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Discrete-time Neurothezzy Adaptive Control Based on Dynamic Inversion for Robotic Manipulators

Discrete-time Neurothezzy Adaptive Control Based on Dynamic ...

引用

2002年ieee十区计算机、通信、控制和电机工程会议

作者： Fu-Chun Sun Ling-Bo Zhang Zeng-Qi Sun Dept. of Computer Science and Technology, State Key Lab of Intelligent & Systems,Tsinghua University, Beijing 100084

A discrete-time neuro-fuzzy (NF) adaptivecontrol approach is developed in this paper for thetrajectory tracking of a robotic manipulator withunknown dynamics nonlinearities. Two novel designtechniques--dynamic inversion constructed by thedynamic NF system and the NF variable structurecontrol (NF-VSC), are introduced for the controllerdesign, and the system stability and the convergenceof tracking errors are guaranteed by Lyapunovstability theory, and the learning algorithm isobtained thereby. Finally, Simulation studies arecarded out to show the viability and effectiveness ofthe proposed control approach.

关键词： Robot neuro-fuzzy systems dynamic inversion variable structures adaptive control

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HARDWARE IMPLEMENTATION OF AN EXPANDABLE ON-CHIP LEARNING NEURAL NETWORK WITH 8-NEURON AND 64-SYNAPSE

HARDWARE IMPLEMENTATION OF AN EXPANDABLE ON-CHIP LEARNING NE...

引用

2002年ieee十区计算机、通信、控制和电机工程会议

作者： Chun Lu Bingxue Shi Lu Chen Institute of Microelectronics, Tsinghua University, Beijing 100084, China

An expandable on-chip learning neural network chip with8-neuron and 64-synapse is designed and fabricated with astandard 0.6-μm CMOS technology. Large-scale neuralnetwork with arbitrary layers can be constructed byconnecting unit chips. A novel neuron circuit withprogrammable parameters is proposed. It generates notonly the sigmoid function but also its derivative. Theneuron has a push-pull output stage to gain strong drivingability in both charge and discharge processes, which isvery important in heavy load situations. An improvedGilbert multiplier is also proposed. It has one end currentoutput and precise zero point. The learning system itselfcan be used as a refresh tool to keep the weight value *** results show that it has good performance.

关键词： Neural networks On-chip learning Analog circuit Expandable

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Modeling of Power System Based on Timed DPN

Modeling of Power System Based on Timed DPN

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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： Jing Sun Shi-Yin Qin Yong-Hua Song School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, P. R. China, Brunel University U.K.,

In this paper the structre and characteristics of timedDPN (Differential Petri Nets) are analyzed. According to theissues that are required to be solved in power system analysis, thecontinuous parts of power system are modeled by using thespecial features of DPN. Thus, the discrete and continuous partsof power system can be described in the same analysis andmodeling tool. From the modeling of an OMIB system, it can beshown that DPN is a kind of effective analysis tool for themodeling of power system.

关键词： timed differential Petri nets power system discrete event dynamic system (DEDS) continuous variable controlled system (CVCS)

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AIMD-based Congestion Control for Layered Multicast

AIMD-based Congestion Control for Layered Multicast

引用

2002年ieee十区计算机、通信、控制和电机工程会议

作者： YANG Ming ZHANG Fuyan Department of Computer science, Nanjing University,Nanjing China 210093

It is a key subject for layered multicast congestion control topromise fair bandwidth sharing. An AIMD-based congestion controlalgorithm for layered multicast is presented. The algorithm makes useof the AIMD algorithm, which is proved to have good TCP-compatibility and stability. To prevent rate oscillation by halving thesending rate in TCP,the algorithm adapts the principle of slow-increaseand slow-decrease. We present a new feedback-free method formulticast receivers to estimate their round-trip time to the sender, whichavoids complexity and scalability of feedback processing. A slow-start mechanism like TCP is adapted to promote bandwidth utilizationand rate conversence. The simulation evaluations show that thealgorithm achieves fair congestion control between TCP flows andmulticast flows. and has high bandwidth utilization and good stability.

关键词： layered multicast congestion control AIMD algorithm

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Research of Peer Discovery Method in Peer-to-Peer Network

Research of Peer Discovery Method in Peer-to-Peer Network

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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： Zupeng Li Daoyin Huang Lei Zhuang Jianhua Huang National Digital Switching System Engineering & Technological R&D Center, 450002, Zhengzhou, China Airforce Engineering Institute, 710077, Xian, China

Peer-to-peer （P2P） networking technology is a currentlyemerging technology in the network research domain. Andit is being taken seriously by lots of scientists andresearchers. Peer discovery is an important problem in theP2P network communications. In this paper severalpopularly used peer discovery methods are introduced andanalyzed. On the basis of this, a peer discovery methodusing IP multicast and JXTA technology is proposed andthe framework is realized through Java programming onthe Java 2 Platform.

关键词： net Research of Peer Discovery Method in Peer-to-Peer Network

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A GENERALIZED PERCEPTION FILTER FOR DISTRIBUTED VIRTUAL ENVIRONMENTS

A GENERALIZED PERCEPTION FILTER FOR DISTRIBUTED VIRTUAL ENVI...

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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： StephenJ.Turnera Bu Sung Lee School of Computer Engineering Nanyang Technological University Nanyang Avenue Singapore 639798 School of Computer Engineering Nanyang Technological University Nanyang Avenue Singapore 639798

A Distributed Virtual Environment (DVE) allows a groupof geographically dispersed users to interact in real *** provide a usable system, interactions with objects andother users must be observed by participants withsufficient consistency and within a limited ***, in a Wide Area Network (WAN), there can beconsiderable communication delays between differentusers. The main effects will be in the visual mode of theenvironment, where delays can cause discontinuous statechanges and jumps in the positions of objects. This paperpresents a generalized perception filter for hiding theeffects of latency due to communication delays. Itextends previous work in this area by considering bothperiodic updates and updates due to a dead reckoningmodel. The algorithm is also suitable for DVEs that areimplemented using the High Level Architecture.

关键词： distributed virtual environments high level architecture latency hiding perception filter

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KoMIPS: A Web-based Medical Image Processing System for Telemedicine Applications

KoMIPS: A Web-based Medical Image Processing System for Tele...

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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： Su Jin Lee Moon Hae Kim School of Computer Science & Engineering Konkuk University School of Computer Science & Engineering Konkuk University

Demands on an effective telemedicine system havebeen ever increasing. With the advent of computer andcommunication technologies, construction of an effectivetelemedicine system becomes possible. In this paper,wepresent a Web-based medical image processing system fortelemedicine applications. First, we identify functionalrequirements for a medical image processing system. Thenwe describe the structure and functions of our system,named KoMIPS (Konkuk Medical Image Processing System).The system provides the following facilities: (1) imageprocessing such as zoom in/out, rotation, mirror/flip, andreverse, (2) image analysis such as MCA(Multi ChannelAnalyzer), ROI (Region of Interest) and contrast control,and (3) DICOM encoding/decoding.A prototype has beendeveloped and showed the usefulness of our approach.

关键词： Web DICOM image A Web-based Medical Image Processing System for Telemedicine Applications KoMIPS

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A STUDY ON THE POTENTIAL OF CORN COB ENGINE-GENERATOR FOR ELECTRICITY GENERATION IN THAILAND

A STUDY ON THE POTENTIAL OF CORN COB ENGINE-GENERATOR FOR EL...

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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： Panote WILAIPON Chem NAYAR Mechanical Engineering Department Engineering Faculty Naresuan University Muang Phitsanulok Thailand 65000 School of Electrical and Computer Engineering Curtin University of Technology GPO Box U 1987 Perth Western Australia 6845

This paper describes the potential of using com cobas a primary energy source for electricity generation in *** to increase in energy demands, fuel cost, and environmentalissues, the reliance of fossil fuel has to be reduced. One of thealternatives is to utilize agricultural residues This paper providesan overview of the availability of corn cob in Thailand and adescrption of a small-scaled biomass gasifier engine-generatorBased on literature research and estimation, over 1 GWh/yearcould be produced from this technique. This will providesubstantial savings on fuel cost and reduction on environmentalimpacts. In addition to the generation of electricity, this alsoprovides a safe means to dispose the waste residues. This is aninitial phase of an ongoing project to be undertaken inPhitsanulok, Thailand.

关键词： biomass generation corn cob gasifier

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An End-to-End Scheduling Approach for Real-Time CORBA

An End-to-End Scheduling Approach for Real-Time CORBA

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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： Tao Hao Luo Zhigang Liu Jinde Open System Lab, University of Electronic Science & Technology of China, Chengdu, 610054 Alcatel Shanghai Bell Co., Ltd., Shanghai, 201216

An end-to-end scheduling approachfor real-time CORBA, called EES-CORBA, is proposedin the paper. In terms of the remote calls in eachreal-time CORBA client, the client can be mapped to achain of tasks. The mapping rules are: each remote callin the client is mapped to a task that executes on serverhost and local code between adjacent remote calls ismapped to a task that executes on local host. Thus, thereal-time CORBA system can be viewed as end-to-endsystem. According to the existing end-to-end schedulingsolution, EES-CORBA is easily implemented. Theperformance test indicates that EES-CORBA is betterthan other end-to-end scheduling approaches forreal-time CORBA.

关键词： Real-Time CORBA Schedulabilit Analysis End-to-End Scheduling Mapping Rule

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New Common Mathematical Models of Fanners Performance Based on the Partial Least Squares Regression Method

New Common Mathematical Models of Fanners Performance Based ...

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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： WANG Song-ling YUAN Xiong-jun WANG Qiang HOU Jun-hu HU Hai-yan North China Electric Power University, Baoding 071003, China,

In this paper, the partial least squares regression(PLS) method is adopted for the first time to solve themultivariate and nonlinear surface fitting problem offanner regulatiou performance. With this new method, twonew types of optimizing mathematical models (PLS1 andPLS2) are developed, and the detailed steps for doing so arealso given. By taking a centrifugal fan and an axial flow fanfor example, the paper develops and evauates the commonsimulation models of regulation performance with highprecision and comprehensive applicability. In addition, theapplications of these two types of models are *** Terms-centrifugal fan;axial flow fan;regulationperformance;mathematical model;optimizing;evaluation.

关键词： PLS New Common Mathematical Models of Fanners Performance Based on the Partial Least Squares Regression Method

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