Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

A new optimised De Bruijn coding strategy for structured light patterns

Coded structured light is an optical technique based on active stereovision that obtains the shape of objects. One shot techniques are based on projecting a unique light pattern with an LCD projector so that grabbing an image with a camera, a large number of correspondences can be obtained. Then, a 3D reconstruction of the illuminated object can be recovered by means of triangulation. The most used strategy to encode one-shot patterns is based on De Bruijn sequences. In This work a new way to design patterns using this type of sequences is presented. The new coding strategy minimises the number of required colours and maximises both the resolution and the accuracy

A Gain Scheduling Model Predictive Controller for Blood Glucose Control in Type 1 Diabetes

This paper presents a control strategy for blood glucose(BG) level regulation in type 1 diabetic patients. To design the controller, model-based predictive control scheme has been applied to a newly developed diabetic patient model. The controller is provided with a feedforward loop to improve meal compensation, a gain-scheduling scheme to account for different BG levels, and an asymmetric cost function to reduce hypoglycemic risk. A simulation environment that has been approved for testing of artificial pancreas control algorithms has been used to test the controller. The simulation results show a good controller performance in fasting conditions and meal disturbance rejection, and robustness against model–patient mismatch and errors in meal estimation

Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Assignment on Filters, Source Coding and Channel Coding

Considers bandpass filters, Huffman coding, arithmetic coding and Hamming coding.

Lecture on Entropy Coding

Considers entropy, fixed length coding, Huffman coding and arithmetic coding

Lecture on Channel Coding

Considers channel capacity, coding rate, repetition code, Hamming code, Hamming distance

Matlab Code for Entropy Coding

Considers Huffman coding and arithmetic coding

Objective quality of life, optimism, and social-juridical variables, as predictive ones of the subjective quality of life in disarmed Colombian persons

The goal of this research was to identify predic- tive psychosocial factors of the subjective quality of life in a group of 60 people, with ages between 19 and 57, from both sexes, included in the program of demobilization and social inclusion of the Pro- grama de la Alta Consejería para la Reintegración Social y Económica de Personas y Grupos Alzados en Armas en Colombia. this research was a predic- tive correlational descriptive study. the Question- naire of optimism/Pessimism was used to assess the optimist or pessimist trend, and, for assess the quality of life, these strategies were combined: a home visit to value the objective quality of life, the Analogous scale of subjective Quality of Life to value satisfaction and well-being, and a general format to collect socio-demographic and juridical information. Results show that some variables as perceived health, optimism, educational level, re- ligious believes, objective quality of life, type of demobilization and years spent in the armed group operating outside the law, are associated to better levels of perceived quality of life. The findings and limitations of the study are discussed.  

A predictive study of reading comprehension in third-grade Spanish students

Resumen tomado de la publicación

Is semantic impairment a predictive sign for Alzheimer disease?

Resumen basado en el de la publicaci??n

Local model predictive control for navigation of a wheeled mobile robot using monocular information

Aquesta tesi està inspirada en els agents naturals per tal de planificar de manera dinàmica la navegació d'un robot diferencial de dues rodes. Les dades dels sistemes de percepció són integrades dins una graella d'ocupació de l'entorn local del robot. La planificació de les trajectòries es fa considerant la configuració desitjada del robot, així com els vértexs més significatius dels obstacles més propers. En el seguiment de les trajectòries s'utilitzen tècniques locals de control predictiu basades en el model, amb horitzons de predicció inferiors a un segon. La metodologia emprada és validada mitjançant nombrosos experiments.

Phoneme analysis of cochlear implant recipients' responses to CNC words using the MPEAK and SPEAK speech coding strategies of the Nucleus cochlear implant system

This paper discusses a study done to determine how cochlear implant users perceive speech sounds using MPEAK or SPEAK speech coding strategy.