Search results for " Error."

Event-triggered robust adaptive control for discrete time uncertain systems with unmodelled dynamics and disturbances

2019

In practice, modelling errors caused by high-order unmodelled dynamics and external disturbances are unavoidable. How to ensure the robustness of an adaptive controller with respect to such modelling errors is always a critical concern. In this study, the authors consider the design of event-triggered robust adaptive control for a class of discrete-time uncertain systems which involve such modelling errors and also are allowed to be non-minimum phase. Unlike some existing event-triggered control schemes, the developed controllers do not require that the measurement errors meet the corresponding input-to-state stable condition. Global stability of the closed-loop system which means that all …

A new AR authoring tool using depth maps for industrial procedures

2013

Several augmented reality systems have been proposed for different target fields such as medical, cultural heritage and military. However, most of the current AR authoring tools are actually programming interfaces that are exclusively suitable for programmers. In this paper, we propose an AR authoring tool which provides advanced visual effect, such as occlusion or media contents. This tool allows non-programming users to develop low-cost AR applications, specially oriented to on-site assembly and maintenance/repair tasks. A new 3D edition interface is proposed, using photos and Kinect depth information to improve 3D scenes composition. In order to validate our AR authoring tool, two evalua…

JOINT TOPOLOGY LEARNING AND GRAPH SIGNAL RECOVERY VIA KALMAN FILTER IN CAUSAL DATA PROCESSES

2018

In this paper, a joint graph-signal recovery approach is investigated when we have a set of noisy graph signals generated based on a causal graph process. By leveraging the Kalman filter framework, a three steps iterative algorithm is utilized to predict and update signal estimation as well as graph topology learning, called Topological Kalman Filter or TKF. Similar to the regular Kalman filter, we first predict the a posterior signal state based on the prior available data and then this prediction is updated and corrected based on the recently arrived measurement. But contrary to the conventional Kalman filter algorithm, we have no information of the transition matrix and hence we relate t…

Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton.

2020

Neurological disorders such as cerebral paralysis, spinal cord injuries[acronym](SCI), and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging [english]affectsaffect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the qual…

Higher Degree F-transforms Based on B-splines of Two Variables

2016

The paper deals with the higher degree fuzzy transforms (F-transforms with polynomial components) for functions of two variables in the case when two-dimensional generalized fuzzy partition is given by B-splines of two variables. We investigate properties of the direct and inverse F-transform in this case and prove that using B-splines as basic functions of fuzzy partition allows us to improve the quality of approximation.

Crowd-Averse Robust Mean-Field Games: Approximation via State Space Extension

2016

We consider a population of dynamic agents, also referred to as players. The state of each player evolves according to a linear stochastic differential equation driven by a Brownian motion and under the influence of a control and an adversarial disturbance. Every player minimizes a cost functional which involves quadratic terms on state and control plus a cross-coupling mean-field term measuring the congestion resulting from the collective behavior, which motivates the term “crowd-averse.” Motivations for this model are analyzed and discussed in three main contexts: a stock market application, a production engineering example, and a dynamic demand management problem in power systems. For th…

Adjusted bat algorithm for tuning of support vector machine parameters

2016

Support vector machines are powerful and often used technique of supervised learning applied to classification. Quality of the constructed classifier can be improved by appropriate selection of the learning parameters. These parameters are often tuned using grid search with relatively large step. This optimization process can be done computationally more efficiently and more precisely using stochastic search metaheuristics. In this paper we propose adjusted bat algorithm for support vector machines parameter optimization and show that compared to the grid search it leads to a better classifier. We tested our approach on standard set of benchmark data sets from UCI machine learning repositor…

Estimation of Location and Activation Time of Purkinje Myocardial Junctions from Sparse and Noisy Endocardial Electrical Samples

2017

The activation of the myocardial muscle is triggered by Purkinje-myocardial junctions (PMJs), which are the terminal sites of the specialised cardiac conduction system (CCS). Obtaining the location of the PMJs and other sources of endocardial ectopic activity would be desirable for building computer models of cardiac electrophysiology and planning ablation interventions. We present a method to estimate the location and activation times of endocardial electrical sources in a 3D model of the ventricles. The algorithm requires a set of discrete electrical samples on the endocardium, which can include errors in location and activation time. The estimated sources are properly placed with a locat…

Genome-wide association meta-analysis highlights light-induced signaling as a driver for refractive error

2018

Skin affections after sulfur mustard (SM) exposure include erythema, blister formation and severe inflammation. An antidote or specific therapy does not exist. Anti-inflammatory compounds as well as substances counteracting SM-induced cell death are under investigation. In this study, we investigated the benzylisoquinoline alkaloide berberine (BER), a metabolite in plants like berberis vulgaris, which is used as herbal pharmaceutical in Asian countries, against SM toxicity using a well-established in vitro approach. Keratinocyte (HaCaT) mono-cultures (MoC) or HaCaT/THP-1 co-cultures (CoC) were challenged with 100, 200 or 300 mM SM for 1 h. Post-exposure, both MoC and CoC were treated with 1…

2016

AbstractMyopia, currently at epidemic levels in East Asia, is a leading cause of untreatable visual impairment. Genome-wide association studies (GWAS) in adults have identified 39 loci associated with refractive error and myopia. Here, the age-of-onset of association between genetic variants at these 39 loci and refractive error was investigated in 5200 children assessed longitudinally across ages 7–15 years, along with gene-environment interactions involving the major environmental risk-factors, nearwork and time outdoors. Specific variants could be categorized as showing evidence of: (a) early-onset effects remaining stable through childhood, (b) early-onset effects that progressed furthe…