optimization (CTO) approach for an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM). The mobile robot serves A/DML during disassembling for transporting carry the disassembled components from disassembling locations to the corresponding storage warehouse in order to be reused. Disassembling...
Even if the Vector Space Model used for document representation in information retrieval systems integrates a small quantity of knowledge it continues to be used due to its computational cost, speed execution and simplicity. We try to improve this document representation by adding some syntactic information such as the parts of speech. In this paper, we have evaluated three different tagging algorithms...
Smart Grid is the future of electricity based on information and telecommunication technology. This article presents the characteristics of the new technological developments in this field, some of the standards included in it, along with several implementation strategies. The validity of the novel proposed approach was demonstrated by simulation with a dedicated module which allows checking how each...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.