the relevance of honeybee vision to the design of seeing systems was discussed. It was shown that the fixed insects respond to the passing of edges by the spatio-temporal correlation between adjacent visual axes. It w...
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ISBN:
(纸本)9810474806
the relevance of honeybee vision to the design of seeing systems was discussed. It was shown that the fixed insects respond to the passing of edges by the spatio-temporal correlation between adjacent visual axes. It was concluded that the bees have a small variety of filters to detect cues and they learn to look in exactly the right direction from each choice point to pick up the next cue. the bees discriminate the same set of cues whether they were fixed or shuffled relative to the choice point, but when cues were shuffled they learn to look for them only within the range of places where they were learned.
this paper analyzes robustness of multirate control systems with fast control sampling rate and slow output measurement rate in the frequency domain. It is shown that the multirate control is characterized by manipula...
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ISBN:
(纸本)9810474806
this paper analyzes robustness of multirate control systems with fast control sampling rate and slow output measurement rate in the frequency domain. It is shown that the multirate control is characterized by manipulating the system frequency response in high frequency subbands and folding the high frequency subband response to the base frequency band. this amplifies the system loop gain in high frequency subbands leading to deterioration of system robustness stability under the ununiform plant model perturbation.
this paper is a tutorial and review paper on the Gröbner bases method and some of its applications in control and systems. Although all the results presented in the paper wo available in the literature, we give a...
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ISBN:
(纸本)9810483643
this paper is a tutorial and review paper on the Gröbner bases method and some of its applications in control and systems. Although all the results presented in the paper wo available in the literature, we give an elementary treatment here, in the hope that it will further bring awareness of and stimulate, interest in Gröbner bases among researchers in control and systems. We give a brief tutorial on Euclidean Division Algorithm and Gröl ner bases, with emphasis on solutions to two important mathematical problems which are closely related to the stabilizability and stabilization of linear multidimensional systems. Applications of Gröbner bases to other areas of control and systems are also briefly mentioned.
this paper presents a technique to localize and guide outdoors vehicles by both vehicle odometry and landmark localization. In this case, we use reflective poles spaced out about 50 m apart and located at the front of...
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ISBN:
(纸本)9810483643
this paper presents a technique to localize and guide outdoors vehicles by both vehicle odometry and landmark localization. In this case, we use reflective poles spaced out about 50 m apart and located at the front of the vehicle. the LADAR detects distances, angles, speed, and the position of obstacles within 20 m. Odometry is performed by a steering sensor and encoder attached at the vehicle differential. Using this information, the embedded system matches the vehicle's computed position withthe location of the poles. Finally, passenger safety is ensured by an anti-collision subsystem thanks to the LADAR sensor.
this paper introduces a decentralized control approach to multi-rate sampled-data systems based on lifting technique. A reliable decentralized multi-rate controller design is presented, where stability and input-outpu...
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ISBN:
(纸本)9810474806
this paper introduces a decentralized control approach to multi-rate sampled-data systems based on lifting technique. A reliable decentralized multi-rate controller design is presented, where stability and input-output performance are considered. the design procedure includes boththe analysis of the overall system and the controller synthesis for individual subsystems. A solution to the optimal decentralized control to complex interconnected systems has been proposed in the standard framework of convex programming.
Remote control of microrobotic workstations dedicated to microassembly of hybrid MEMS consisting of several separate components are necessary. Mostly, the approaches are based on SEM vision or synthetic 3D environment...
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ISBN:
(纸本)0780372727
Remote control of microrobotic workstations dedicated to microassembly of hybrid MEMS consisting of several separate components are necessary. Mostly, the approaches are based on SEM vision or synthetic 3D environment. the operator controls the motion of the microrobots remotely on the motion level. In the future view of industrial applications, these approaches are not suitable. We proposed a concept of a desktop micro device factory for task-level remote control using the combination of vision servoing techniques and virtual reality (VR) environment. It is composed of two micromanipulators equipped with micro tools operating under a light microscope. First, we present the cooperation control strategy of the micro handling operation under vision-based position force control integrating a sensor fusion framework approach. A guiding-system based on virtual micro-world exactly reconstructed from the CAD-CAM databases of the real environment being considered is presented for the imprecisely calibrated micro world. Finally, some experimental results of microassembly tasks performed on millimeter-sized components are provided.
In this paper, we introduce a new control method of quasi-passive dynamic walking for a biped walking robot. the control low uses actuators just only to maintain the passive walking. First, focusing on the contact pha...
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ISBN:
(纸本)9810474806
In this paper, we introduce a new control method of quasi-passive dynamic walking for a biped walking robot. the control low uses actuators just only to maintain the passive walking. First, focusing on the contact phase of swing leg, the stability analysis of passive walking robot is performed through a discrete-time system of the robot. Second, we propose a new control method of semi-passive walking based on delayed feedback control, which do not require any reference trajectory for walking. Finally, the effectiveness of the control law is shown through several simulations.
this paper presents a unified approach to coordination planning and control of trajectories for robot manipulators. the generalized robot pose is defined as the robot configuration consisting of both its position and ...
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ISBN:
(纸本)9810474806
this paper presents a unified approach to coordination planning and control of trajectories for robot manipulators. the generalized robot pose is defined as the robot configuration consisting of both its position and orientation. the unified treatment for the position and orientation of the end-effector is based on the robot pose ruled surface that is formed as a 3-D motion locus of its configuration vector. the coordination planning and control of pose trajectories is accomplished by generating and optimizing the pose ruled surface under the constraints of kinematics and dynamics performances, and controlling the motion laws of two end points of the orientation vector and calculating thc coordinates of instantaneous corresponding points. the simulation of Puma 560 robot is given to verify the feasibility of the proposed approach and demonstrate the capabilities of generation and control models.
In this paper, a novel evolutionary PD (EPD) control to improve the tracking performance is proposed and applied to the trajectory tracking of a closed-loop robot manipulator. the EPD control can incorporate the dynam...
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ISBN:
(纸本)9810474806
In this paper, a novel evolutionary PD (EPD) control to improve the tracking performance is proposed and applied to the trajectory tracking of a closed-loop robot manipulator. the EPD control can incorporate the dynamic information of manipulator in a very plain way without requiring the knowledge of the robot dynamics, and it is simple and effective for the trajectory tracking. Comparison of the EPD control with some other PD-based controls for several different structures of manipulators is made. Simulation study demonstrates that the EPD control is promising in robot manipulator applications for trajectory tracking compared withthe PD/NPD controls.
this paper studies the reliable guaranteed cost control of singularly perturbed systems with parameter uncertainties. To avoid the stiffness and for the sake of parallel computation, the full-order algebraic Riccati e...
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ISBN:
(纸本)9810483643
this paper studies the reliable guaranteed cost control of singularly perturbed systems with parameter uncertainties. To avoid the stiffness and for the sake of parallel computation, the full-order algebraic Riccati equation is decomposed into two reduced-order pure slow and pure fast algebraic Riccati equations. the designed control laws guarantee the robust stability and known quadratic performance bounds of the closed-loop systems despite any actuator failures within a selected subset of actuators. Examples are given to demonstrate the design algorithms addressed in this paper.
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