control algorithm for the blinky 602a robot

... compensated for these injections and other procedures and likely under-reported them For this reason, our effectiveness algorithm may perform better when there is a financial incentive to code these ... used only to capture the DAS28, the CDAI and other clinical characteristics measured at the baseline and outcome VARA visits; all other data used for the analysis were from the administrative claims ... 1.2 unit improvement in their DAS28 The PPV of the administrative data-based effectiveness algorithm was 75%, and the NPV was 90% The sensitivity of the effectiveness algorithm was 75%, and its...

Ngày tải lên: 25/10/2012, 10:45

... improve the performance on some problems by slowing down convergence We made no effort to customize the algorithm to the problems on hand, and used the same formulas for the population size and the ... in the formulation are always satisfied Hence, the selections of the fitness function and the encoding satisfy all constraints and no additional effort is needed in the implementation of the algorithm ... the average of the best solution values and the optimal values in 10 replications: 0.11% In other words, the average of the best solutions over the 10 replications is 100.11% of the optimal These...

Ngày tải lên: 08/08/2013, 08:38

... been formed in our previous studies Based on the preliminary experimental results, we decided the control strategy for the selection of well-settling sludge Then, we applied the strategy to the formation ... reactors govern the washout of sludge from the reactor, and therefore, we investigated the effect of surface loading rate and aeration rate on the selection of well-settling sludge and the formation ... of the AUFB reactor Reactor Setup and Operation for the Formation of Aerobic Granular Sludge Two AUFB reactors were used for the formation of aerobic granular sludge Air was introduced from the...

Ngày tải lên: 05/09/2013, 10:15

... and the references therein for further information on stability theory for switched systems) A straightforward analysis will show that the system can always be rendered unstable: Just vary the ... satised by the trajectory planner The composed automaton is in a form where model checking tools can be employed for the analysis The robot thereby has a tool for determining online whether or not ... and the growth ∆Vj of the j 'th Lyapunov function as follows The solution of the linearized system during the time the j 'th controller is active (i.e., the time where the automaton is in the...

Ngày tải lên: 22/03/2014, 11:20

... optical power, the more photoelectrons per pixel will be generated, and hence the higher the signal-to-noise ratio and therefore the accuracy of the range measurements On the other hand, the power ... p=1 (13) Therefore, each of the motion hypotheses for the block in the central frame is assigned a reliability measure, which depends on the compensation error and the similarity of the current ... t, s(h, t − dt) denotes the motion hypothesis h in the frame t − dt and H denotes the set of the motion hypothesis for the current block P (v|s(t), s(h, t − dt)) has the form given in Equation...

Ngày tải lên: 20/06/2014, 04:20

... can also make the algorithm more computationally efficient When τ = or τ > the convergence of the curve to object boundary will become too slow, although the algorithm still stops at the correct ... image where the classical algorithm fails to stop at the correct boundaries, thus, our algorithm can better on this kind of image Figure demonstrates another advantage of the improved algorithm ... efficient and reliable improved algorithm for the piecewise-smooth Mumford-Shah segmentation problem with edge preserving Unlike the classic algorithms [6, 10], computing the extensions of functions...

Ngày tải lên: 22/06/2014, 22:20

... In addition, the algorithm should work well, regardless of the positive definiteness of the covariance matrices Furthermore, the algorithm should provide a straightforward method for the generation ... one another Therefore, the scenario where the variances of the Rayleigh envelopes are equal to one another and the powers of real parts are equal to those of imaginary parts, such as the scenario ... combining their proposed method with the method proposed in [10] Specifically, the authors took the outputs of the method in [10] and simply input them into step in their method However, the step in the...

Ngày tải lên: 23/06/2014, 00:20

... Suppose the inward edge comes from a fork Since the degree of o is four, o must be the white node in the fork Hence one of the remaining edges is contained in the same fork However, their directions ... In some of the cases in Figure 74, the neighborhood of the target node o contains some other nodes of degree The algorithm covers the analysis of the neighborhood of these nodes in the following ... 42 Proof We have the following cases: Suppose that a comes from a fork Since the degree of o is 4, o must be the white node in the fork Thus, f is contained in the same fork Then node must have...

Ngày tải lên: 08/08/2014, 14:23

... Speakers at the Conference were encouraged to submit their views for publication and these manuscripts are published together as a thematic publication grouping on HAE in the official journal of the ... manuscript is the 2010 International Consensus Algorithm for the Diagnosis, Therapy and Management of Hereditary Angioedema that was agreed to at that conference and this was further circulated for review ... by USA FDA October th, 2009 for therapy of HAE events and licensed in many other countries for many years Cetor® from Sanquin has been available in The Netherlands for some time [35,53] Berinert®,...

Ngày tải lên: 08/08/2014, 21:20

... the elements stably, the whole algorithm is stable The hashing scheme of Bast and Hagerup is conservative The justification that the other parts of the algorithm are conservative is straightforward ... reliability, Theorem 2.11 is theoretically stronger than Theorem 2.7, but the program based on the former will be much more complicated Moreover, n must be very large before the algorithm of Theorem ... bound on the L2 distance of a closest pair, the algorithm will still be correct On the other hand, the running-time estimate for step 3, as given in the next section, does not change ŽSee the analysis...

Ngày tải lên: 21/04/2015, 15:39

... being the relative permittivity of the substrate k ρρ is the + εr surface wave pole located on the real axis of the complex k ρ plane, and the symbol Res denotes the residues of the integrand at the ... problems The MoM analysis can be carried out either in the spectral domain [35]-[36] or the spatial domain [37]-[38] To generate the impedance matrix in the spectral domain formulation, the time-consuming ... However, the triangular discretization does not allow the application of the fast Fourier transform to speed up the matrix-vector multiplication The method to alleviate the problem is to use the fast...

Ngày tải lên: 11/09/2015, 09:02

... the required impedance for a desired contact force in the face of the absence of force/torque sensor [5] • Direct Force Control Approach: this approach differs from the above indirect force control ... motion control approach, the direct force control approach 1.3 Research Objectives The robot dynamic model plays an important role in robot control Especially, in the operational space control formulation, ... and the third [13] groups are based on the acceleration The difference between the second and the third groups emerge when the robot is redundant For a redundant robot, the task space and the...

Ngày tải lên: 11/09/2015, 10:02

... analysis In the design phase, we designed the multirobot control architecture, the search strategy and the physical robot platform for implementation For the implementation, we formulated the algorithm ... approach, there is a central, powerful planner or controller This central planner gathers information from other robots in the team and forms the global map information of the environment It then formulates ... them These commands can be used to control or change the robots behaviour The robots can follow these commands and perform different sub tasks For example, initially the robots can be given the...

Ngày tải lên: 28/11/2015, 13:34

... created in the next generation The objective function is then again calculated for all the individual of the new generation and all the genetic operations are again performed and the second generation ... respectively Here the voltage magnitude and the phase angle of the 2nd,4th and the 3rd buses (those are at the starting end of the lines 6,7 & respectively) are controlled Then TCSC positions ... capacity and location There are two distinct means of placing a FACTS device in the system for the purpose of increasing the system’s ability to transmit power, thereby allowing for the use of more...

Ngày tải lên: 26/03/2016, 02:38

... LCD shows the information of the IRP system The button matrix receives the commands from users then manipulates the state of the IRP system Four PCA82C250s are the bridge between the CAN controller ... microcontroller detects the movements of Arm angle and Pendulum angle and transmits the new angles to other microcontroller The second microcontroller displays all the IRP information on the LCD The ... receives signal from the button matrix and control the IRP working or stopping The last microcontroller controls the rotation of DC motor, thereby control the IRP movement 1.2 Master thesis objectives...

Ngày tải lên: 23/09/2016, 16:09

... Preface The algorithm we have created involves an iterative approach to deconvolving the scatter component of the image at the EPID from the attenuated primary fluence at the level of the EPID The ... about the isocenter point In addition to the devices present in the radiation field for the delivery of the dose, there exist several ancillary devices to assist in positioning the patient for ... the effect of divergence on the positioning of the leaves The position of the leaf tip does not correspond linearly with the position of the 50% transmission through the leaf edge, which is the...

Ngày tải lên: 29/10/2016, 15:54

... (R d ), with the convention W0 Gconst The probability P is called the control associated with the policy π and the initial distributions q, ν We denote by R (q, ν) the class of controls starting ... S n G1 is an optimal stationary policy Therefore, the theorem ᮀ Corollary 4.1 If there exists a0 ∈A such that the chain P(a0 ) is Harris recurrent, then there exists an optimal stationary policy ... leads us to consider the problem of minimizing the function Λ u[x] over the class of admissible controls In this article, the main idea for solving this problem is to relate it to the Markov decision...

Ngày tải lên: 16/12/2017, 03:18

... of the model, the context is used to store, for instance, the types and constants used during the development of the system The machine contains the dynamic part of the model It describes the ... make the events executed in the order of the protocol consensus The event ec1 is executed first via the definition Init of the machine, then the next event will be executed via a part of the definition ... limits on the achievable control performance Analysing the consensus or state agreement problem, the authors characterize the relationship between the amount of information exchanged by the agents...

Ngày tải lên: 16/12/2017, 09:50

... current value as the new pBest EndIf EndFor Choose the particle with the best fitness value of all the particles as the gBest (or Choose the particle with the best fitness value of all the neighbors ... unlike the GA, the PSO algorithm has no evolution operators such as the crossover and the mutation operator In the PSO algorithm, the potential solutions, called particles, fly through the problem ... Prim algorithm, nodes i with low bi will probably be interior nodes, and on the otherhands, nodes j with high bj will probably be leaf nodes Therefore, the higher the weight bi, the higher is the...

Ngày tải lên: 16/12/2017, 15:41