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Ponencia
Application of simple cascade GPC with robust behaviour to a sugar refinery
(1999)
This paper presents the application of a Generalized Pre dictive Controller (GPC) to sludge density control in a sugar factory. The loop is controlled by a cascade strategy where both the master and the slave controllers ...
Ponencia
Neural Predictive Control for Mobile Robot Navigation in a Partially Structured Static Environment
(Elsevier, 1996)
This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot navigation when unexpected static obstacles are present in the robot environment. The method uses a non-linear model of ...
Ponencia
Neural Network Local Navigation of Mobile Robots in a Moving Obstacles Environment
(Elsevier, 1994)
This paper presents a local navigation method based on generalized predictive control. A modified cost function to avoid moving and static obstacles is presented. An Extended Kaiman Filter is proposed to predict the motions ...
Tesis Doctoral
Ponencia
Application of a Natural Language Interface to the Teleoperation of a Mobile Robot
(Elsevier, 1998)
This paper describes the application of a natural language interface to the teleoperation of a mobile robot. Natural language communication with robots is a major goal, since it allows for non expert people to communicate ...
Ponencia
Adaptive control of a solar furnace for material testing
(Elsevier, 1998)
This paper presents an adaptive control system for controlling the temperature of a solar furnace, which is a high solar concentrating facility made up of heliostats tracking the sun and reflecting solar radiation onto a ...
Ponencia
Qualitative Supervision of Naval Diesel Engine Turbocharger Systems
(Elsevier, 1992)
This paper presents a qualitative model the diesel engine turbocharger system of a ship. The paper also shows how qualitative models can be use for an intelligent monitoring of the process concerned.
Tesis Doctoral
Navegación en robots móviles basada en técnicas de control predictivo neuronal
(1995)
En esta tesis se estudia el problema de la navegación en robots móviles con ruedas, que se desplazan por una superficie plana a través de un entorno parcialmente estructurado. En particular, se ha estudiado el problema del ...
Capítulo de Libro
Automatic Generation of Collision-Free Programs for Multiple Manipulators Using Evolutive Algorithms
(World Scientific and Engineering Academy and Society, 1999)
A method based on Evolutionary Algorithms for obtaining coordinated motion plans of multiple manipulator robots using a Decoupled Planning approach is presented. The problem has been decomposed in two subproblems: path ...
Artículo
Automatic assembly task assignment for a multirobot environment
(Elsevier, 1996)
This paper presents an algorithm A∗ for obtaining the “best” assembly plan for a product in a multirobot system. The algorithm takes into account, in addition to the assembly times, the times needed to change tools in the ...