This thesis addresses the use of monocular eye-in-hand machine vision to control the position of a robot manipulator for dynamically challenging tasks. Such tasks are defined as those where the robot motion required approaches or exceeds the performance limits stated by the manufacturer. Computer vision systems have been used for robot control for over two decades now, but have rarely been used...

In this paper, the combination of equalization and turbo decoding is studied. In the iterative decoding of a product code in block turbo coding system, the equalization process is performed within the iteration loop. The present study aims to investigate the decision feedback equalizer (DFE) incorporated in the iterative decoding. Simulation results show that the more severe the channel interfe...

This paper uses prediction error identification to distinguish control-relevant system changes in closed-loop operation from variations in disturbance characteristics. The approach consists of a hypothesis test to verify whether an identified model of the true system lies in a set containing all models that exhibit adequate closed-loop performance. To increase the detection probability, i.e. th...

In this paper, it investigate the bit error rate (BER) performance of transmit beamforming using singular value decomposition (SVD) for closed loop multiple-input multiple-output (MIMO) wireless systems with various modulation techniques such as binary phase shift keying (BPSK), quadrature phase-shift keying (QPSK)‎ and 16quadrature amplitude modulation (16-QAM) along with convolution encoder a...

A new method of designing multi-loop PID controllers is presented in this paper. By using the generalized IMC-PID method for multi-loop systems, the optimization problem involved in finding the PID parameters is efficiently simplified to find the optimum closed-loop time constant in a reduced search space. A weighted sum Mp criterion is proposed as a performance cost function to cope with both ...

background: familial adenomatous polyposis (fap) is a well-known entity for specialistrnand it has near 100% chance of malignant changes if does not managed surgically. in orderrnto reduce the disadvantages of laparatomy and diverting ileostomy we present ourrnresults of laparoscopic total proctocolectomy without diverting ileostomy.rnobjectives: the aim of this study was to present the results...

This paper considers solving optimization problem for linear discrete time systems such that closed-loop discrete-time system is positive (i.e., all of its state variables have non-negative values) and also finite-time stable. For this purpose, by considering a quadratic cost function, an optimal controller is designed such that in addition to minimizing the cost function, the positivity proper...

Implementation of a Distributed Control System (DCS) provides for significant regulatory control benefits through improved control capabilities, increased system reliability, and in reducing overall maintenance costs. The DCS control and economic benefits are commonly supplemented through commissioning of advanced control applications, model-based predictive controllers, unit optimization, and ...

In the refining industry, process optimization typically begins with a process engineer collecting operation data to perform a heat and weight balance and to evaluate the catalyst activity. Based on the current trends and operating conditions, the setpoint(s) on critical process control loops (loops that affect unit stability and bottom line economic benefits) may need to be adjusted manually o...

Two methods for controller reduction based on the closed-loop system performance-preserving criterion are proposed. They are the closed-loop block balanced and the closed-loop structurally balanced truncating methods. Reduced-order controllers are obtained directly by solving the closed-loop system reduction problem with performance-preserving weights. c © 2002 Elsevier Science B.V. All rights ...