Search results for "Adaptive"
showing 10 items of 792 documents
Lakes in the era of global change: moving beyond single‐lake thinking in maintaining biodiversity and ecosystem services
2020
The Anthropocene presents formidable threats to freshwater ecosystems. Lakes are especially vulnerable and important at the same time. They cover only a small area worldwide but harbour high levels of biodiversity and contribute disproportionately to ecosystem services. Lakes differ with respect to their general type (e.g. land-locked, drainage, floodplain and large lakes) and position in the landscape (e.g. highland versus lowland lakes), which contribute to the dynamics of these systems. Lakes should be generally viewed as ‘meta-systems’, whereby biodiversity is strongly affected by species dispersal, and ecosystem dynamics are contributed by the flow of matter and substances among locati…
How partnerships end in guillemots Uria aalge : chance events, adaptive change, or forced divorce?
2007
Divorce in socially monogamous species can result from different mechanisms, for example, chance events, active desertion of the partner, or the intrusion of a third individual ousting the partner. We compared the predictions associated with such mechanisms with data from common guillemots (Uria aalge) breeding on the Isle of May, Scotland. The data cover the years 1982--2005 and show a yearly divorce rate of 10.2%. In most divorces (86%), one of the original partners moved to another breeding site, whereas the other bird stayed and bred with a new partner. On average, movers had a significantly lower breeding success after divorce, stayers were largely unaffected, whereas the incoming bird…
Water temperature, not fish morph, determines parasite infections of sympatric Icelandic threespine sticklebacks (Gasterosteus aculeatus)
2013
Parasite communities of fishes are known to respond directly to the abiotic environment of the host, for example, to water quality and water temperature. Biotic factors are also important as they affect the exposure profile through heterogeneities in parasite distribution in the environment. Parasites in a particular environment may pose a strong selection on fish. For example, ecological differences in selection by parasites have been hypothesized to facilitate evolutionary differentiation of freshwater fish morphs specializing on different food types. However, as parasites may also respond directly to abiotic environment the parasite risk does not depend only on biotic features of the hos…
Adaptive-Gain Observers and Applications
2007
We distinguish two kinds of observers for nonlinear systems which are used by scientists and engineers: empirical observers and converging observers.
Adaptive backstepping control of uncertain systems in the presence of unmodeled dynamics and time-varying delays
2016
In this paper, the problem of adaptive backstepping control for uncertain systems in the presence of unmodeled dynamics and input time-varying delays is studied. Under some mild assumptions, a robust adaptive controller is designed such that the system is globally stabilized by using adaptive backstepping technique. Meanwhile, the transient system performance in L2 and norms of system output can be adjusted by choosing the design parameters. Finally, a simulation example is given to show the effectiveness of the results.
Using Two-Level Context-Based Predictors for Assembly Assistance in Smart Factories
2020
The paper presents some preliminary results in engineering a context-aware assistive system for manual assembly tasks. It employs context-based predictors to suggest the next steps during the manufacturing process and is based on data collected from experiments with trainees in assembling a tablet. We were interested in finding correlations between the characteristics of the workers and the way they prefer to assemble the tablet. A certain predictor is then trained with correct assembly styles extracted from the collected data and assessed against the whole dataset. Thus, we found the predictor that best matches the assembly preferences.
Adaptive Backstepping Control of a 2-DOF Helicopter System with Uniform Quantized Inputs
2020
Author's accepted manuscript © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This paper proposes a new adaptive controller for a 2-Degree of Freedom (DOF) helicopter system in the presence of input quantization. The inputs are quantized by uniform quantizers. A nonlinear mathematical model is derived for the 2-DOF helicopter system based on Euler-Lagrange equat…
Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots
2020
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…
Adaptive Asymptotically Tracking Control for Uncertain Strict-Feedback Nonlinear Systems with Input Quantization
2018
In this paper, we investigate the output tracking control problem for a class of uncertain nonlinear systems in parametric strict feedback form with quantized input. A novel backstepping based adaptive quantized control scheme is proposed. Different from the existing results, the true quantization parameters are allowed to be unknown in the design of adaptive controller. It is shown that with the proposed control scheme, the system output can track the desired trajectory asymptotically and all the closed-loop signals are globally uniformly bounded.
Adaptive Backstepping Control of a 2-DOF Helicopter
2019
This paper proposes an adaptive nonlinear controller for a 2-Degree of Freedom (DOF) helicopter. The proposed controller is designed using backstepping control technique and is used to track the pitch and yaw position references independently. A MIMO nonlinear mathematical model is derived for the 2DOF helicopter based on Euler-Lagrange equations, where the system parameters and the control coefficients are uncertain. Unlike some existing control schemes for the helicopter control, the developed controller does not require the knowledge on the system uncertain parameters. Updating laws are used to estimate the unknown parameters. It is shown that not only the global stability is guaranteed …