Search results for "Tracking"
showing 10 items of 709 documents
A Test of Covariance-Matrix Forecasting Methods
2015
Providing a more accurate covariance matrix forecast can substantially improve the performance of optimized portfolios. Using out-of-sample tests, in this article the author evaluates alternative covariance matrix-forecasting methods by looking at: (1) their forecast accuracy, (2) their ability to track the volatility of a minimum-variance portfolio, and (3) their ability to keep the volatility of a minimum-variance portfolio at a target level. The author finds large differences between the methods. The results suggest that shrinking the sample covariance matrix improves neither the forecast accuracy nor the performance of minimum-variance portfolios. In contrast, switching from the sample …
T-wave alternans analysis improvement by means of curve alignment prior to distance calculation.
2007
Tracking of repolarization instabilities in the ECG, such as T-wave alternans (TWA), has become a popular non-invasive method to assess the vulnerability to malignant arrhythmic events. These instabilities are usually characterized by small amplitude changes and their measurement is difficult due to the presence of noise and artifacts. Several methods have been recently proposed to address this problem. Most of them are based on amplitude analysis of beat-to-beat alternation of the T wave. This paper describes a preprocessing stage intended to be used prior to amplitude analysis and aimed at improving the alignment between consecutive T waves. This increases the accuracy of the difference c…
Attentional biases towards emotional scenes in autism spectrum condition: An eye-tracking study.
2021
Abstract Background Different attentional processing of emotional information may underlie social impairments in Autism Spectrum Condition (ASC). It has been hypothesized that individuals with ASC show hypersensitivity to threat, which may be related to an avoidance behaviour. However, research on the attentional processing of emotional information in autism is inconclusive. Aim To examine the attentional processing biases of 27 children with ASC and 25 typically developed (TD) participants. Methods and procedures The initial orienting of attention, the attentional engagement, and the attentional maintenance to complex emotional scenes in competition (happy, neutral, threatening, sad) were …
A DSP-Based Resolver-To-Digital Converter for High-Performance Electrical Drive Applications
2016
This paper presents a low cost, simple, and highly accurate resolver-to-digital converter (RDC) for electrical drive applications based on an integrated software approach, thus allowing a significant reduction of hardware components count with significant improvements in terms of reliability, reduction of fault rate, and susceptibility to electromagnetic interference (EMI). Particular attention has been addressed to cost which is 25% off over conventional RDC. Simulations and experimental tests confirm the high quality of the proposed system.
A multi-sensor multi-rate algorithm for motor rehabilitation with Augmented Reality devices
2016
Using Augmented Reality (AR) could offer stimuli to rehabilitation from neuro-motor disorders, since the patient can be aided in a better known reality than Virtual Reality (VR). The main goal for an AR system is to achieve a good quality of tracking the real object to align with virtual contents. Often a single sensor could not provide enough information to that end due to a low updating rate; therefore joining an other high updating rate sensor could be indispensable, but how to combine data from different sensors especially when they work all at different rates? In this paper an approach based on recursive parameter estimation, focusing on multi-rate tracking in AR devices is suggested. …
An adaptive control law for robotic manipulator without velocity feedback
2003
In this paper, a new adaptive control law is designed for robotic manipulators, based on the use of reference velocities instead of the actual ones and feedback signals generated from position errors. The law in question is suitable for trajectory tracking and positioning tasks. Its peculiarities are implementation without velocity measurements and estimation, high signal-to-noise ratio in control torques and absence of parameter drift in positioning tasks. Experimental tests are shown with the aim to confirm the validity of the control law and to illustrate its actual effects on the behaviour of the system.
Globally convergent adaptive and robust control of robotic manipulators for trajectory tracking
2004
This paper deals with a globally convergent adaptive and robust control of robotic manipulators for trajectory tracking in the presence of friction modelled as static nonlinearities. Two control loops are designed according to the cascade control scheme: (a) an inner adaptive control loop, which includes computed torque and PD control actions and friction compensation and (b) an outer robust control loop for unmodelled dynamics compensation. With reference to item (a), two friction compensation schemes are presented; one of them uses both the reference and the actual velocities, whereas the other employs only the actual velocity. Experimental tests carried out on a two-link SCARA manipulato…
A CONTROL LAW FOR ROBOTIC MANIPULATORS BASED ON A FILTERED SIGNAL TO GENERATE PD ACTION AND VELOCITY ESTIMATES
2007
This paper deals with an adaptive control law for robotic manipulators based on a filtered signal to generate both the PD action and velocity estimates of the joints, suitable for trajectory tracking tasks, with the particular aim of reducing the harmonic content of the mechanical torques developed at the joints and thus avoiding excitation of unmodelled dynamics and instability. The practical aspects relative to the implementation of the control law are considered as relevant and, consequently, are detailed. In particular, several methods suitable to compute velocity estimates are discussed and compared with the method described in the paper. All of the above methods are illustrated by mea…
Tracking Mobile Robot in Indoor Wireless Sensor Networks
2014
Published version of an article in the journal: Mathematical Problems in Engineering. Also available from the publisher at: http://10.1155/2014/837050 This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs). Our approach is based on a localization scheme with RSSI (received signal strength indication) which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot's trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion sche…
Adaptive Finite-Time Control for a Flexible Hypersonic Vehicle with Actuator Fault
2013
The problem of robust fault-tolerant tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV) with actuator faults and uncertainties is conducted. In order to guarantee that the velocity and altitude track their desired commands in finite time with the partial loss of actuator effectiveness, an adaptive fault-tolerant control strategy is presented based on practical finite-time sliding mode method. The adaptive update laws are used to estimate the upper bound of uncertainties and the minimum value of actuator efficiency factor. Finally, simulation results show that the proposed control strategy is effective in rejecting unc…