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检索条件"任意字段=2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013"

共 4105 条记录，以下是311-320 订阅

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Energy efficiency and robustness for IoT: building a smart home security system 12

Energy efficiency and robustness for IoT: building a smart h...

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12th ieee international conference on Intelligent Computer Communication and Processing (ICCP)

作者： Chilipirea, Cristian Ursache, Andrei Popa, Dan Octavian Pop, Florin Univ Politehn Bucuresti Fac Automat Control & Comp Bucharest Romania

ISBN: (纸本)9781509038985

Internet of Things (IoT) represents a new paradigm in computing in which devices are connected to the internet and directly communicate with each other. Because these devices are generally thought to be wireless, small and cheap, in other words not very reliable, it is vital that we address the robustness problems in IoT. Applying standard fault tolerance models in IoT is impossible. The devices are not only heterogeneous, but unlike compute nodes, different devices have completely different capabilities and serve completely different functions (they have different sensors). We propose a model in which we describe the capabilities of each device and use this information to dynamically replace faulty devices with other, not-directly-compatible ones. Furthermore, our model uses the overlap between device characteristics in order to temporarily disable part of them and preserve energy. We show how the model can be applied on an IoT home security system, where robustness is critical. To offer a concrete example, a system based on our model would use a WiFi scanner, a heat sensor and a door opening sensor in order to replace a faulty security camera.

关键词： Internet of Things energy efficiency robustness fault tolerance

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control of An Exoskeleton Robot for Upper Limb Rehabilitation

Control of An Exoskeleton Robot for Upper Limb Rehabilitatio...

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ieee international conference on Real-time computing and Robotics (ieee RCAR)

作者： Liu, Lin Shi, Yunyong Xie, Le Shanghai Jiao Tong Univ Inst Funning Technol & Equipment Shanghai 200030 Peoples R China Shanghai Jiao Tong Univ Sch Biomed Engn Shanghai 200030 Peoples R China

ISBN: (纸本)9781467389594

Since traditional methods of training have been insufficient for the rehabilitation, diversities of robots are being introduced to assist patients, doctors, and trainers. In this research, a novel 7-DOF exoskeleton robot for upper limb rehabilitation is proposed. 6 DOF arc actuated by micro motor which is equipped at the each DOF of the robot. controlled method is proposed for the robot to actuate the motor to assist users in movement. Simulation and experiment are performed to evaluate the accuracy of the robot.

关键词： Robots

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Research on the tip-carbon nanotube interaction model using molecular dynamics simulation

Research on the tip-carbon nanotube interaction model using ...

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2017 9th international conference on Modelling, Identification and control (ICMIC 2017)

作者： Shuai Yuan Xiao Yao Zhihua Liu Jingang Shi Jingyi Xing Information & Control Engineering Faculty Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

In atomic force microscopy(AFM) based carbon nanotubes(CNTs) manipulation,the interaction force between AFM tip and CNT has a significant effect on the operation *** this paper,we propose to simulate the contact model between AFM tip and carbon nanotube by using molecular dynamics *** the proposed framework,different contact process(under different tip shapes,tip sizes,and contact positions) are also *** effectiveness of this proposed simulation is verified by comparing the simulation result with the literature *** study explores atomic scale mechanical changes in the AFM tip-CNT interaction,providing a more accurate mechanical basis for AFM based CNT manipulation.

关键词： AFM carbon nanotube interaction force molecular dynamics simulation

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H_∞ control of Networked control systems with Stochastic Measurement Losses

<i>H</i><sub>∞</sub> Control of Networked Control Systems w...

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ieee international conference on Information and Automation (ICIA)

作者： Liu, Shichao Liu, Peter Xiaoping Wang, Xiaoyu Carleton Univ Dept Syst & Comp Engn Ottawa ON K1S 5B6 Canada Carleton Univ Dept Elect Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781509041022

In this paper, the modeling and H-infinity control problems for the Networked control system (NCS) with random data-packet losses in sensor-controller channel and disturbances are investigated. In specific, the networked system with sensor measurement losses is modeled as a Markovian jump linear system(MJLS) by using a multi-rate sampling approach, while the characteristics of network-induced packet losses are assumed to follow multiple-state Markov chain process. The sufficient conditions for the robustly stochastic stability of the NCS are obtained via the piecewise Lyapunov function method. Instead of designing a general robust controller, we take the dynamic network conditions into consideration when designing a state-feedback controller for the NCS. The stochastic packet-lossdependant controller for the closed-loop networked system is presented in the formulation of linear matrix inequalities(LMIs), under the given H-infinity disturbance-rejection-attenuation level. Simulation results of a simple networked robotic arm show that the developed packet-loss-dependant controller can stabilize the networked system with both random sensor-measurement losses and disturbances robustly.

关键词： Networked control system sensor measurement losses H-infinity control Markovian jump linear system

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Robust control for Robot Manipulators with Time-varying Uncertainty Based on Bounded Observer in Discrete Time 22

Robust Control for Robot Manipulators with Time-varying Unce...

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22nd international conference on Automation & computing (ICAC)

作者： Yang, Runxian Yang, Chenguang Chen, Mou Na, Jing Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing Jiangsu Peoples R China Swansea Univ Zienkiewicz Ctr Computat Engn Swansea W Glam Wales Yangzhou Polytech Inst Coll Elect & IT Yangzhou Jiangsu Peoples R China Univ Bristol Dept Mech Engn Bristol Avon England

ISBN: (纸本)9781862181311

In this paper, we have developed a disturbance observer (DOB) based on robust control method for a class of nonlinear robot manipulators with time-varying uncertainty. To facilitate digital implementation of the controller, the robot system is formulated in discrete time. The DOB controller is design to compensate for uncertainty and disturbance by bounding both all states and observed uncertain function in a control region. The robust stability of closed-loop robot system can be well guaranteed by applying Schur complement theory and Lyapunov analysis, such that parameters of the DOB controller are derived using linear matrix inequalities (LMIs) theory. Simulation studies have been performed to test and verify the proposed control scheme, which results in supreme robust control and satisfied trajectory tracking performance for robot manipulators with time-varying uncertainty.

关键词： Robust control

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Evolving Fuzzy Models for the Position control of Twin Rotor Aerodynamic systems 14

Evolving Fuzzy Models for the Position Control of Twin Rotor...

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14th ieee international conference on Industrial Informatics (INDIN)

作者： Precup, Radu-Emil Radac, Mircea-Bogdan Petriu, Emil M. Roman, Raul-Cristian Teban, Teodor-Adrian Szedlak-Stinean, Alexandra-Iulia Politehn Univ Timisoara Dept Automat & Appl Informat Timisoara Romania Univ Ottawa Sch Elect Engn & Comp Sci Ottawa ON Canada

ISBN: (纸本)9781509028702

This paper proposes a set of evolving Takagi-Sugeno-Kang (TSK) fuzzy models of the nonlinear dynamics specific to the azimuth and position of Multi Input-Multi Output (MIMO) twin rotor aerodynamic systems. Separate Multi Input-Single Output (MISO) fuzzy models of the azimuth and pitch positions are derived for this MIMO system. The rule bases and the parameters of the MISO TSK fuzzy models are evolved by an online identification algorithm (OIA) that belongs to the class of incremental OIAs, which implement adding mechanisms. The experimental results conducted on aerodynamic system laboratory equipment prove the performance of the TSK fuzzy models by good output responses and root mean square error values. A performance comparison with a set of MISO TSK fuzzy models evolved by another incremental OIA is included.

关键词： Laboratories

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Hybrid Force/Position control of Industrial Robotic Manipulator Based on Kalman Filter 13

Hybrid Force/Position Control of Industrial Robotic Manipula...

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ieee international conference on Mechatronics and Automation

作者： Xia, Guihua Li, Chao Zhu, Qidan Xie, Xinru Harbin Engn Univ Coll Automat Harbin 150001 Heilongjiang Pr Peoples R China

ISBN: (纸本)9781509023967

This paper proposes a hybrid force/position controller for industrial robotic manipulator based on Kalman filter. Firstly, the mathematical model of real contact force is built to estimate the actual contact force by applying Kalman filter using a force derivative to achieve the system state description. The estimated actual contact force is used to control the end-effector force as well as estimating the stiffness of environment. To refine the environment stiffness estimation the Recursive Least Square (RLS) technique has been employed. Owing to the fact that the general industrial manipulator only provides the position control mode, the position-based hybrid force/position control architecture is designed and realized by using the position tracking mode of the motion control card. The main advantages of the implemented controller is simplicity, computational efficiency and robustness to unknown environment, it is convenience for the general industrial manipulators. Besides, it lends itself for industrial manipulators in order to achieve compliant behavior and perform complex tasks. The proposed control structure is successfully validated by practical experiments. The results show that the controller has a satisfactory performance in term of force control and trajectory tracking and robustness to force/torque sensor measurement interferences.

关键词： Robotic manipulator Kalman filter force control position control environment stiffness

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Urban Intelligent Parking system Based on the Parallel Theory

Urban Intelligent Parking System Based on the Parallel Theor...

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international conference on computing, Networking and Communications (ICNC)

作者： Wang, Fei-Yue Yang, Liu-Qing Yang, Jian Zhang, Yanli Han, Shuangshuang Zhao, Kai Qingdao Acad Intelligent Ind Qingdao Shandong Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Colorado State Univ Dept Elect & Comp Engn Ft Collins CO 80523 USA

ISBN: (纸本)9781467385794

Nowadays, urban parking circumstances are becoming more and more challenging. To solve this problem, many methods have been proposed, such as infrastructure expansion, economic leverage and technical theory. However, these solutions are generally used independently, thus it is infeasible to solve all existing problems. Therefore, a novel and revolutionary solution is urgently required. In this paper, we first comprehensively investigate the background of parking difficulties, and find that all of the current existing solutions are not able to meet the requirements of dynamic, systematization, high efficiency and accuracy. Then we briefly introduce the parallel theory, and propose the intelligent parking system based on the parallel theory, which can provide a systematic intelligent solution to meet the needs of current parking systems. The parallel parking system is made up of three parts, including the artificial system, the computational experiments, and the parallel execution. The proposed parallel parking system not only provides a novel direction to solve the parking problem, but also is an important guidance for the specific implementation of parallel parking theory.

关键词： Problem solving

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Proceedings - 2012 ieee international conference on control system, computing and engineering, iccsce 2012

Proceedings - 2012 IEEE International Conference on Control ...

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2012 ieee international conference on control system, computing and engineering, iccsce 2012

ISBN: (纸本)9781467331432

The proceedings contain 112 papers. The topics discussed include: a novel fuzzy controller applicable to steaming room;valve stiction in control loops - a survey on effective methods of detection and compensation;investigating lubrication properties using pulse- echo ultrasound technique;group emotion estimation using Bayesian network based on facial expression and prosodic information;mathematical modeling of human body for lifting task;sorting very large text data in multi GPUs;micro-crack detection of multicrystalline solar cells featuring shape analysis and support vector machines;sensitivity characteristics of electrostatic sensor using finite element modeling;dynamic modeling and control of wheel-chaired elliptical stepping exercise;essential oil extraction with automated steam distillation: FMRLC for steam temperature regulation;and a design method for Malaysian car plates character segmentation based on skew correction.

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Performance Evaluation for Multi-antenna Vehicular Communication Based on ieee 802.11p Standard

Performance Evaluation for Multi-antenna Vehicular Communica...

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international conference on computing, Networking and Communications (ICNC)

作者： Han, Shuangshuang Zhao, Kai Yang, Liu-Qing Cheng, Xiang Chinese Acad Sci Inst Automat Chinese State Key Lab Management & Control Complex Syst Beijing Peoples R China Qingdao Acad Intelligent Ind Qingdao Shandong Peoples R China Colorado State Univ Dept Elect & Comp Engn Ft Collins CO 80523 USA Peking Univ Sch Elect Engn & Comp Sci Beijing Peoples R China

ISBN: (纸本)9781467385794

Multi-input multi-output (MIMO) has been a promising technique for wireless communication areas, such as intelligent transportation systems. In this paper, we present performance evaluation of a multi-antenna transceiver for Wireless Access in Vehicular Environments (WAVE) according to ieee 802.11p standard. Herein, MIMO WAVE is performed by employing three MIMO schemes, namely, Alamouti, vertical BLAST (V-BLAST) and space shift keying (SSK) scheme. The above three MIMO schemes are discussed and compared, considering the influence of different driving velocity and with/without line of sight (LOS) on the system performance. Based on the analysis and simulation results, it can be found that compared with single antenna systems, V-BLAST scheme would significantly increase the transmission data rate, while Alamouti and SSK scheme could improve the reliability and robustness even under poor receive conditions.

关键词： MIMO 802.11p Alamouti V-BLAST SSK

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