In this paper we treat design philosophies and enabling technologies for ambient awareness within grids of future mobile computing/communication devices. We extensively describe the possible context sensors, their required accuracies, their use in mobile services—possibly leading to background interactions of user devices—as well as a draft of their integration into an ambient aware device. We ...

car body acceleration is an important factor affecting track safety and ride comfort, which are two primary aspects of railway systems. though track level is an important source of wagon body acceleration, no quantitative relation between them is available and the aim of this paper is to propose a method to address this issue. to do so, car body acceleration is determined using a 10 dof simulat...

Optimal pacing strategies for cycling time trials have been treated in literature in numerous publications, e.g. Gordon (2005). Generally, the minimum time pacing is sought subject to a mechanical model and a physiological model. The mechanical model (Martin, 1998) comprises the pedaling power P and forces for gravity on a cycling track of varying slope, rolling resistance, aerodynamic drag, fr...

This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a time-varying reference attitude is assigned. The first controller achieves attitude synchronization for a group of spacecraft with a leaderless communication topolo...

This paper proposes a design method of optimal H2 integral servo controller. The optimal H2 integral controller is to establish a way to find the admissible controller such that the controlled plant is stabilized and guarantee to track a constant reference signal while minimizing the close-loop system H2 norm from the disturbance to the controlled output. In this paper the derivative state cons...

This paper builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and control Lyapunov function based quadratic programs (CLFQP) for underactuated hybrid systems. The primary contribution of this paper is developing a robust control technique for underactuated hybrid systems with application to bipedal walking, that is able to track desired trajector...

We present a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target. The helicopter is required to identify a target, track it, and land on it while the target is in motion. We use Hu’s moments of inertia for precise target recognition and a Kalman filter for target tracking. Based on the output of the tracker a simple trajectory controller is implemented ...

This paper presents a human-scale multi-modal virtual environment. User interacts with virtual worlds using a large-scale bimanual haptic interface called the SPIDAR-H. This interface is used to track user’s hands movements and to display various aspects of force feedback associated mainly with contact, weight, and inertia. In order to increase the accuracy of the system, a calibration method i...

Underrepresentation of women in senior positions is a persistent problem in universities worldwide, and a wide range of strategies to combat this situation is currently being contemplated. One such strategy is the introduction of a tenure track system, in which decisions to promote scientific staff to higher ranks are guided by a set of explicit and transparent criteria, as opposed to earlier s...

the main design criteria of ballasted railway tracks include rail deflections, rail bending stresses, rail wheel contact stresses, sleeper bending moments and ballast sleeper contact pressures. numerous criteria have been defined for the design of ballasted railway tracks owing to the various mechanical properties of track components and their complex interaction. therefore, railway track desig...