Search results for "PLE"
showing 10 items of 22773 documents
Comparison of KVP and RSI for Controlling KUKA Robots Over ROS
2020
In this work, an open-source ROS interface based on KUKAVARPROXY for control of KUKA robots is compared to the commercial closed-source Robot Sensor Interface available from KUKA. This comparison looks at the difference in how these two approaches communicate with the KUKA robot controller, the response time and tracking delay one can expect with the different interfaces, and the difference in use cases for the two interfaces. The investigations showed that the KR16 with KRC2 has a 50 ms response time, and RSI has a 120 ms tracking delay, with negligible delay caused by the ROS communication stack. The results highlight that the commercial inferface is more reliable for feedback control tas…
State Observer with Round-Robin Aperiodic Sampled Measurements with Jitter
2021
International audience; A sampled-data observer is proposed for linear continuous-time systems whose outputs are sequentially sampled via non-uniform sampling intervals repeating a prescribed Round-Robin sequence. With constant sampling intervals (jitter-free case) we provide constructive necessary and sufficient conditions for the design of an asymptotic continuous-discrete observer whose estimation error is input-to-state stable (ISS) from process disturbances and measurement noise. We use a time-varying gain depending on the elapsed time since the last measurement. With non-constant sampling intervals (jitter-tolerant case), our design conditions are only sufficient. A suspension system …
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…
A predictive learning approach to optimal load sharing in energy management systems
2019
Given the total power demand, $P_{d}$ , current practice of equal load sharing in the process industry is to distribute the load among power supply units and machines (e.g., diesel/aas/wind turbines) in proportion to the maximum power, i.e., $P_{i}=\frac{p_{\max}^{i}}{\sum_{j}P_{\max}^{j}}P_{d}$ , where $P_{\max}^{i}$ denotes the maximum power of the ithunit. However, the efficiency of power supply units, vary in time and are highly individual, even in the case of units from same brand and model. Thus, by considering and utilizing these individual differences, it is possible to share the load in a more fuel/cost/energy optimal manner. To capture this potential, the work presented in this pa…
Do Randomized Algorithms Improve the Efficiency of Minimal Learning Machine?
2020
Minimal Learning Machine (MLM) is a recently popularized supervised learning method, which is composed of distance-regression and multilateration steps. The computational complexity of MLM is dominated by the solution of an ordinary least-squares problem. Several different solvers can be applied to the resulting linear problem. In this paper, a thorough comparison of possible and recently proposed, especially randomized, algorithms is carried out for this problem with a representative set of regression datasets. In addition, we compare MLM with shallow and deep feedforward neural network models and study the effects of the number of observations and the number of features with a special dat…
El ?Alivio de las Indias?. la Real Hacienda Filipina, 1565-1800
2019
Previo al estudio de la Real Hacienda filipina, el trabajo se centrará en la definición del marco territorial, la función del archipiélago en la estrategia imperial y la gran transformación de finales del siglo xVIII que afectó a su situación en el conjunto colonial. En segundo lugar, se expondrá el estado de la cuestión y las principales hipótesis sobre la evolución del Tesoro filipino y los problemas que planteaba su viabilidad, así como las fuentes y la metodología empleadas. A continuación se examinarán las grandes tendencias de la Hacienda en el largo plazo y los componentes del ingreso y el gasto, para finalizar con algunas conclusiones, en especial la respuesta a la siguiente pregunt…
Wood pellets for home heating can be considered environmentally friendly fuels? Polycyclic aromatic hydrocarbons (PAHs) in their ashes
2016
This paper reports the results of the first quantitative investigations of PAHs in wood pellet ashes. Investigations were carried out into the fifteen PAHs identified by the US-Environment Protection Agency (US-EPA) as requiring priority monitoring; other non-US-EPA listed PAHs and perylene were also investigated. The total concentrations for the 17 investigated compounds, expressed as the sum of the concentrations (∑PAHs), in the ashes produced by the wood pellet combustion, ranged from 0.064mg kg-1 to 0.90mg kg-1 of dry weight with a means of 0.31mg kg-1. The lowest concentrations (<0.1mg kg-1) were measured in the conifer ash samples. Concentrations of PAHs found in this paper will al…
El arte de la platería en la Concatedral de San Nicolás de Alicante
2020
The Co-cathedral of San Nicolás de Alicante still preserves an important treasure of pieces of silverware, ranging from the 17th to the 20th centuries, although the greatest development was known during the 18th century, with sumptuous commissions to the most prominent silversmiths both locally as at regional and national level. In this way, it can be said that the Alicante trousseau is a good example of a temple that, once built, focuses its efforts on the collection of silverware objects that enhance the cult and its ceremonies.
Las huellas de la interdisciplinariedad en la trayectoria de Enric Mestre. ?Intercambios e investigaciones cruzadas entre las esculturas cerámicas y …
2020
La destacada actividad artística de Enric Mestre (Alboraya / Valencia, 1936) solo pude abordarse, en su compleja diversidad y riqueza, si se mantiene, como eje metodológico básico de su estudio crítico, el abierto enfoque de su sistemática interdisciplinariedad. Los diálogos e intercambios entre la escultura cerámica, la arquitectura, la pintura, el dibujo y los murales conforman precisamente el ámbito plural de su constante quehacer artístico. Especialmente la investigación se centra en las esculturas cerámicas y en las pinturas geométricas, que constituyen los dos dilatados campos de su creación plástica, cultivados asiduamente, a lo largo del último medio siglo
A note on best proximity point theory using proximal contractions
2018
In this paper, a reduction technique is used to show that some recent results on the existence of best proximity points for various classes of proximal contractions can be concluded from the corresponding results in fixed point theory.