The sliding mode controller, based on the theory
of the Variable Structure System (VSS), is considered
for a robot manipulator. By consideration of VSS theory,
the nonlinear interactions of manipulator dynamics
are suppressed by use of linear sliding equations, and
VSS robustness with respect to the unknown physical manipulator
parameter...
Morphological filters have shown good performance in various image processing applications. Furthermore, their algorithms are easy to implement in special architectures, with the exception that linear filtering cannot be implemented in many of these cases. In this study, a new architecture and corresponding algorithm, capable of realizing linear shiftinvariant filters,...
"Expert systems" is an area in the field of
artificial intelligence which attempts to encode an
"expert's" heuristic knowledge and reasoning ability into
a computer program. The purpose of this study is to
investigate the applicability of using an "expert system"
in a closed-loop automatic control system.
An "expert system"...
Mathematical models for the doubly-fed machine are
presented. The properties of the machine with rotor excitation as supplied by a power converter with voltage
source character are reviewed. The peculiar torque-speed
characteristic of the machine in this operating mode and
its effect on the stability of the machine are presented....
With the development of converters and inverters, it
became possible to control the stator current of an
induction motor. The differential equations which describe
transient behavior of the induction motor are conveniently
expressed by transforming the stator and rotor variables to
d-q axes rotating at synchronous speed. The transient
behavior...
Most of the existing research on mathematical morphology is
restricted to the deterministic case. This thesis addresses the void
in the results on the stochastic properties of morphological filters.
The primary results include analysis of the stochastic
properties of morphological operations, such as dilation, erosion,
closing and opening. Two unbiased...
A systematic optimization of the Cohen class time-frequency
transformation for detecting the parameters change is developed.
The local moments approach to change detection is proposed and a
general formula for the local moments is derived. The optimal
kernel functions of the time-frequency transformation are determined
based on the combined criteria...
Mathematical morphology, developed in the early 1960's for
single-component signals, has been applied to a number of image
processing applications. This investigation examines the systematic
extension of mathematical morphology to multi-variate signals.
Two approaches are considered. The first approach, the
extension of the theory of single-component morphological filters to
multi-variate...
Vision is a flexible, non-contact sensor that can be used for position feedback in
closed-loop control of dynamic systems. Current vision systems for industrial
automation provide low sample rates and large sample delays relative to other types of
position sensors. Poor sample rates and sample delays are a result of...