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

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Comparative study of controller optimization techniques for a robotic manipulator 3

Comparative study of controller optimization techniques for ...

引用

3rd international conference on Soft computing for Problem Solving, SocProS 2013

作者： Sharma, Richa Rana, K.P. Kumar, Vineet Instrumentation and Control Engineering Division Netaji Subhas Institute of Technology Dwarka New Delhi110078 India

ISBN: (纸本)9788132217701

A robotic manipulator is a highly nonlinear, highly coupled, Multi-Input Multi-Output (MIMO) and dynamic system. Being complex in nature conventional Proportional-Integral-Derivative (PID) controller tuning methods, in general, are not applicable to these systems. For the past two decades, with the advent of efficient and high speed computing power, optimization techniques are being applied for complex non-linear processes for tuning of controllers. These techniques yield optimized performance for customised performance indexes. This paper presents a detailed comparative study of performances of three optimization techniques for the tuning of PID controllers for a two-link planar rigid robotic manipulator. In this work tuning of PID controllers has been carried out using three techniques namely Particle Swarm Optimization (PSO), Simulated Annealing (SA) and Genetic Algorithm (GA). Two performance indices namely Integral of Absolute Error (IAE) and Integral of Absolute Change in control Output (IACCO) with equal weightage for both the links are considered for optimization. The robustness testing of optimized controllers is done for the trajectory tracking, model uncertainties and disturbance rejection. The simulation results clearly indicate that the PSO outperforms both SA and GA. © Springer India 2014.

关键词： Genetic algorithms

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Research benefits of using interoperability standards in remotecommand and control to implement Personal Health Devices

Research benefits of using interoperability standards in rem...

引用

13th Mediterranean conference on Medical and Biological engineering and computing 2013, MEDICON 2013

作者： Barrón-González, Hector Gilberto Martínez-Espronceda, M. Led, S. Serrano, L. FIME/ Universidad Autónoma de Nuevo León San Nicolas De Los Garza Mexico Department of Electrical and Electronic Engineering Public University of Navarre Pamplona Spain

ISBN: (纸本)9783319008455

The initial heterogeneity in the development of Personal Health Devices (PHDs) highlighted the lack of interoperability between agents and managers. The standardization work of the PHD Working Group (PHD-WG) has recently adapted the ISO/ieee 11073 interoperability standard (X73), initially oriented to clinical environments, to include Personal Health Devices (X73PHD) communications. This new evolution allows the development of interoperable personal health ecosystems. At the moment of this writing, more than 11 specializations have been successfully published by the Personal Health Device (PHD) Working Group (PHD-WG). This new standard brings benefits to both technology producers (design cost reduction, experience sharing, marketing, etc.) and technology consumers (plug-and-play, accessibility, ease to integration, prices, etc.). Nevertheless, some recent specializations at draft stage show the need for a procedure to command and control configuration parameters and settings, which could provide additional benefits such as configurability from the cloud. As a solution, some ad-hoc methods have been elaborated to deal with, although the aim of the PHD-WG is to standardize a general procedure, valid for longer term. Therefore, it is needed to identify use cases requiring remote configuration services. This work identifies and studies new use cases that employ remote configuration services. The resulting use cases, discussed within the PHD-WG to get the maximum consensus, are related to the Basic Electrocardiograph (X73-10406), the Sleep Apnea Breathing Therapy Equipment (X73-10424), and the Medication Monitor (X73-10472) specializations. In addition, a classification of the findings is proposed for each use case. These findings could be the basis for the new remote configuration extension package. © Springer international Publishing Switzerland 2014.

关键词： Interoperability

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control software design of plant microscopic ion flow detection motion device 7

Control software design of plant microscopic ion flow detect...

引用

7th IFIP WG 5.14 international conference on Computer and computing Technologies in Agriculture, CCTA 2013

作者： He, Lulu Jiang, Fubin Zhu, Dazhou Hou, Peichen Yang, Baozhu Wang, Cheng Zhang, Jiuwen Information Science and Engineering Lanzhou University Lanzhou730000 China Beijing Research Center for Information Technology in Agriculture Beijing100097 China Beijing Research Center of Intelligent Equipment for Agriculture Beijing100097 China Beijing PAIDE Science and Technology Development Co. Ltd Beijing100097 China

ISBN: (纸本)9783642543432

To realize in vivo, real-time, non-invasive and in-situ detection analysis on the dynamic changes of ion flows in plant tissues, organs, cells and others under natural conditions, this paper designed three-dimensional electronic control motion platform of high-accuracy so as to realize the highlyaccurate motion control in micron order and enable glass microelectrode to measure the plant tissues, organs and cells in its best state. The apparatus requires the portable design, so this paper chose the ion flow detection device with small size and high accuracy and micro integrative drive control module. Also graphical programming software LabVIEW was utilized to send serial port commands so as to realize the accurate and reciprocating motion of glass microelectrode at different positions and further accurately detect the plant microscopic dynamic ion flow parameter. The test showed that this control software could realize highly-accurate positioning of 0.6371μm/step in threedimensional space and the software system could operate steadily, which provides strong supports for the plant microscopic ion flow detection. © IFIP international Federation for Information Processing 2014.

关键词： Software testing

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Facial Feature Points Tracking with Online Reference Appearance Model

Facial Feature Points Tracking with Online Reference Appeara...

引用

8th international conference on Intelligent systems and Knowledge engineering (ISKE)

作者： Guo, Xiuxiao Chen, Ying Jiangnan Univ Minist Educ Key Lab Adv Proc Control Light Ind Wuxi Jiangsu Peoples R China

ISBN: (纸本)9783642549243;9783642549236

To complete facial feature points tracking accurately, we propose an improved active appearance model (AAM), which is online reference appearance model (ORAM) with the subspace update mechanism. The online update reference texture models are combined with the conventional AAM. When the model fitting is satisfactory while tracking, we update the AAM texture model via the incremental learning method and simultaneously update the reference texture model with the current frame appearance information. The ORAM-fitting algorithm is established based on simultaneously inverse compositional (SIC). To reduce the cumulative error produced in the tracking process, we provide the texture subspace reset mechanism with the original stability frames. Compared with other AAM algorithms that require multiple training images, ORAM achieves accurate tracking results with no training data needed. Experiments indicate the proposed method can complete face tracking accurately and quickly.

关键词： Face feature points tracking Online reference appearance model Texture subspace Reconstruction error

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Thermistor Based Nano-Needle for Single Cell Thermal Characterization

Thermistor Based Nano-Needle for Single Cell Thermal Charact...

引用

ieee international conference on control system, computing and engineering (iccsce)

作者： Binslem, Salma Abdullah Ahmad, Mohd Ridzuan Univ Teknol Malaysia Fac Elect Engn Dept Control & Mechatron Engn Skudai 81310 Johor Malaysia

ISBN: (纸本)9781479915064;9781479915088

Cell's intracellular temperature has shown to have a vital role in controlling a cell's conditions, properties, activities, and the cell response towards external stimuli. Yet, Current conventional methods are not able to give accurate or any measurements when spatial resolution decreases to a micro scale. Many researches from different field are trying to develop ways that give high accuracy and high temperature sensitivity. We present here a Nano-needle microfluidic system for single cell temperature measurement;however, here we discussed the optimization using finite element approach of the sensor design using tungsten as the electrodes, and semiconducting metal oxide Co3O4 as the sensing material. The dimension of the sensor that gave the highest voltage thus highest sensitivity were ratio 1: 4 of element diameter/electrode cross sectional area, a gap of 450nm between electrodes and a penetration depth of 0.25 in electrode 0.25nm. Furthermore, Voltage response gave results to measure a 0.1 degrees C.

关键词： Single cell thermal properties thermistor based nano-needle finite element analysis

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Positioning control of a one mass rotary system using NCTF controller

Positioning control of a one mass rotary system using NCTF c...

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2013 ieee international conference on control system, computing and engineering, iccsce 2013

作者： Nor, Rozilawati Mohd Chong, Shin Horng Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Melaka Malaysia

ISBN: (纸本)9781479915088

In this paper a practical control scheme is discussed for the positioning and tracking control of a one mass rotary system. The practical controller designed must have high speed performance, high accuracy, robust to disturbance and parameter variation and have high positioning response which always welcome to industry. Hence, a Nominal Characteristic Trajectory control (NCTF) controller has been proposed to yield high motion control performance and high robustness. This controller does not require exact model and parameter identification which make it easy to design. Basically, NCTF controller consists of a simple structure comprising Nominal Characteristic Trajectory (NCT) and Proportional Integral (PI) Compensator. Apart from a Conventional NCTF controller, the NCTF controller also improves to Continuous Motion NCTF (CM-NCTF) controller. CM-NCTF controller has same design procedure as Conventional NCTF controller and it is able to produce a slightly better performance than the conventional one by producing slightly faster response and smooth tracking performance. To evaluate the controller performance, the Conventional NCTF controller and CM-NCTF controller, was compared to PID control through experiment. © 2013 ieee.

关键词： controllers

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Development of a genetic algorithm toolkit in LabVIEW 3

Development of a genetic algorithm toolkit in LabVIEW

引用

3rd international conference on Soft computing for Problem Solving, SocProS 2013

作者： Kumar, Vineet Rana, K.P.S. Kumar, Amit Sharma, Richa Mishra, Puneet Nair, Sreejith S. Division of Instrumentation and Control Engineering Netaji Subhas Institute of Technology Sector-3 Dwarka New Delhi110078 India Bhabha Atomic Research Centre Trombay Mumbai400085 India

ISBN: (纸本)9788132217701

It is a well known fact that LabVIEW is one of the finest tools for measurement and control applications. Requirement of intelligent controller tuning methods like Genetic Algorithm (GA) has been felt at times in the LabVIEW environment as there is no standard LabVIEW GA toolkit supplied with the package. In this paper, a GA Toolkit developed in LabVIEW environment, has been presented. The developed toolkit is used for optimizing the gains of the PID (Proportional plus Integral plus Derivative) controller for the given performance indices of a closed loop system. For the purpose of tuning, the algorithm mimics the biological evolution and is used to find the suitable values of PID gains in order to improve the response of the given system. An integrated performance index comprising of rise time, settling time, overshoot, integral absolute error (IAE), integral square error (ISE), integral time weighted absolute error (ITAE) or a combination of these forms the objective function for the optimization. In this toolkit four selection methods, three crossover methods and three mutation methods have been incorporated. To test the developed toolkit a simulation example is also performed and results have been presented. © Springer India 2014.

关键词： Genetic algorithms

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An adaptive sliding mode control for trajectory tracking of a self-reconfigurable robotic system 2

引用

2nd international conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Al Saidi, R. Minaker, B. Dept. of Mechanical Automotive and Materials Engineering Windsor University 401 Sunset Avenue WindsorONN9B 3P4 Canada

ISBN: (纸本)9783319055817

This paper presents the development of the model, dynamics and an adaptive sliding mode control of new self-reconfigurable robotic systems. These robotic systems combine as many properties of different open kinematic structures as possible and can be used for a variety of applications. The kinematic design parameters, i.e., their Denavit-Hartenberg (D-H) parameters, can be modified to satisfy any configuration required to meet a specific task. By varying the joint twist angle parameter (configuration parameter), the presented model is reconfigurable to any desired open kinematic structure, such as Fanuc, ABB and SCARA robotic systems. The joint angle and the offset distance of the D-H parameters are also modeled as variable parameters (reconfigurable joint). The resulting self-reconfigurable robotic system hence encompasses different kinematic structures and has a reconfigurable joint to accommodate any required application in medical, space, future manufacturing systems, etc. Automatic model generation of a 3-DOF reconfigurable robotic system is constructed and demonstrated as a case study which covers all possible open kinematic structures. An adaptive controller is developed based on the sliding mode approach for a 3-DOF self-reconfigurable robotic system to achieve high tracking performance. This research is intended to serve as a foundation for future studies in reconfigurable control systems. © Springer international Publishing Switzerland 2014.

关键词： Manufacture

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An adaptive variable structure control approach based on neural networks and filter for four-wheel omnidirectional mobile robots 1

引用

4th international conference on Cloud computing, CloudComp 2013

作者： Wang, Jianbin Chen, Jianping Yang, Yimin School of Automation Guangdong University of Technology Guangzhou Guangdong510090 China School of Computer Science Zhaoqing University Zhaoqing Guangdong526061 China

ISBN: (数字)9783319055060

ISBN: (纸本)9783319055053

For dynamic model of a four-wheel omnidirectional mobile robot (FOMR) usually contains parameter uncertainties, in addition, with the influence of exogenous disturbances, the traditional method for motion control has not good performance. An adaptive variable structure control approach based on neural networks and filter (ANFVSC) is presented in this paper. According to the variable structure control theory and Radial Basis Function neural networks, combining the filter, the ANFVSC is applied to deal with the inherent buffeting with normal variable structure control method. The contribution of ANFVSC in improving the control system performance is shown via simulation. The results show that this method has good tracking robustness and a high control precision, simple achievement and effectively eliminated buffeting. © Institute for Computer Sciences, Social Informatics and Telecommunications engineering 2014.

关键词： Adaptive control systems

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Squaring back off based media access control for vehicular Ad-hoc networks 3

引用

3rd international conference on Soft computing for Problem Solving, SocProS 2013

作者： Sharma, Kamal Kant Aggarwal, Mukul Yadav, Neha Krishna Institute of Engineering and Technology Ghaziabad UP India

ISBN: (纸本)9788132217671

Inter-vehicle communications have great potential to induce great interest in research and industry. Vehicular ad hoc networks (VANETs) may significantly improve passenger safety and comfort. The deployment of VANETs is a challenging task in weakly interconnected and in highly overloaded networks both. A good back off technique can reduce a large number of collisions in the MAC layer I VANET. This will reduce the collision probability and hence increases the utilization of network resources. A uniform random distribution has been employed to choose the back off value in the Binary Exponential Back off (BEB) technique used in the ieee 802.11 MAC protocol. This random choosing VANETs leads to unnecessary idle times and reduced throughput. This paper proposes a new back off technique called ‘‘Squaring Back off (SB)’’ in which the differences between the consecutive contention window sizes are reduced to a negligible value. Here, the value of the back off timer is based on the size of the contention window. The size of the contention window is varied in accordance with the result of the previous transmission. A successful transmission reduces the size of the contention window whereas a failure leads to the increase in the contention window size. Simulation results indicate that the proposed technique provides better throughputs and less idle times than the logarithmic and Fibonacci based techniques when used in a mobile ad-hoc environment. Squaring back off based media access control can prove very useful for vehicular ad-hoc networks. © Springer India 2014.

关键词： Medium access control

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