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共 310 条记录，以下是181-190 订阅

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Research on Servo Drive system of Permanent Magnet Synchronous Motor Based on Zynq

Research on Servo Drive System of Permanent Magnet Synchrono...

引用

ieee international conference on Power and Energy systems (ICPES)

作者： Dong Xu Jian Tian Hongjie Fan Hongxing Wei School of Automation Science and Electrical Engineering Beihang university Beijing China School of Mechanical Engineering and Automation Beihang university Beijing China

ISBN: (数字)9781665404945

ISBN: (纸本)9781665404952

this article is based on XC7Z020 chip, one of a series chips Zynq-7000 SoC made by Xilinx, to build a permanent magnet synchronous motor (PMSM) servo drive system. the principle of vector control and PID control are used to accomplish the closed-loop control model which includes current loop, speed loop and position loop. then the three loops are realized in the servo drive system. the servo drive is composed of main control board, interface board, driver board and power board. the external design of the servo drive is an open interface, and for the internal, we use a stacked layered structure to reduce the volume and optimize the layout. the ARM implements control algorithms, communication protocols and auxiliary functions; while FPGA implements functions such as feedback processing, output of PWM wave and hardware protection. Finally, the servo drive system is placed under working conditions, and tests of no-load and different loads are carried out with various temperatures. Experimental results show that the driver is stable and reliable, meets engineering requirements, and can achieve precise control of torque, speed, and position.

关键词： Protocols Process control Permanent magnet motors Hardware Servomotors Field programmable gate arrays Machine vector control

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Application of 6-Axis Force Torque (F/T) Sensor for a three Fingered Robot Hand Impedance control

Application of 6-Axis Force Torque (F/T) Sensor for a Three ...

引用

ieee international conference on system engineering and Technology

作者： R. L. A. Shauri A. B. Roslan Z. S. M. Zarib Faculty of Electrical Engineering Universiti Teknologi MARA (UiTM) Shah Alam Selangor Malaysia

ISBN: (数字)9781728199108

ISBN: (纸本)9781728184999

In previous work, a position-based force control was established using two-axis load cell buttons embedded into a 7-DOF three-fingered robot hand. However, the inconsistent readings of the incurred force which is due to the loose placement of the movable parts of the fingertip has led to the motivation to replace the sensor. this paper discusses the application of a new 6-axis force sensor for the robot hand impedance control. the objectives of this work are to establish a new interface and to modify the existing impedance control of the robot hand according to the application of the new 6-axis FT sensor and interfaces. the interface between the hardware, sensors, and controller within the robot system was implemented on the Simulink Matlab application. the inputs and outputs of two different Peripheral Component Interconnect (PCI), which are PCI NI-6225 and PCI ADVANTECH-1771 were configured and verified through experiment. It can be observed that the new interface was feasible by using multiple PCIs. Meanwhile, the impedance control results showed that the position reference changed accordingly when the exerted force exceeds the threshold force based on the measurement from the new sensor.

关键词： Impedance Robot sensing systems Force Robots Force measurement Software packages Real-time systems

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JESSIE: Synthesizing Social Robot Behaviors for Personalized Neurorehabilitation and Beyond

JESSIE: Synthesizing Social Robot Behaviors for Personalized...

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ACM/ieee international conference on Human-Robot Interaction (HRI)

作者： Alyssa Kubota Emma I. C. Peterson Vaishali Rajendren Hadas Kress-Gazit Laurel D. Riek Computer Science and Engineering University of California San Diego USA Computer Science and Engineering University of Minnesota Twin Cities USA Sibley School of Mechanical and Aerospace Engineering Cornell University USA

JESSIE is a robotic system that enables novice programmers to program social robots by expressing high-level specifications. We employ control synthesis with a tangible front-end to allow users to define complex behavior for which we automatically generate control code. We demonstrate JESSIE in the context of enabling clinicians to create personalized treatments for people with mild cognitive impairment (MCI) on a Kuri robot, in little time and without error. We evaluated JESSIE with neuropsychologists who reported high usability and learnability. they gave suggestions for improvement, including increased support for personalization, multi-party programming, collaborative goal setting, and re-tasking robot role post-deployment, which each raise technical and sociotechnical issues in HRI. We exhibit JESSIE’s reproducibility by replicating a clinician-created program on a TurtleBot 2. As an open-source means of accessing control synthesis, JESSIE supports reproducibility, scalability, and accessibility of personalized robots for *** CONCEPTS •Computer systems organization →Robotic control;• Applied computing →Health informatics. ACM Reference Format: Alyssa Kubota 1 , Emma I. C. Peterson 2 , Vaishali Rajendren 1 , Hadas KressGazit 3 , Laurel D. Riek l . 2020. JESSIE: Synthesizing Social Robot Behaviors for Personalized Neurorehabilitation and Beyond. In Proceedings of the 2020 ACMlieee international conference on Human-Robot Interaction (HRI’20), March 23-26, 2020, Cambridge, United Kingdom. ACM, New York, NY, USA, 10 pages. https://***/10.1145/3319502.3374836

关键词： Scalability Human-robot interaction Collaboration Organizations control systems Reproducibility of results Usability

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Finger Vein Segmentation from Infrared Images Using Spectral Clustering: An Approach for User Indentification

Finger Vein Segmentation from Infrared Images Using Spectral...

引用

ieee international conference on system engineering and Technology

作者： Zenin J. Vásquez-Villar Juan J. Choquehuanca-Zevallos Jimmy Ludeña-Choez Efraín Mayhua-López Universidad Católica San Pablo Arequipa Perú

ISBN: (数字)9781728199108

ISBN: (纸本)9781728184999

Among biometric systems for user identification, finger vein patterns captured in the infrared spectrum have shown to be relevant for identifying users; and, in this way to provide a high level and low-cost security system. Unfortunately, the extraction of these vascular patterns is affected by many factors such as the capture device, light variations, force exerted on the finger, tissues, and bones with different morphology, finger position, etc. therefore in this paper, we propose Spectral Clustering for the vein pattern extraction task from infrared images. To do so, the Spectral Clustering memory requirements for a large number of samples are attacked considering small disjoint partitions of the image and comparing resulting clusters in order to joint them avoiding the need for further expensive post-processing steps. Results are presented in terms of user classification error rates, showing that a good performance can be obtained by means of the proposed method.

关键词： Veins Databases Feature extraction Indexes Image segmentation Eigenvalues and eigenfunctions Biometrics (access control)

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Segmentation and Detection of Road Region in Aerial Images using Hybrid CNN-Random Field Algorithm

Segmentation and Detection of Road Region in Aerial Images u...

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international conference on Confluence the Next Generation Information Technology Summit (Confluence)

作者： Sukanya Gaurav Dubey Computer Science and Engineering ABES Engineering college Ghaziabad India

ISBN: (数字)9781728127910

ISBN: (纸本)9781728127927

Road detection and segmentation is an important aspect in navigation system and is widely used to detect new roads and patterns in the region. these system has the main objective to help navigate the autonomous vehicle and robot on the ground. Road detection is very useful in finding valid road path where the vehicle can go for supportive vehicles preventing the collision with the obstacles, object detection on the road and other necessary information exchange. It has a variety of uses such as the disaster monitoring, traffic monitoring, crop monitoring, border surveillance, security and so on. there are several techniques used for detection and segmentation purpose of roads such as Artificial Neural Network, Support Vector Machine (SVM), Self-Organizing Map (SOM), Convolution Neural Network (CNN), and Deep learning techniques. In this paper, a new technique for road detection and segmentation is proposed which includes a combination algorithm of CNN and Random Field segmentation for road maps using aerial images. this road detection and segmentations give alternative solution for road classification and detection with a higher accuracy. In this system normally accuracy (ACC) have an average range of 97.7%.

关键词： Roads Image segmentation Traffic control Surveillance Convolution Classification algorithms

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Docker's security analysis of using control group to enhance container resistance to pressure 10

Docker's security analysis of using control group to enhance...

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10th international conference on Information Technology in Medicine and Education, ITME 2019

作者： Yang, Tianshuo Luo, Zhongxuan Shen, Zheliang Zhong, Yican Huang, Xin Department of Computer Science and Software Engineering Xi'An Jiaotong-Liverpool University Suzhou China

ISBN: (纸本)9781728139173

Docker is a container technology to create lightweight virtual system framework in the cloud computing environment. Massive users exploit it on systems of Linux, Mac, and Windows to simplify configuration or test large-scale operations and isolate applications. However, considering the security of Docker container, Distributed Denial of Service (DDoS) attacks have been a severe problem which needs to be solved. therefore, this paper aims to analyze the compressive ability of Docker container and reduce the influence of DDoS by using control group (Cgroup). Furthermore, an experiment will be designed to detect the effects of Cgroup under three kinds of pressure: run out Central Process Unit (CPU), run out bandwidth and DDoS attack. In addition, limiting CPU, limiting Network (Net) I/O and limiting both of them will be considered as the method to use Cgroup to restrict containers' resources. In a result, it is shown that the attacks would be limited in a certain scope after restricting the resources of containers by Cgroup. therefore, the method of imposing restrictions on CPU and Net I/O resources of Docker containers by using Cgroup can effectively reduce the impact of DDoS attacks. © 2019 ieee.

关键词： Containers

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Automatic Climate control for Mushroom Cultivation using IoT Approach

Automatic Climate Control for Mushroom Cultivation using IoT...

引用

ieee international conference on system engineering and Technology

作者： Muhammad Azizi Mohd Ariffin Muhammad Izzad Ramli Mohd Nazrul Mohd Amin Marina Ismail Zarina Zainol Nor Diana Ahmad Nursuriati Jamil National Autism Resource Centre Faculty of Computer and Mathematical Sciences UiTM Shah Alam Selangor Malaysia

ISBN: (数字)9781728199108

ISBN: (纸本)9781728184999

In Malaysia, most farmers only depend on traditional agricultural practices. To improve the efficiency as well as the productivity of their farms, modern agricultural technology was proven to be better than traditional practices. Internet of things (IoT) is usually related in modern agriculture which provides the farmer with a real-time monitoring condition of their farm from anywhere and anytime. Nowadays, oyster mushroom is one of the favorite plants to be cultivated among Malaysian farmers. However, it is still overshadowed by the traditional cultivation approach, which is costly, low productivity and more maintenance. therefore, this work aims to develop an automatic climate control system at a minimized cost, which can control the condition of the farm as well as optimize the resources. Our proposed IoT-based design was tested in real environment at NASOM Bandar Puteri Centre. Oyster mushroom requires an optimum temperature ranging from 20 to 30°C and humidity from 70 to 80 percent. Two sensors were placed at the center and corner of the mushroom house to measure the temperature and humidity which were transmitted to the remote monitoring station via a micro-controller unit for further action. the result conducted for six days showed that an efficient automatic monitoring system, which can control the farm's house as well as minimized the resources and human efforts.

关键词： Humidity Temperature sensors Sensors control systems Monitoring Temperature measurement Sensor systems

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Cross-domain Anomaly Detection for Power Industrial control system

Cross-domain Anomaly Detection for Power Industrial Control ...

引用

international conference on Electronics Information and Emergency Communication

作者： Yanjie Li Xiaoyu Ji Chenggang Li Xiaofeng Xu Wei Yan Xu Yan Yanjiao Chen Wenyuan Xu School of Electrical Engineering Zhejiang University Hangzhou Zhejiang Province 310058 China Electric Power Research Institute State Grid Jilin Electric Power Co. Changchun Jilin Province 130021 China State Grid Jilin Electric Power Co. Changchun Jilin Province China Changchun Power Supply Company State Grid Jilin Electric Power Co. Changchun Jilin Province China School of Electrical Engineering Zhejiang University Hangzhou Zhejiang Province China

ISBN: (数字)9781728163130

ISBN: (纸本)9781728163147

In recent years, artificial intelligence has been widely used in the field of network security, which has significantly improved the effect of network security analysis and detection. However, because the power industrial control system is faced with the problem of shortage of attack data, the direct deployment of the network intrusion detection system based on artificial intelligence is faced with the problems of lack of data, low precision, and high false alarm rate. To solve this problem, we propose an anomaly traffic detection method based on cross-domain knowledge transferring. By using the TrAdaBoost algorithm, we achieve a lower error rate than using LSTM alone.

关键词： Protocols Anomaly detection Industrial control Integrated circuits Feature extraction Neural networks Training data

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Achieving Complete UAV Delivery in the Presence of Motor Failures

Achieving Complete UAV Delivery in the Presence of Motor Fai...

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international conference on Computer Applications and Industrial Electronics (ICCAIE)

作者： Elmer R. Magsino Marc Francis Say John Amos Tan Gokongwei College of Engineering De La Salle University Manila Philippines

ISBN: (数字)9781728150338

ISBN: (纸本)9781728150345

this paper addresses a redundant flight recovery system (RFRS) in unmanned aerial vehicles (UAV) specifically applied for octocopter delivery or courier applications. RFRS implements a state diagram to allow octocopters to be fault-tolerant during motor breakdown or switches to less-energy mode consumption after package delivery. Conventional linear and nonlinear controllers are employed in achieving complete flight and landing stability of the UAV. Empirical experiments have confirmed the feasibility of RFRS being implemented in an octocopter platform.

关键词： Redundant Flight Recovery system Octocopter Fuzzy Logic PID controllers Proportional Integral Derivative control Fuzzy logic Unmanned Aerial Vehicle drone honey bees Fault tolerance Obstetric Delivery presences Motor

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Structure Design and Nonlinear control of a Precision Rotating Stage

Structure Design and Nonlinear Control of a Precision Rotati...

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ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Hao Wang Yuqian Liu Lina Hao Jiaming Chen School of Mechanical Engineering and Automation Northeastern University Shenyang China

ISBN: (数字)9781728190105

ISBN: (纸本)9781728190112

In this paper, the principle of imitating inchworm motion is applied to the rotating mechanism, and a precise rotating mechanism based on Piezoelectric Ceramic Transducer (PZT) actuator is proposed, which can be applied to the rotational positioning in the process of multi-station precision operation, so as to reduce the positioning complexity of the multi-station precision operation and improve operation efficiency. the rotating mechanism proposed in this paper consists of two parts that are stator and rotor, in which the stator is equipped with the driving unit to provide driving torque, and the rotor is equipped with the clamping unit to provide the clamping force. At the same time, in order to ensure high output precision, the modeling and control of hysteresis nonlinearity of the drive unit are studied in the paper. Finally, a prototype is manufactured by wire cutting, and the experimental system is established to verify the output performance of the precision rotating stage and the control effect of the controller. the results show that the resolution of the precision rotating stage is 10.76μrad and the repetitive motion accuracy is less than 2%. the linearity error of the system under the control of the composite controller is 2.12 %. the experimental data shows that the stage can achieve good motion accuracy, and the controller basically eliminates the hysteresis nonlinearity of the driving unit.

关键词： Rotors Hysteresis Stators Mathematical model Clamps Fasteners Compounds

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