Search results for "DOM"
showing 10 items of 12668 documents
Minimal-model for robust control design of large-scale hydraulic machines
2018
Hydraulic machines are in use where the large forces, at relatively low velocities, are required by varying loads and often hazardous and hard-to-reach environments, like e.g. offshore, mining, forestry, cargo logistics, and others industries. Cranes and excavators equipped with multiple hydraulic cylinders are typical examples for that. For design of the robust feedback controls of hydraulic cylinders, already installed into large-scale machines, there is a general lack of reliable dynamic models. Also the suitable and feasible identification techniques, especially in frequency domain, yield limited. This paper proposes a minimal-modeling approach for determining the most relevant open-lo…
Adaptive Consensus-Based Distributed Kalman Filter for WSNs with Random Link Failures
2016
Wireless Sensor Networks have emerged as a very powerful tool for the monitoring and control, over large areas, of diverse phenomena. One of the most appealing properties of these networks is their potentiality to perform complex tasks in a total distributed fashion, without requiring a central entity. In this scenario, where nodes are constrained to use only local information and communicate with one-hop neighbors, iterative consensus algorithms are extensively used due to their simplicity. In this work, we propose the design of a consensus-based distributed Kalman filter for state estimation, in a sensor network whose connections are subject to random failures. As a result of this unrelia…
Fractional-Order System Identification of Viscoelastic Behavior: A Frequency Domain Based Experimental Study
2020
In this work, the fractional-order modeling of viscoelastic behavior is investigated based on measurement data in the frequency domain. For the results of two different test setups we apply existing parameter estimation algorithms designed for fractional-order transfer functions. These algorithms require a priori knowledge of the system structure including the commensurate order of differentiation. An iterative procedure is used to evaluate the influence of the unknown structure. The measured polymer samples show a viscoelastic stress response. We can show that integer-order models are not capable of capturing this behavior. For a set of predefined structures, the best obtained fractional-o…
Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter
2019
In this paper, a solution for estimating the relative position and orientation between two ships in six degrees-of-freedom (6DOF) using sensor fusion and an extended Kalman filter (EKF) approach is presented. Two different sensor types, based on time-of-flight and inertial measurement principles, were combined to create a reliable and redundant estimate of the relative motion between the ships. An accurate and reliable relative motion estimate is expected to be a key enabler for future ship-to-ship operations, such as autonomous load transfer and handling. The proposed sensor fusion algorithm was tested with real sensors (two motion reference units (MRS) and a laser tracker) and an experime…
Selective visual odometry for accurate AUV localization
2015
In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a robust keypoint tracking approach and an effective keyframe selection strategy, so that camera movements are estimated with high accuracy even for long paths. Furthermore, in order to limit the drift error, camera pose estimation is referred to the last keyframe, selected by analyzing the feature temporal flow. The proposed system was tested on the KITTI evaluation framework and on the New Tsukuba stereo dataset to assess its effectiveness on long tracks and different illumina…
A Fractional-Order Control Approach to Ramp Tracking with Memory-Efficient Implementation
2020
We investigate the fractional-order (FO) control of arbitrary order LTI systems. We show that, for ramp tracking or input disturbance rejection, it is advantageous to include an FO integrator to the open-loop if we have to increase the order of integration further than one. With the lower phase-loss of the FO integrator it is easier to guarantee a desired phase margin. Furthermore the flat phase response around the crossover-frequency (iso-damping property) can be achieved for a wider frequency range such that the closed-loop is more robust wrt. amplitude and phase margins. The drawback of the FO approach is the increased implementation effort and the algebraic decay, which slows down the t…
Detection of algorithmically generated malicious domain names using masked N-grams
2019
Abstract Malware detection is a challenge that has increased in complexity in the last few years. A widely adopted strategy is to detect malware by means of analyzing network traffic, capturing the communications with their command and control (C&C) servers. However, some malware families have shifted to a stealthier communication strategy, since anti-malware companies maintain blacklists of known malicious locations. Instead of using static IP addresses or domain names, they algorithmically generate domain names that may host their C&C servers. Hence, blacklist approaches become ineffective since the number of domain names to block is large and varies from time to time. In this paper, we i…
A methodology for evaluating the influence of batch size and part geometry on the environmental performance of machining and forming processes
2016
Metallic material processing plays a significant role in terms of global environmental impact. As a result, energy- and resource-efficient strategies in the metal shaping technology domain need to be identified urgently. Recently, the scientific world has been paying more and more attention to the environmental impact analysis of manufacturing processes. Despite this increased attention, the state of the art in the domain of environmental impact analysis of metal shaping processes is still characterized by gaps in knowledge and in methodologies. In particular, metal forming processes are still not well documented, in terms of their environmental impact, and there is a lack of systematic and…
Mechatronic Design for an Extrusion-Based Additive Manufacturing Machine
2017
3D printers, especially in the implementation of innovative extrusion processes which do not have a long history of development, are often built by adapting mechanical designs, drives and controls previously developed for generic machine tools. This is done through a process of choice and integration which is based principally on empirical criteria and taking into account separately the different aspects and parameters. Hereafter, we present an integrated mechatronic approach which has been adopted to design from the scratch a machine to implement the innovative metal injection moulding (MIM) technology. Its extrusion rate involves the adaptation of the generated trajectories and consequent…
Frequency-domain experimental setup for mechatronic and suspension system components
2021
This paper presents a frequency-domain experimental setup for modal analysis of mechatronic and suspension system components. Design, instrumentation and dynamic behavior of the one degree-of-freedom (DOF) system, capable of providing both, periodic and application-specific, excitation forces is described. The excitation is realized by an electromagnetic modal shaker with additional assembly and interface components designed and instrumented for frequency -domain analysis of vertical dynamics. Frequency response functions (FRFs) of the implemented system are experimentally measured and the associated basic model parameters are calculated, correspondingly identified. Accurate fit between the…