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About the Kalman-Yakubovich-Popov Lemma and non-minimal state-space realizations 关于Kalman-Yakubovich-Popov引理和非极小状态空间实现
i Medicina Pub Date : 2017-07-01 DOI: 10.1109/MED.2017.7984226
M. Sen
{"title":"About the Kalman-Yakubovich-Popov Lemma and non-minimal state-space realizations","authors":"M. Sen","doi":"10.1109/MED.2017.7984226","DOIUrl":"https://doi.org/10.1109/MED.2017.7984226","url":null,"abstract":"This paper is devoted to the implications of the Kalman-Yakubovich-Popov Lemma, or Positive Real Lemma, when non-minimal state space realizations of transfer matrices of linear continuous systems are used. It is seen that some spurious parametrical conditions on the transfer matrix keep the Positive Real Lemma guaranteeing the stability from the associated Lyapunov equation.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116606802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A safe position tracking strategy for multirotor helicopters 多旋翼直升机安全位置跟踪策略
i Medicina Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961577
Igor Afonso Acampora Prado, D. Santos
{"title":"A safe position tracking strategy for multirotor helicopters","authors":"Igor Afonso Acampora Prado, D. Santos","doi":"10.1109/MED.2014.6961577","DOIUrl":"https://doi.org/10.1109/MED.2014.6961577","url":null,"abstract":"The interest for multirotor unmanned aerial vehicles (UAVs) is currently growing due to their low cost, high maneuverability, simplified mechanics, capability to perform vertical take-off and landing as well as hovering flight. These characteristics make them a promising technology suitable for applications such as surveillance of indoor environments. The present work faces the problem of safely controlling the position trajectory of multirotor UAVs by taking into consideration a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control (MPC) strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The control vector computed by the MPC is converted into a throttle command and an attitude command. The proposed method is evaluated on the basis of Monte-Carlo simulations taking into account a random disturbance force. The simulations show the effectiveness of the method in tracking the commanded trajectory while respecting the control and position constraints. They also predict the effect of both the commanded speed and the maximum inclination constraint on the system performance.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"48 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122654214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
H∞ fuzzy Networked control for vehicle lateral dynamics 车辆横向动力学的H∞模糊网络控制
i Medicina Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608926
Chedia Latrach, M. Kchaou, A. Hajjaji, A. Rabhi
{"title":"H∞ fuzzy Networked control for vehicle lateral dynamics","authors":"Chedia Latrach, M. Kchaou, A. Hajjaji, A. Rabhi","doi":"10.1109/MED.2013.6608926","DOIUrl":"https://doi.org/10.1109/MED.2013.6608926","url":null,"abstract":"A vehicle dynamics control system (NCS) has been developed in this study for improving vehicle yaw rate dynamics under unreliable communication links with packet dropouts, and network-induced delay which are two typical network constraints of unreliable transmission. The NCS system consists of a fuzzy H∞ static output feedback controller. After giving the nonlinear model of the vehicle, a Takagi-Sugeno (T-S) fuzzy model representation is first discussed. Next, based on the Lyapunov krasovskii functional approach and a parallel distributed compensation scheme, the gains of the fuzzy controller are determined in terms of Linear Matrix Inequality (LMI). Simulations have been conducted to evaluate performance of the closed loop system under limitation of the network resources caused by data transmission.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114364099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Guidance, navigation, and control of an unmanned hovercraft 无人气垫船的引导、导航和控制
i Medicina Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608750
Kilsoo Kim, Young-Ki Lee, Sehwan Oh, David Moroniti, D. Mavris, G. Vachtsevanos, N. Papamarkos, G. Georgoulas
{"title":"Guidance, navigation, and control of an unmanned hovercraft","authors":"Kilsoo Kim, Young-Ki Lee, Sehwan Oh, David Moroniti, D. Mavris, G. Vachtsevanos, N. Papamarkos, G. Georgoulas","doi":"10.1109/MED.2013.6608750","DOIUrl":"https://doi.org/10.1109/MED.2013.6608750","url":null,"abstract":"This paper introduces a simulation and evaluation of guidance, navigation, and control algorithms applied to an autonomous hovercraft. A line-of-sight guidance law is adopted in conjunction with a neural network based adaptive dynamic inversion control scheme for the underactuated hovercraft following a prescribed path. The simulation result demonstrates that the guidance and control scheme can be effective in waypoint following of the underactuated hovercraft, especially, when external disturbances exist. It is also shown that the error signals are bounded using Lyapunov's direct method.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125399678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Grammatical evolution and network operator methods for control system synthesis 控制系统综合的语法演化与网络算子方法
i Medicina Pub Date : 1900-01-01 DOI: 10.1109/MED.2013.6608865
A. Diveev, D. Kazaryan, E. Sofronova
{"title":"Grammatical evolution and network operator methods for control system synthesis","authors":"A. Diveev, D. Kazaryan, E. Sofronova","doi":"10.1109/MED.2013.6608865","DOIUrl":"https://doi.org/10.1109/MED.2013.6608865","url":null,"abstract":"Control system synthesis problem is considered. We have to find a control function as a function of the system's state. Synthesized control system should provide meeting a goal objective for the set of initial conditions. Grammatical evolution and network operator methods were considered as means for control systems synthesis. Computational experiments were performed for the non-linear control system synthesis for the Duffing oscillator.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116443322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Step-Length Estimation During Movement on Stairs 在楼梯上运动时的步长估计
i Medicina Pub Date : 1900-01-01 DOI: 10.1109/MED.2019.8798543
I. Klein, Yaakov Libero
{"title":"Step-Length Estimation During Movement on Stairs","authors":"I. Klein, Yaakov Libero","doi":"10.1109/MED.2019.8798543","DOIUrl":"https://doi.org/10.1109/MED.2019.8798543","url":null,"abstract":"Indoor positioning is required for a variety of applications such as mapping, entertainment, security and healthcare. One of the approaches for indoor navigation is pedestrian dead reckoning (PDR). This approach uses low-cost smartphone based inertial sensors and is usually applied for horizontal positioning. Yet in many situations, a change in the pedestrian altitude occurs in indoor environments, for example while using staircases, elevators or escalators. In this paper, we derive, in a PDR framework, a vertical positioning approach based on the smartphone inertial sensors to enable three dimensional positioning. Experiments results using five different staircases validate and show the contribution of the proposed approach.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128306535","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Multiple fault detection based on wavelet denoising: Application on wind turbine system 基于小波去噪的多故障检测:在风力发电系统中的应用
i Medicina Pub Date : 1900-01-01 DOI: 10.1109/MED.2017.7984153
T. Bakir, B. Boussaid, M. Abdelkrim, P. Odgaard, C. Aubrun
{"title":"Multiple fault detection based on wavelet denoising: Application on wind turbine system","authors":"T. Bakir, B. Boussaid, M. Abdelkrim, P. Odgaard, C. Aubrun","doi":"10.1109/MED.2017.7984153","DOIUrl":"https://doi.org/10.1109/MED.2017.7984153","url":null,"abstract":"This paper deals with an application of wavelets denoising for residual signal in a wind turbine system. We have utilized wavelet denoising to generate denoised residual signal and used it for detection. The objective of the experiment was to evaluate the performance of the wavelet denoising algorithm for the accuracy of fault detection results using a simple fixed threshold and to examine to what extent the results were influenced by different false alarms. Accuracy of fault detection results as related to the appearance of false alarms is also discussed in the paper.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124214330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Study of medical image traffic using MPLS technology 基于MPLS技术的医学图像流量研究
i Medicina Pub Date : 1900-01-01 DOI: 10.1109/MED59994.2023.10185825
C. Stanescu, L. Circiumarescu, G. Predusca, N. Angelescu, D. Puchianu, D. Hagiescu
{"title":"Study of medical image traffic using MPLS technology","authors":"C. Stanescu, L. Circiumarescu, G. Predusca, N. Angelescu, D. Puchianu, D. Hagiescu","doi":"10.1109/MED59994.2023.10185825","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185825","url":null,"abstract":"Multiprotocol Label Switching (MPLS)combines multiple advanced systems for embedding techniques like ATM and IP with Quality of Service (QoS). This paper investigates the implementation of a local recovery mechanism using Label Switched Path (LSP). This mechanism allows for an alternative path to be set up when an accidental drop in the topology affects an LSP that carries a privileged data flow. The new path has equivalent properties to its predecessor, thus privileged traffic can be redirected. The analysis was performed on the traffic of medical image data.","PeriodicalId":344821,"journal":{"name":"i Medicina","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115154343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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