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Path-constrained Trajectory Planning of Robot Arm Passing Through Singularities

Path-constrained Trajectory Planning of Robot Arm Passing Th...

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： Guangyu Lian Qingjie Zhao Zengqi Sun Dept. of Compute Science and Teehnology,Tsinghua University State Key Laboraory of Intelligent Technology and System

Path-constrained robot trajectory planning in the vicinityof ordinary singularities is studied in this paper. First, thedesired end-effector path is parameterized with anuntimed variable q, by which the robot kinematics canbe formulated as a nonlinear equation. The solution tothis equation forms a spatial curve in the augmented jointspace. Then the path-tracking problem can be fulfilled bycomputing the curve solution numerically. This producesa pseudo trajectory respected to an artificial independentparameter s, which represents the arc-length of thesolution curve. The trajectory respected to time is can beobtained naturally by arbitrary assigning s（t）. Numericalsimulations are carried out to verify the algorithm.

关键词： Path-constrained Trajectory Planning of Robot Arm Passing Through Singularities Arm

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POLYNOMIAL REPRESENTATION OF 2-D IMAGE BOUNDARY CONTOURS

POLYNOMIAL REPRESENTATION OF 2-D IMAGE BOUNDARY CONTOURS

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： ATREYP.K. DE Asok RAJPAL Navin Delhi College of Engineering University of Delhi Delhi College of Engineering University of Delhi School of Information Technology G.G.S.I.P.University Delhi

This paper discusses a method to represent thegraphical image boundary contours with a parametricpolynomial equation of minimum degree. The imageboundary contour is optimally sampled to 'n' numer ofpoints. Then a curve is generated using Lagrange'sinterpolation method that passes through these n points. Thecurve regenerated through interpolation is then comparedwith the original contour by Weighted Distance Transformmethod [3]. If the error is within tolerable range, then it isconcluded that this image boundary contour can berepresented with these 'n' number of control ***, the samples are increased and process is rapeatedtill we get optimum number of sampled points to reconstructthe contour through interpolation technique.

关键词： Contour Tracing Bezier curve Lagrange Interpolation Weighted Distance Transform

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TRANSIENT STABILITY ENHANCEMENT OF AC TRANSMISSION SYSTEM USING STATCOM

TRANSIENT STABILITY ENHANCEMENT OF AC TRANSMISSION SYSTEM US...

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： S.H.Hosseini A. Aiami Electrical Engineering Department.Tabriz University Tabriz Iran 711-51664 Electrical Engineering Department Tabriz University Tabriz Iran 711-51664

The static synchronous compensator (STATCOM) isone type of FACTS devices which resembles in many respects arotating synchronous condenser used for voltage control andreactive power compensation. The STATCOM can increasetransmission capacity damping low frequency oscillation, andimproving transient stability This paper presents a control blockdiagram of STATCOM for the transient stability *** SIMULINK/MATLAB software package is used forsimulation of test system. In this paper the STATCOM isconnected to the 230KV line for a typical two machinetransmission system. The study demonstrates that STATCOMnot Only considerably improves transient stability but alsocompensates the reactive power in steady state.

关键词： FACTS STATCOM ASVC transient stability

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EYE EXTRACTION USING SPATIAL FUZZY CLUSTERING METHOD

EYE EXTRACTION USING SPATIAL FUZZY CLUSTERING METHOD

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： K.W.Tse W.H.Lau SH Leung Alan WC Liew Department of Computer Engineering & Information Technology Department of Computer Engineering & Information Technology Department of Electronic Engineering City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong China Department of Computer Engineering & Information Technology

Facial features extraction and tracking are crucial steps formany multimedia communication applications such asautomated visual interpretation, human face recognition,and development of high quality model-based coding (***-4) systems. Among different facial features, eyesand lip play an important role in either recognition processor teleconferencing applications. However, automatichuman facial features detection is a difficult task due todifferent scale, rotation and translation of the features.

关键词： image EYE EXTRACTION USING SPATIAL FUZZY CLUSTERING METHOD FUZZY

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PROPORTIONAL-INTEGRAL SLIDING MODE CONTROL OF A QUARTER CAR ACTIVE SUSPENSION

PROPORTIONAL-INTEGRAL SLIDING MODE CONTROL OF A QUARTER CAR ...

引用

2002年ieee十区计算机、通信、控制和电机工程会议

作者： YAHAYA M.SAM JOHARI H.S.OSMAN RUDDIN A.GHAND Faculty of Electrical Engineering University Technology of Malaysia 81310 UTM Skudri.Johor.MALAYSIA Kolej University Teknikal Kebangsaan Malaysia 75450 Melaka.MALAYSIA. Kolej University Teknikal Kebangsaan Malaysia 75450 Melaka.MALAYSIA.

The purpose of this paper is to present a new approach incontrolling an active suspension system. This approachutilized the proportional integral sliding mode controlscheme. Using this type of sliding surface, the asymptoticstability of the system during sliding mode is assuredcompared to the conventional sliding surface. The proposedcontrol scheme is applied in designing an automotiveactive suspension system for a quarter-car model and itsperformance is compared with the existing passivesuspension system. A simulation study is performed toprove the effectiveness of this control design.

关键词： Automotive Control Quarter Car Suspension Sliding Mode Control

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DESIGN AND IMPLEMENTATION OF MULTILEVEL DSM IN NIDS

DESIGN AND IMPLEMENTATION OF MULTILEVEL DSM IN NIDS

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： YANG Hongyu SUN Jizhou XIE Lixia Department of Computer Science, Civil Aviation University of China, Tianjin China 300300 Department of Computer Science, Tianjin University, Tianjin China 300072

Network-based attacks have become common andsophisticated. For this reason, intrusion detection systems arenow shifting their focus from the hosts and their operatingsystems to the network itself. Network intrusion detection ischallenging because network auditing produces large amountsof data, and different events related to a single intrusion may bevisible in different places in the network. This paper presentsnetwork intrusion system, describes the design of a decisionsupport module(DSM) for intrusion detection system, whichcan provide active detection and automated response supportduring intrusions. It is designed to be a sense and responsesystem that can monitor various activities on the network. Inparticular, it simultaneously monitors networked computer'sactivities at different levels.

关键词： intrusion detection NIDS Decision support system

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AMIS: Agent Migration Information System

AMIS: Agent Migration Information System

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： Hong-Jin Park Jae-Hyun Lee School of Computer Information and Communication Engineering.SangJi University Woosandong Wonjusi Kangwondo Korea Dapartment of Office Automation Wonju National College Hangeop Wonjusi Kangwondo Korea

The total processing time may vary according to theorder of visit when a mobile agent is sequentiallymigrated to mother node. An effective migrationalgorithm is one in which the processing time is keptto its minimum from the initial state to the destinationstate by ordering the process. The total time spend forthe process can be minimized by adopting an effectivemigration *** mobile agents such as Aglets, Voyager, andOdyssey do not guarantee the effectiveness by nottaking the status of the network and the node to bemoved into upon the *** paper proposes AMIS as the method used for themigration of the mobile agent. AMIS minimizes thetotal migration time of the mobile agent, and providesa firm and safe order for the migration of the mobileagent.

关键词： red Agent Migration Information System

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GENETIC ALGORITHM OPTIMIZATION FOR AGC OF MULTI-AREA POWER SYSTEMS

GENETIC ALGORITHM OPTIMIZATION FOR AGC OF MULTI-AREA POWER S...

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： Li Pingkang Zhu Hengjun Li Yuyun School of Mechanical, Electronical and Control Engineering Northern Jiaotong University 100044 Beijing China Wuhan Science and Technology University, 430070, Wuhan, China

A Genetic Algorithm (GA)for parameteroptimization of PID sliding mode load frequency contrl used inAutomatic Generating Control (AGC)of multiarea powersystems with nonlinear elements has been proposed. Themethod has the advantages of both PID and sliding mode *** of using traditional anaiysis algorithm to obtain thecontroller parameters, GA optimization technology is *** parameter optimization for the interconnection of the AGCloops using MATLAB/Simulink modal is developed. A RealCoded Genetic Algorithm is adopted and integrated intoMATLAB/Simulink. The simrlation of a two-area powersystems with PI and PID controllers is reported and the resultsare reasonable.

关键词： Automaic Generating Control Real Coded Genetic Algorithm Sliding Mode Control PID control parameter optimization

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CONSTRAINED LEARNING ALGORITHMS FOR FINDING THE ROOTS OF POLYNOMIALS:ACASE STUDY

CONSTRAINED LEARNING ALGORITHMS FOR FINDING THE ROOTS OF POL...

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： De-Shuang Huang Senior Member, ieee Hefei Institute of Intelligent Machines, Chinese Academy of Sciences,P.O.Box 1130, Hefei, Anhui 230031, China

This paper makes further discussions onthe constrained learning algorithms (CLA) proposedby Perantonis et al, which is an efficient constrainedback propagation (BP) algorithm formed byimposing the constraint conditions (most of whichare from the a priori information of the involvedproblems) implicit in the problems on theconventional BP algorithm. In addition, for theproblem of applying CLA's to Finding the roots ofpolynomials based on the relation between the rootsand the coefficients of polynomials, we discuss thecomputation complexities for different number ofconstrained conditions. Finally, some computersimulation results are given to support our claims.

关键词： Constrained Learning Algorithms Adaptive Parameter Selection Feedforward Neural Networks Polynomials Roots Computation Complexity

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A 4x4 Space Dilated Lightwave Network-A New Approach

A 4x4 Space Dilated Lightwave Network-A New Approach

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2002年ieee十区计算机、通信、控制和电机工程会议

作者： F.M.Suliman A.B.Mohammad K.Seman Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai JB Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai JB Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai JB Malaysia Senior Member IEEE

In this paper, the space dilation concept for reducingcrosstalk in Ti:LiNbO directional-coupler-based photonicswitches operating at a single wavelength is applied using a newapproach. A new method for minimizing the switch crosstalk isdescribed. A novel 4x4 switch architecture is proposed fornonblocking photonic switching networks to fully exploit theadvantages of this method. Some properties of the switcharchitecture are derived and analyzed. The performance of theswitch is also discussed and compared with other well-knownnetwork architectures.

关键词： A 4x4 Space Dilated Lightwave Network-A New Approach

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