This paper presents a visual servoing of 6 degreeof-freedom (DOF) manipulator based on intersample disturbance rejection with switching scheme. In the controller, multirate intersample disturbance rejection algorithm is utilized, which was proposed by authors for general digital control system with restricted sampling frequency. The proposed feedforward scheme with open-loop estimation and swit...

A new discription of multirate systems, called multirate periodic system, is given using the concept of periodic time-varying input-output spaces. We then de ̄ne the o -gap metric of two multirate periodic systems and study the robust stabilization with this metric. The optimal robust stabilization margin is explicitly computed and an obsever-form suboptimal controller is given. The solution amo...

The Euclidean algorithm is a frequently used tool in the analysis of one-dimensional (1D) multirate systems. This tool is however not available for multidimensional (MD) multirate systems. In this paper we discus how Groebner basis techniques can ll this gap. After presenting the relevant facts about Groebner bases, we will show in a few examples how this technique can contribute to MD multirat...

In multirate ad-hoc networks, mobile stations usually adapt their transmission rates to the channel conditions. This paper investigates the behavior of IEEE 802.11b/g cards in a multirate ad-hoc environment. WLAN network cards from different vendors are analyzed. The theoretical upper bound estimation of the throughput in multirate ad-hoc networks is derived. The measurement scenarios and obtai...

Recently we have developed an efficient flexible multirate signal processing structure with high oversampling ratio and adjustable fractional or irrational sampling rate conversion factor. One application area is a multistandard communication receiver which should be adjustable for different symbol rates utilised in different systems. The proposed decimation filter consists of parallel CIC (cas...

This paper deals with reconstruction of nonuniformly sampled bandlimited continuous-time signals using time-varying discrete-time FIR filters. The point of departure is a representation of the reconstructed sequence that utilizes a time-frequency function. This representation enables a proper utilization of the slight oversampling that is assumed and reduces the reconstruction problem to a desi...

This paper introduces a new approach to reduce the computational load of nonlinear model based predictive controllers. The idea is based on dividing a long prediction horizon into only a few equidistant intervals with piecewise constant control signals. After solving a first dynamic optimization problem the prediction horizon is halved, keeping the second half of the solution fixed and doubling...

One of most interesting aspects in haptic research deals with the extension of application workspace, thus allowing haptic simulation within large virtual environments. Several devices have been realized that allow this kind of interaction, in particular our interest focuses on mobile haptic interfaces, realized by combining classic grounded haptic devices with mobile platforms. While grounded ...

Multirate architectures have been used for realizing linear FIR digital filters with reduced computational complexity. The Volterra kernel can be represented as a generalized convolution. It would thus be expected that multirate architectures could be used to advantage in realizing Volterra kernels as well. The quadratic Volterra kernel may be realized in the form of an “LDL structure.” The LDL...

We consider the problem of representing timing information associated with functions in a dataflow graph used to represent a signal processing system in the context of high-level hardware (architectural) synthesis. This information is used for synthesis of appropriate architectures for implementing the graph. Conventional models for timing suffer from shortcomings that make it difficult to repr...