this paper touches upon the issue of dexterous control of rehabilitation robots. there have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the grav...
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ISBN:
(纸本)9781457709142
this paper touches upon the issue of dexterous control of rehabilitation robots. there have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the gravitation compensation algorithm, because of the low velocity and acceleration of movement parameters during rehabilitation. the direction of movements was estimated based on the model of surface electromyographic (sEMG) signal, which renders muscle activity very well. the model of manipulator is stable, behaves in a predictable way and, according to the EMG interpretation block, satisfyingly deduces the intention of motion and controls the model.
In this paper, a novel information design algorithm is proposed. It is based on the simulated annealing, which is regarded as one of the important meta-heuristic optimization methods. the idea behind our algorithm ori...
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ISBN:
(纸本)9781457709142
In this paper, a novel information design algorithm is proposed. It is based on the simulated annealing, which is regarded as one of the important meta-heuristic optimization methods. the idea behind our algorithm originates from the search for optimal solution, where selection avoids local minima. the simulated annealing model is used in the construction of diagrams depicting heating systems. the method offers an automated visual design tool, useful in CAD(1) construction of complex systems. the paper discusses the theoretical background, the properties of the proposed algorithm alongside withthe sample application prototype outputs.
Control-oriented magnetic models for solenoid actuators are analyzed and evaluated subject to their capabilities to reflect important features of the magnetic properties. Moreover, it is shown that undesired tuning re...
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ISBN:
(纸本)9781457709142
Control-oriented magnetic models for solenoid actuators are analyzed and evaluated subject to their capabilities to reflect important features of the magnetic properties. Moreover, it is shown that undesired tuning requirements can be omitted by use of flux channel models. the focus here is put on the modeling of eddy currents since the accurate calculation of eddy current losses is a requirement for control strategies that are designed to minimize these losses. It is shown that flux channel models provide good results while the computational burden is low in comparison to finite element models. However, flux channel models require an additional step when used in flatness-based optimization schemes. this step is called state-decomposition and is explained in the second part of this paper.
For high-dimensional data processing, like pattern recognition, it seems desirable to precede with a reduction of the number of describing features. Our aim is a comparison of various feature selection methods for pat...
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ISBN:
(纸本)9781457709142
For high-dimensional data processing, like pattern recognition, it seems desirable to precede with a reduction of the number of describing features. Our aim is a comparison of various feature selection methods for pattern recognition. We consider two-class supervised classification problem for signals decomposed in wavelet bases. We test kNN classification rule with soft and hard thresholding, performed in two stages: (1) wavelet detail coefficient thresholding (noise reduction) and (2) searching for the most differentiating coefficients between classes (selection of discriminating coefficients). We present a new classification rule based on LARS/LASSO. We compare criteria for L1-norm regularization of wavelet coefficients: AIC, BIC and the thresh derived for kNN rule. there were performed simulations for noisy signals with SNR in the range from 0 to 22 [dB], approximated for all possible wavelet resolutions. the quality of pattern recognition for the presented algorithms was measured by the estimated recognition risk and the size of reduced model.
the automation industry seeks for positioning systems with high dynamics and precision. In robotics or other lightweight applications where mechatronic drives are used, the end-effector often undesirably oscillates du...
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ISBN:
(纸本)9781457709142
the automation industry seeks for positioning systems with high dynamics and precision. In robotics or other lightweight applications where mechatronic drives are used, the end-effector often undesirably oscillates due to a relatively low system damping. Knowing the frequency of the damped oscillation would allow, e. g. "posicast"-or "input shaping"-control methods. thus, suppression or even elimination of such an oscillation can be achieved. When the frequency changes due to e. g. variable loads or gravitational issues, the control settings should be changed as well. then dynamics/precision can be held among non oscillation. Having a method which adapts e. g. a shaper to the actual frequency would allow a better suppression of such an oscillation. During run time, several sensor data of a mechatronic system contains this frequency more or less incisive. Several methods which may estimate online (during run time) this frequency in "transient"-as well as "semi-steady"-state were discussed in the following.
the following topics are dealt with: identification; scheduling problems; control and optimization of infinite dimensional systems; robotics; control and systems theory; modelling and simulation; fractional order syst...
the following topics are dealt with: identification; scheduling problems; control and optimization of infinite dimensional systems; robotics; control and systems theory; modelling and simulation; fractional order systems; sliding mode control; control applications; predictive and adaptive control; and AI methods.
I would like to invite you to Międzyzdroje, Poland for the 16thinternationalconference on methods and models in automation and robotics. Almost 100 draft papers have been submitted, from which the international Prog...
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I would like to invite you to Międzyzdroje, Poland for the 16thinternationalconference on methods and models in automation and robotics. Almost 100 draft papers have been submitted, from which the international Program Committee, chaired by Professor Tadeusz Kaczorek, has selected 79 papers for presentation. As before also this year's conference is organized under the auspices of the IEEE robotics & automation Society, the IEEE Control Systems Society. And as usual it is co-sponsored by the Committee of automation and robotics of the Polish Academy of Sciences and Polish Society for Measurement, Automatic Control and robotics.
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