Search results for "automatic"
showing 10 items of 730 documents
Microfabrication of hybrid fluid membrane for microengines
2015
International audience; This paper describes the microfabrication and dynamic characterization of thick membranes providing a technological solution for microengines. The studied membranes are called hybrid fluid-membrane (HFM) and consist of two thin membranes that encapsulate an incompressible fluid. This work details the microelectromechanical system (MEMS) scalable fabrication and characterization of HFMs. The membranes are composite structures based on Silicon spiral springs embedded in a polymer (RTV silicone). The anodic bonding of multiple stacks of Si/glass structures, the fluid filling and the sealing have been demonstrated. Various HFMs were successfully fabricated and their dyna…
Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots
2022
The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their in- trinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input- state observer based on a nominal robot model that reconstructs the total torque disturbance vector, resulting from the imperfect knowledge of the elastic torque characteristic, external torques, and other model uncertainties. Then, it introduces a robust controller, that actively compensates for the estimated uncertainty and allows bounded stability for the tracking of independent link position and joint stiffness reference signals.…
Hybrid nonlinear observer for Inertial Navigation
2016
This paper considers the problem of designing an observer for navigation and localization of inertial systems. Since the measurement systems used in this field have a low update rate with respect to the control algorithm, the design of a suitable observer with sampled measurements is required. Here a hybrid non-linear observer is proposed, combining two different observers with different characteristics. A theoretical treatment is given in order to prove the convergence of the observer and it will be contextualized in the framework of the hybrid systems, providing an elegant setting for the proposed solution. Finally experimental results show the feasibility of the proposed observer and the…
Hybrid Observer for Indoor Localization with Random Time-of-Arrival Measurments
2018
In this work an indoor position estimation algorithm will be proposed. The position will be measured by means of a sensor network composed by fixed beacons placed on the indoor environment and a mobile beacon mounted on the object to be tracked. The mobile beacon communicates with all the fixed beacons by means of ultra wide-band signals, and the distance between them is computed by means of time of flight techniques. Moreover, inertial measurements will be used when the position measurements are not available. Two main problems will be considered in the proposed architecture: the fact that the beacons work with a lower update rate than the IMU, and that the mobile beacon can comunicate wit…
HLPV Identication in wireless ad hoc networks
2013
Hybrid systems are dynamical systems consisting of components with con- tinuous and discrete behavior and thus they have required a new hybrid systems and control theory that has been developed in the past years and is still an active research topic. Motivated by a practical example, the tra c ow in wireless ad hoc network model, we derive Hybrid LPV modeling and identi cation techniques. Finally we show simulation results of o line identi cation and possible future algorithms.
Plasma Insulin Levels and Hypoglycemia Affect Subcutaneous Interstitial Glucose Concentration
2018
[EN] Background: Continuous glucose monitoring (CGM) accuracy during hypoglycemia is suboptimal. This might be partly explained by insulin or hypoglycemia-induced changes in the plasma interstitial subcutaneous (SC) fluid glucose gradient. The aim of the present study was to assess the role of plasma insulin (PI) and hypoglycemia itself in the plasma and interstitial SC fluid glucose concentration in patients with type 1 diabetes mellitus. Methods: Eleven subjects with type 1 diabetes (age 36.59.1 years, HbA(1c) 7.90.4% [62.8 +/- 2.02mmol/mol]; mean +/- standard deviation) were evaluated under hyperinsulinemic euglycemia and hypoglycemia. Each subject underwent two randomized crossover clam…
Optimal MAC PDU Size in IEEE 802.16
2008
In the IEEE 802.16 the number of errors and the MAC PDU size have an impact on the performance of the network. We present a way to estimate the optimal PDU size and we run a number of simulation scenarios to study these parameters and how they impact on the performance of application protocols. The simulation results reveal that the channel bit error rate has a major impact on the optimal PDU size in the IEEE 802.16 networks. Also, the ARQ block rearrangement influences the performance.
Performance Evaluation of the IEEE 802.16 ARQ Mechanism
2007
The IEEE 802.16 technology defines the ARQ mechanism that enables a connection to resend data at the MAC level if an error is detected. In this paper, we analyze the key features and parameters of the ARQ mechanism. In particular, we consider a choice for the ARQ feedback type, a scheduling of the ARQ feedbacks and retransmissions, the ARQ block rearrangement, ARQ transmission window and ARQ block size. We run a number of simulation scenarios to study these parameters and how they impact a performance of application protocols. The simulation results reveal that the ARQ mechanism plays an important role in transmitting data over wireless channels in the IEEE 802.16 networks.
Performance comparison of HARQ and ARQ mechanisms in IEEE 802.16 networks
2008
The IEEE 802.16 technology defines several link level mechanisms to retransmit erroneous data. In this paper we compare the performance of the ARQ and HARQ mechanisms in the IEEE 802.16 networks. Our simulations results show that in general HARQ provides a better performance. However, ARQ can compete successfully with it due to a smaller signaling overhead. Furthermore, since ARQ does not require a dedicated uplink signaling channel for the acknowledgments messages, it results in better resources utilization in the uplink direction.
Link Adaptation Thresholds for the IEEE 802.16 Base Station
2008
The IEEE 802.16 technology defines a number of modulation and coding schemes that the base station can use to achieve the best tradeoff between the spectrum efficiency and the resulting application level throughput. However, the 802.16 specification does not define any particular link level adaptation algorithm, neither does it specify the SNR thresholds to switch between modulation and coding schemes. In this paper we consider a link adaptation model and conduct a number of simulation runs to find transition thresholds for ARQ and HARQ retransmission mechanisms. All the simulations are done with the 802.16 extension for the NS-2 simulator.