Search results for "Electronic"
showing 10 items of 17076 documents
Reducing the observation error in a WSN through a consensus-based subspace projection
2013
An essential process in a Wireless Sensor Network is the noise mitigation of the measured data, by exploiting their spatial correlation. A widely used technique to achieve this reduction is to project the measured data into a proper subspace. We present a low complexity and distributed algorithm to perform this projection. Unlike other algorithms existing in the literature, which require the number of connections at every node to be larger than the dimension of the involved subspace, our algorithm does not require such dense network topologies for its applicability, making it suitable for a larger number of scenarios. Our proposed algorithm is based on the execution of several consensus pro…
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
2021
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Modeling of an active torsion bar automotive suspension for ride comfort and energy analysis in standard road profiles
2019
Abstract Chassis technology is evolving towards active suspension, in which actuators can provide forces to each wheel individually. This overcomes the traditional trade-off between comfort and handling, at the expense of increased complexity and electric consumption. To reduce power demand, regenerative solutions capable of harvesting a certain amount of energy otherwise dissipated in vehicle suspensions and to enhance vehicle dynamics for improving ride comfort and road safety at the same time have been researched. In this paper, an active suspension based on a torsion bar is modeled and analyzed under the excitation from standardized road profiles according to the ISO 8608 norm. A skyhoo…
Stealthy Attacks in Cloud-Connected Linear Impulsive Systems
2018
This paper studies a security problem for a class cloud-connected multi-agent systems, where autonomous agents coordinate via a combination of short-range ad-hoc commu- nication links and long-range cloud services. We consider a simplified model for the dynamics of a cloud-connected multi- agent system and attacks, where the states evolve according to linear time-invariant impulsive dynamics, and attacks are modeled as exogenous inputs designed by an omniscent attacker that alters the continuous and impulsive updates. We propose a definition of attack detectability, characterize the existence of stealthy attacks as a function of the system parameters and attack properties, and design a fami…
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach
2020
In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory variable is generated based on the signals collected from its neighbors. Such a technique enables us to solve the leader–follower consensus and leaderless consensus problems in a unified framework. And it further allows us to treat the leaderless consensus as a special case of the leader–follower consensus. For leader–follower consensus, the assumption that the leader trajectory is linearly para…
Harsanyi Power Solutions for Cooperative Games on Voting Structures
2019
International audience; This paper deals with Harsanyi power solutions for cooperative games in which partial cooperation is based on specific union stable systems given by the winning coalitions derived from a voting game. This framework allows for analyzing new and real situations in which there exists a feedback between the economic influence of each coalition of agents and its political power. We provide an axiomatic characterization of the Harsanyi power solutions on the subclass of union stable systems arisen from the winning coalitions from a voting game when the influence is determined by a power index. In particular, we establish comparable axiomatizations, in this context, when co…
A class of third order iterative Kurchatov–Steffensen (derivative free) methods for solving nonlinear equations
2019
Abstract In this paper we show a strategy to devise third order iterative methods based on classic second order ones such as Steffensen’s and Kurchatov’s. These methods do not require the evaluation of derivatives, as opposed to Newton or other well known third order methods such as Halley or Chebyshev. Some theoretical results on convergence will be stated, and illustrated through examples. These methods are useful when the functions are not regular or the evaluation of their derivatives is costly. Furthermore, special features as stability, laterality (asymmetry) and other properties can be addressed by choosing adequate nodes in the design of the methods.
Intelligent virtual manufacturing cell formation in cloud-based design and manufacturing
2018
Abstract Cloud-based design and manufacturing (CBDM) can presumably stimulate greater intelligence in cloud-based models. This paper assumes that cloud-based design for cellular manufacturing can be referred to as a multiscale, uncertain, and dynamic service-oriented network where a set of CAD parts, modelled by set of features, can be manufactured in intelligent virtual manufacturing cells under certain constraints. Using the concepts of the holon and the attractor, integrating the uncertainty in the modelling of part design and part–manufacturing network, an approach to address intelligent virtual manufacturing cell formation in CBDM is proposed. The powerful role of the CAD features is e…
Cross-Layer MAC Protocol for Unbiased Average Consensus Under Random Interference
2019
Wireless Sensor Networks have been revealed as a powerful technology to solve many different problems through sensor nodes cooperation. One important cooperative process is the so-called average gossip algorithm, which constitutes a building block to perform many inference tasks in an efficient and distributed manner. From the theoretical designs proposed in most previous work, this algorithm requires instantaneous symmetric links in order to reach average consensus. However, in a realistic scenario wireless communications are subject to interferences and other environmental factors, which results in random instantaneous topologies that are, in general, asymmetric. Consequently, the estimat…
Scalable implementation of measuring distances in a Riemannian manifold based on the Fisher Information metric
2019
This paper focuses on the scalability of the Fisher Information manifold by applying techniques of distributed computing. The main objective is to investigate methodologies to improve two bottlenecks associated with the measurement of distances in a Riemannian manifold formed by the Fisher Information metric. The first bottleneck is the quadratic increase in the number of pairwise distances. The second is the computation of global distances, approximated through a fully connected network of the observed pairwise distances, where the challenge is the computation of the all sources shortest path (ASSP). The scalable implementation for the pairwise distances is performed in Spark. The scalable…