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Full-Text Articles in Electrical and Computer Engineering
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
Electronic Thesis and Dissertation Repository
This thesis deals with development and experimental evaluation of control algorithms for stabilization of robot-environment interaction based on the conic systems formalism and scattering transformation techniques. A framework for stable robot-environment interaction is presented and evaluated on a real physical system. The proposed algorithm fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction. The framework is based on the recently developed non-planar conic systems formalism and generalized scattering-based stabilization methods. A comprehensive theoretical background on the scattering transformation techniques, planar and non-planar conic systems is presented. …
Efficient Discovery And Utilization Of Radio Information In Ultra-Dense Heterogeneous 3d Wireless Networks, Mattaka Gamage Samantha Sriyananda
Efficient Discovery And Utilization Of Radio Information In Ultra-Dense Heterogeneous 3d Wireless Networks, Mattaka Gamage Samantha Sriyananda
Electronic Thesis and Dissertation Repository
Emergence of new applications, industrial automation and the explosive boost of smart concepts have led to an environment with rapidly increasing device densification and service diversification. This revolutionary upward trend has led the upcoming 6th-Generation (6G) and beyond communication systems to be globally available communication, computing and intelligent systems seamlessly connecting devices, services and infrastructure facilities. In this kind of environment, scarcity of radio resources would be upshot to an unimaginably high level compelling them to be very efficiently utilized. In this case, timely action is taken to deviate from approximate site-specific 2-Dimensional (2D) network concepts in radio resource utilization …