Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to full control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot.

Mars: a personalised mobile activity recognition system

Mobile activity recognition focuses on inferring the current activities of a mobile user by leveraging the sensory data that is available on today’s smart phones. The state of the art in mobile activity recognition uses traditional classification learning techniques. Thus, the learning process typically involves: i) collection of labelled sensory data that is transferred and collated in a centralised repository; ii) model building where the classification model is trained and tested using the collected data; iii) a model deployment stage where the learnt model is deployed on-board a mobile device for identifying activities based on new sensory data. In this paper, we demonstrate the Mobile Activity Recognition System (MARS) where for the first time the model is built and continuously updated on-board the mobile device itself using data stream mining. The advantages of the on-board approach are that it allows model personalisation and increased privacy as the data is not sent to any external site. Furthermore, when the user or its activity profile changes MARS enables promptly adaptation. MARS has been implemented on the Android platform to demonstrate that it can achieve accurate mobile activity recognition. Moreover, we can show in practise that MARS quickly adapts to user profile changes while at the same time being scalable and efficient in terms of consumption of the device resources.

An universal system to de-orbit satellites at end of life

A 3-year Project financed by the European Commission is aimed at developing a universal system to de-orbit satellites at their end of life, as a fundamental contribution to limit the increase of debris in the Space environment. The operational system involves a conductive tapetether left bare to establish anodic contact with the ambient plasma as a giant Langmuir probe. The Project will size the three disparate dimensions of a tape for a selected de-orbit mission and determine scaling laws to allow system design for a general mission. Starting at the second year, mission selection is carried out while developing numerical codes to implement control laws on tether dynamics in/off the orbital plane; performing numerical simulations and plasma chamber measurements on tether-plasma interaction; and completing design of subsystems: electronejecting plasma contactor, power module, interface elements, deployment mechanism, and tether-tape/end-mass. This will be followed by subsystems manufacturing and by currentcollection, free-fall, and hypervelocity impact tests.

Model Based On-Line Energy Prediction System for Semi-Autonomous Mobile Robots

Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. This paper presents a on-line method for predicting energy requirements based on the pre-determined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. The applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.

A VLC-based beacon location system for mobile applications

This paper proposes a low cost and complexity indoor location and navigation system using visible light communications and a mobile device. LED lamps work as beacons transmitting an identifier code so a mobile device can know its location. Experimental designs for transmitter and receiver interfaces are presented and potential applications are discussed.

A pictorial geography of the world : comprising a system of universal geography, popular and scientific, including a physical, political, and statistical account of the earth and its various divisions, with numerous sketches from recent travels, and illustrated by more than twelve hundred engravings of manners, costumes, curiosities, cities, edifices, ruins, beasts, birds, fishes, reptiles, trees, plants, fruits, etc., with a copious index, answering the purpose of a gazetteer /

Added title page engraved

Universal geography formed into a new and entire system : describing Asia, Africa, Europe, and America ... To which is added, a short view of astronomy, as connected with geography ... /

"Appendix to v.I, in two parts, containing 1. The history of the voyages around the world, and toward the North and South poles, which have been made since the year 1764, by English navigators. 2. A digested and geographical account of the most considerable islands and countries which have been either discovered or explored during those voyages, collected from every writer upon those subjects".

Some account of the Jacotot system of universal instruction with a preliminary reference to the systems of Lancaster, Fellenburgh, and Pestalozzi, read before the Albany Institute at its last regular meeting, in April 1831.

Mode of access: Internet.

Pictorial geography of the world : comprising a system of universal geography, popular and scientific ... and illustrated by more than one thousand engravings ... with a copious index answering the purpose of a gazeteer / by S.G. Goodrich.

Mode of access: Internet.

A pictorial geography of the world : comprising a system of universal geography, popular and scientific ... /

Mode of access: Internet.

A system of universal geography, popular and scientific, comprising a physical, political, and statistical account of the world and its various divisions...

Mode of access: Internet.

An essay intended to establish a standard for an universal system of stenography, or Short-hand writing.

Mode of access: Internet.