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  • Artikel  (26)
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  • Mathematical Problems in Engineering  (11)
  • 38993
  • Mathematik  (26)
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  • Artikel  (26)
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  • 1
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    A Master-Slave Calibration Algorithm with Fish-Eye Correction (2015)
    Hindawi
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    Publikationsdatum: 2015-09-21
    Beschreibung: Surveillance systems capable of autonomously monitoring vast areas are an emerging trend, particularly when wide-angle cameras are combined with pan-tilt-zoom (PTZ) cameras in a master-slave configuration. The use of fish-eye lenses allows the master camera to maximize the coverage area while the PTZ acts as a foveal sensor, providing high-resolution images of regions of interest. Despite the advantages of this architecture, the mapping between image coordinates and pan-tilt values is the major bottleneck in such systems, since it depends on depth information and fish-eye effect correction. In this paper, we address these problems by exploiting geometric cues to perform height estimation. This information is used both for inferring 3D information from a single static camera deployed on an arbitrary position and for determining lens parameters to remove fish-eye distortion. When compared with the previous approaches, our method has the following advantages: (1) fish-eye distortion is corrected without relying on calibration patterns; (2) 3D information is inferred from a single static camera disposed on an arbitrary location of the scene.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
    Standort Signatur Erwartet Verfügbarkeit
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  • 2
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    New Achievements in Control of Robotic Systems (2015)
    Hindawi
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    Publikationsdatum: 2015-05-29
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
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  • 3
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    Solving a Real Constraint Satisfaction Model for the University Course Timetabling Problem: A Case Study (2016)
    Hindawi
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    Publikationsdatum: 2016-07-18
    Beschreibung: This paper proposes a real mathematical constraint satisfaction model which defines the timetabling problem in the Faculty of Chemical Sciences and Engineering (FCSE) at the Autonomous University of Morelos State, Mexico. A Constructive Approach Algorithm (CAA) is used to obtain solutions in the proposed model. A comparison is made between the CAA’s results and the schedule generated by the FCSE administration. Using the constraint satisfaction model, it is possible to improve the allocation of class hours in the FCSE so that classroom use is more efficient.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
    Standort Signatur Erwartet Verfügbarkeit
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  • 4
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    Modeling of Energy Demand of a High-Tech Greenhouse in Warm Climate Based on Bayesian Networks (2015)
    Hindawi
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    Publikationsdatum: 2015-04-28
    Beschreibung: This work analyzes energy demand in a High-Tech greenhouse and its characterization, with the objective of building and evaluating classification models based on Bayesian networks. The utility of these models resides in their capacity of perceiving relations among variables in the greenhouse by identifying probabilistic dependences between them and their ability to make predictions without the need of observing all the variables present in the model. In this way they provide a useful tool for an energetic control system design. In this paper the acquisition data system used in order to collect the dataset studied is described. The energy demand distribution is analyzed and different discretization techniques are applied to reduce its dimensionality, paying particular attention to their impact on the classification model’s performance. A comparison between the different classification models applied is performed.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
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  • 5
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    The Design of QFT Robust Compensators with Magnitude and Phase Specifications (2011)
    Hindawi
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    Publikationsdatum: 2011-03-01
    Beschreibung: The frequency response is an important tool for practical and efficient design of control systems. Control techniques based on frequency response are of special interest to dealing with important subjects such as the bandwidth and the cost of feedback. Furthermore, these techniques are easily adapted to deal with the uncertainty of the process to control. Quantitative feedback theory (QFT) is an engineering design technique of uncertain feedback systems that uses frequency domain specifications. This paper analyzes the phase specifications problem in frequency domain using QFT. This type of specification is not commonly taken into account due to the fundamental limitations of the linear control given by Bode's integral. An algorithm is proposed aimed at achieving prespecified closed-loop transfer function phase and magnitude variations, taking into account the plant uncertainty. A two-degrees-of-freedom feedback control structure is used and a new type of boundary is defined to satisfy these objectives. As the control effort heavily depends on a good estimation of these boundaries, the proposed algorithm allows avoiding overdesign.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
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  • 6
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    The Design of QFT Robust Compensators with Magnitude and Phase Specifications (2011)
    Hindawi
    Details
    Publikationsdatum: 2011-01-25
    Beschreibung: The frequency response is an important tool for practical and efficient design of control systems. Control techniques based on frequency response are of special interest to dealing with important subjects such as the bandwidth and the cost of feedback. Furthermore, these techniques are easily adapted to deal with the uncertainty of the process to control. Quantitative feedback theory (QFT) is an engineering design technique of uncertain feedback systems that uses frequency domain specifications. This paper analyzes the phase specifications problem in frequency domain using QFT. This type of specification is not commonly taken into account due to the fundamental limitations of the linear control given by Bode's integral. An algorithm is proposed aimed at achieving prespecified closed-loop transfer function phase and magnitude variations, taking into account the plant uncertainty. A two-degrees-of-freedom feedback control structure is used and a new type of boundary is defined to satisfy these objectives. As the control effort heavily depends on a good estimation of these boundaries, the proposed algorithm allows avoiding overdesign.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
    Standort Signatur Erwartet Verfügbarkeit
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  • 7
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    Dual PD Control Regulation with Nonlinear Compensation for a Ball and Plate System (2014)
    Hindawi
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    Publikationsdatum: 2014-04-17
    Beschreibung: The normal proportional derivative (PD) control is modified to a new dual form for the regulation of a ball and plate system. First, to analyze this controller, a novel complete nonlinear model of the ball and plate system is obtained. Second, an asymptotic stable dual PD control with a nonlinear compensation is developed. Finally, the experimental results of ball and plate system are provided to verify the effectiveness of the proposed methodology.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
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  • 8
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    Construction of a Smooth Lyapunov Function for the Robust and Exact Second-Order Differentiator (2016)
    Hindawi
    Details
    Publikationsdatum: 2016-04-05
    Beschreibung: Differentiators play an important role in (continuous) feedback control systems. In particular, the robust and exact second-order differentiator has shown some very interesting properties and it has been used successfully in sliding mode control, in spite of the lack of a Lyapunov based procedure to design its gains. As contribution of this paper, we provide a constructive method to determine a differentiable Lyapunov function for such a differentiator. Moreover, the Lyapunov function is used to provide a procedure to design the differentiator’s parameters. Also, some sets of such parameters are provided. The determination of the positive definiteness of the Lyapunov function and negative definiteness of its derivative is converted to the problem of solving a system of inequalities linear in the parameters of the Lyapunov function candidate and also linear in the gains of the differentiator, but bilinear in both.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
    Standort Signatur Erwartet Verfügbarkeit
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  • 9
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    Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs (2013)
    Hindawi
    Details
    Publikationsdatum: 2013-12-23
    Beschreibung: This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientation of the vehicle. Stability of the controller is theoretically demonstrated and the robustness of the control law against disturbances and noise is established. Simulation examples and experiments on a real setup validate the control law showing the real system to be robust against disturbances, noise, and outdated dynamics.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
    Standort Signatur Erwartet Verfügbarkeit
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  • 10
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    Semiphysical Modelling of the Nonlinear Dynamics of a Surface Craft with LS-SVM (2013)
    Hindawi
    Details
    Publikationsdatum: 2013-12-05
    Beschreibung: One of the most important problems in many research fields is the development of reliable mathematical models with good predictive ability to simulate experimental systems accurately. Moreover, in some of these fields, as marine systems, these models play a key role due to the changing environmental conditions and the complexity and high cost of the infrastructure needed to carry out experimental tests. In this paper, a semiphysical modelling technique based on least-squares support vector machines (LS-SVM) is proposed to determine a nonlinear mathematical model of a surface craft. The speed and steering equations of the nonlinear model of Blanke are determined analysing the rudder angle, surge and sway speeds, and yaw rate from real experimental data measured from a zig-zag manoeuvre made by a scale ship. The predictive ability of the model is tested with different manoeuvring experimental tests to show the good performance and prediction ability of the model computed.
    Print ISSN: 1024-123X
    Digitale ISSN: 1563-5147
    Thema: Mathematik , Technik allgemein
    Publiziert von Hindawi
    Standort Signatur Erwartet Verfügbarkeit
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