Clarence W. de Silva

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Analysis and estimation of friction and compensation for its effects in the control of an electrohydraulic manipulator is addressed in this paper. The specific hydraulic manipulator is an integral part of an automated fish processing machine which has been developed in our laboratory. The analysis reveals that considerable static and dynamic friction exists(More)
M icro-electromechanical systems (MEMS) use microminiature sensors and actuators. MEMS technology provides the benefits of small size, low weight, high performance, easy mass-production and low cost. This article is the first part of a three-part series on MEMS sensors. In the present article, we provide a general introduction to MEMS sensing and the(More)
Abstract— This paper focuses on the stability and optimality of a novel control strategy for Networked Control Systems (NCS). The developed control strategy hones the potential of constrained Model Predictive Control (MPC) by buffering the predicted control sequence at the actuator in anticipation of the occurrence of typical data transmission errors(More)
This paper presents a method for detecting abnormal motion in real time using a computer vision system. The method is based on the modeling of human body image, which takes into account both orientation and velocity of prominent body parts. A comparative study is made of this method with other existing algorithms based on optical flow and the use of(More)
In this paper, two types of multi-agent reinforcement learning algorithms are employed in a task of multi-robot box-pushing. The first one is a direct extension of the single-agent Q-learning, which does not have a solid theoretical foundation because it violates the static environment assumption of the Q-learning algorithm. The second one is the Team(More)