1,721,015 research outputs found
Nonparametric kernel smoothing and FIR filtering for model-free fault symptom generation
No full textThis paper describes some new theoretical and practical developments to a recently proposed approach to the generation of fault symptoms in nonlinear systems. The method is model-free, in the sense that no analytical model of the plant is needed. The kernel-smoother makes it possible to detect changes in the plant dynamics, possibly due to some malfunction. After recalling several basic definitions and results, a novel interpretation in the context of FIR filters is presented, and some practical implementation issues are addressed. Experimental results on the three-tank benchmark are finally reported, showing the effectiveness of the proposed methodology
Experimental results on the diagnosis of stator faults for a DTC controlled induction motor
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Hamiltonian path planning in constrained workspace
Full text linkA methodology to plan the trajectories of robots that move in an n-dimensional Euclidean space, have to reach a target avoiding obstacles and are constrained to move in a region of the space is described. It is shown that if the positions of the obstacles are known then a Hamiltonian function can be constructed and used to define a collision-free trajectory. It is also shown that the method can be extended to the case in which the target or the obstacles (or both) move. Results of simulations for a pair of planar robots and a three degrees-of-freedom manipulator are finally reported
Model-free fault diagnosis for nonlinear systems: a combined kernel-regression and neural networks approach
No full textAdaptive time-warped control of molten salt distributed collector solar fields
No full textThis paper concerns the temperature control of a new class of distributed collectors solar fields, which employ molten salt as heat transfer fluid (HTF). Distinctive characteristics of these plants are the high operating temperatures, close to the thermal limits of receiver pipes, and the high solidification temperature of HTF. By means of a novel hybrid adaptive control scheme, based on the Unscented Kalman Filter and on a time-warped predictive controller, the HTF temperature can be effectively controlled within prescribed constraints also in presence of uncertainty in model parameters and faults on collectors
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