Source localization and sensor placement in environmental monitoring

Stoian

2014 18th International Conference on System Theory, Control and Computing (ICSTCC)

et al. 2014

This paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electropneumatically system for position control. A system of cables actuated by DC motors is used for bending. Control system is based on a PIC microcontroller. The position of the robot can be obtained by bending it with the cables and by blocking the position of the elements we need, using the electro-pneumatically system. The major advantage of this type of actuation consists in the fact that the robot can be actuated using a boundary control by cables, the position blocking system for any element being relatively simple. The sensorial system is described and the main features of the global system are presented. The advantages of this sensorial system for this robot architecture are discussed.

Section: Fig 1 Example Of a Trunks Manipulatormentioning

confidence: 99%

Sensorial system for hyper-redundant arm

Stoian

2014 18th International Conference on System Theory, Control and Computing (ICSTCC)

et al. 2014

2013 17th International Conference on System Theory, Control and Computing (ICSTCC)

“…For these applications, local sensor -based motion planning schemes are vital. The issue of integrating feedback control and optimal actuator / sensor placement has been examined for linear PDE [14,15].…”

Section: Introductionmentioning

confidence: 99%

Control by position sensors for a hyper-redundant robot

Ivănescu

Cojocaru

Dumitru

et al. 2013

The paper treats the control problem for a class of hyper-redundant robots characterized by elastic backbone. The dynamic model of this system is analyzed. A measuring system based on curvature film sensors is proposed and an optical placement technique of sensors is discussed. A control algorithm is introduced by using the concept of boundary geometric control and a weighted state control method. Numerical simulations and experimental results illustrate the presented methods.

International Journal of Applied Mathematics and Computer Science

“…We notice that controllability and observability questions for coupled partial differential equations are closely related to source identification and sensor location problems for distributed parameter systems (see, e.g., Khapalov, 2010;Uciński and Patan, 2010;El Jai and Hamzaoui, 2009). These models also arise in a very important applied area-wave propagation in porous media (Boit, 1962;Holger et al, 2010).…”

Section: S Avdonin Et Almentioning

confidence: 99%

Exact boundary controllability of coupled hyperbolic equations

Avdonin

Rivero

Teresa

2013

We study the exact boundary controllability of two coupled one dimensional wave equations with a control acting only in one equation. The problem is transformed into a moment problem. This framework has been used in control theory of distributed parameter systems since the classical works of A.G. Butkovsky, H.O. Fattorini and D.L. Russell in the late 1960s to the early 1970s. We use recent results on the Riesz basis property of exponential divided differences.