University of Niš: Facta Universitatis (E-Journals) / Универзитет у Нишу
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IMPROVED PSEUDORANDOM ABSOLUTE POSITION ENCODER WITH RELIABLE CODE READING METHOD
Full text linkPseudorandom position encoders enable an absolute position measurement using one code track based on a pseudorandom binary sequence (PRBS). Both serial and parallel pseudorandom code reading methods can be applied in these encoders. A reliable solution of an absolute position encoder that uses two mutually shifted pseudorandom code tracks is presented. The proposed solution is easier for practical realization, and has better performances regarding redundancy and reliability. The practical realization of this code reading method is also shown
FUZZY LOGIC-BASED CONTROL OF THREE-DIMENSIONAL CRANE SYSTEM
Full text linkThe control of three-dimensional (3D) crane system represents one of the most widely challenging control problems. 3D crane system is used for lifting and moving loads horizontally, as well as lowering and realizing the gripper to the original position. In this paper fuzzy logic-based control of three-dimensional crane (3D) system is presented. Hence the system produces oscillations during moving loads, the main objective of the designed controller is to control the swing angle. As a plant for controller design, the bond graph model of 3D crane system is used. To verify the effectiveness of the proposed control method, several digital simulations with concrete values of parameters are performed using Matlab. The simulations results show that the proposed fuzzy logic control produce better performance in regard to the reduction of undesired oscillations.Key words: bond graph, 3D crane, Dymola, fuzzy control, modeling and simulation, Matlab/Simulin
PLANE WAVE COUPLING TO HORIZONTAL WIRE ABOVE LOSSY SOIL (Comparison of electromagnetic, complex image and transmission line models)
Full text linkThe paper presents modeling of TM plane coupling to horizontal thin-wire conductor above homogeneous lossy soil. The main purpose of this work is to compare results of the current distribution obtained by using two approximate approaches based on: complex image theory and transmission line theory with respect to a rigorous electromagnetic approach. A detailed parametric analysis clearly illustrates the validity domain and possible limitations of approximate models in EMC studies
KALMAN FILTER AND NARX NEURAL NETWORK FOR ROBOT VISION BASED HUMAN TRACKING
Full text linkTracking human is an important and challenging problem in video-based intelligent robot systems. In this paper, a vision-based human tracking system is supposed to provide sensor input for vision-based control of a mobile robot that works in a team helping the human co-worker. A comparison between NARX neural network and Kalman filter in solving the prediction problem of human tracking in robot vision is presented. After collecting video data from a robot, simulation results obtained from the Kalman filter model are used to compare with the simulation results obtained from the NARX Neural network.Key words: robot vision, Kalman filter, neural networks, human trackin
PROBABILITY OF STABILITY ESTIMATION OF DPCM SYSTEM WITH THE FIRST ORDER PREDICTOR
Full text linkThe probability of stability of DPCM system with the first order predictor is considered in this paper. The basis of the analysis is predictor stability (probability of stability) which is the most important and sufficient condition for stability of the whole system. Influence of predictor stability on system performances (such as signal-to-noise ratio) is considered for concrete signal