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5th international conference on Military Technologies, ICMT 2015

作者： Košt'ál, Igor University of Economics in Bratislava Faculty of Economic Informatics Dolnozemská cesta 1 Bratislava852 35 Slovakia

ISBN: (纸本)9788072319763

this paper shortly describes creating asynchronous methods by delegates, the locking techniques and locking a shared resource by an instance method using the Monitor. Enter and Monitor. Exit member methods of the Monitor class. the paper demonstrates the use of asynchronous methods and locking shared resources in the *** application which consists of the Windows Communication Foundation (WCF) service with threaded method and the threaded Windows Forms client. the sample *** application was built in the C# language and in the Microsoft Visual Studio 2013 development environment. this *** application computes the definite integrals values of the function f(x) = x/(1 + x2) by the trapezoidal rule in a threaded serial method of the WCF service and in a threaded serial method of the Windows Forms client. this client keeps the responsiveness of its user interface during executing an asynchronous call by asynchronous methods, locks and unlocks shared resources by its methods using Monitor. Enter and Monitor. Exit member methods of the Monitor class. In military mechatronic systems it is often necessary to determine dynamic parameters of mechanical parts, i.e. solids of these systems, such as a moment of inertia or a rotational kinetic energy of these solids. If such a solid is the solid of revolution created by the revolution of the area under the curve of a function f(x) within an interval around the x axis to calculate the moment of inertia and rotational kinetic energy of such the solid it is needed to calculate the value of the definite integral of this function on this interval. Our *** application is able to calculate the value of the definite integral of the function f(x) = x/(1 + x2). After our application extension about methods for computing values of the definite integrals of other functions this application can be a part of the control software of the mechatronic system of some military assembly. this control soft

关键词： Kinetics

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Mind guided motion control of robot manipulator using EEG signals

Mind guided motion control of robot manipulator using EEG si...

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international conference on Information Science and Technology (ICIST)

作者： Antoni Malki Chenguang Yang Ning Wang Zhijun Li Center for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China

Most of current brain computer interfaces (BCI) designed for environment control or navigation are usually made using motor imagery and expensive data acquisition equipment. this study presents an alternative way of utilizing Electroencephalogram (EEG) signals acquired through a low-cost headset to steer a virtual object. In this paper, a preliminary framework of controlling the end effector of a 7 degree of freedom (DoF) virtual robot manipulator by EEG signals and the P300 speller BCI are built. the EEG signals emitted by the user brain are collected by the Emotiv EPOC neuro-headset, which is connected to the OpenViBE platform, where a BCI is designed to retrieve and process the EEG recording in real time. P300 is an observed peak evoked 250 to 500 ms after a visual stimulus in an EEG signal. the P300 speller BCI is an OpenViBE scenario that allows the user to spell letters using P300 signals. the main idea is to associate a letter with a command to control the virtual robot, where the six letters are corresponding to 6 robot movements in the Cartesian space: +X, -X, +Y, -Y, +Z, -Z. Letters are sent via a VRPN server on Open Vibe platform and transmitted via a C++ client (designed on Microsoft Visual Studio 2010) to V-REP, a software for creating and testing virtual robot. V-REP remote API is used on the C++ client to control directly the end effector. Online experiments have been performed to test the system performance and the functionality.

关键词： Electroencephalography Scalp Servers Mobile robots Headphones Robot sensing systems

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the visual location of workpiece based on Hermite Interpolation and mapping for robot arms

The visual location of workpiece based on Hermite Interpolat...

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international conference on Information Science and Technology (ICIST)

作者： Lixin Chen Huiwen Guo Huan Wang Yen-Lun Chen Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System University of Chinese Academy of Sciences Shenzhen China

In this paper we present a method to grasp workpiece by the industrial robot arm based on the machine vision. Most existing methods use the kind of camera calibration methods to establish the spatial position relationship of the robot arm and the workpiece in the image. Instead, we propose a new location method, which is based on using the Hermite Interpolation and mapping in a big checkerboard to confirm the relationship of workpiece in the image and the robot arm. Firstly, we acquire the position of workpiece center in the image through the image correction, the image binary processing and weighted vote. then, we confirm the relationship between workpiece center in the image and the checkerboard coordinate through the Hermite Interpolation and mapping. Lastly, we use the least square method to determine the relationship between the checkerboard coordinate and robot arm coordinate. Experiments are conducted on a 5-DoF robot arm. Comparing with other methods, results show that our proposed method can achieve high precision in the visual location of workpiece.

关键词： Robot kinematics Image segmentation automation Calibration Cameras

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informatics in control, automation and robotics 2014

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丛书名： Lecture Notes in Electrical Engineering

2014年

作者： Jean-Louis Ferrier Alain Bernard Oleg Gusikhin Kurosh Madani

ISBN: (数字)9783319035000

ISBN: (纸本)9783319034997

this book includes extended and revised versions of a set of selected papers from the Ninth international conference on informatics in control automation and robotics (ICINCO 2012), held in Rome, Italy, from 28 to 31 July 2012. the conference was organized in four simultaneous tracks: Intelligent control Systems and Optimization, robotics and automation, Systems Modeling, Signal Processing and control and Industrial Engineering, Production and Management. ICINCO 2012 received 360 paper submissions, from 58 countries in all continents. From these, after a blind review process, only 40 were accepted as full papers, of which 20 were selected for inclusion in this book, based on the classifications provided by the Program Committee. the selected papers reflect the interdisciplinary nature of the conference as well as the logic equilibrium between the four abovementioned tracks. the diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and technological trends.

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Integration of renewable energy for the harmonic current and reactive power compensation

Integration of renewable energy for the harmonic current and...

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international conference on Power Engineering, Energy and Electrical Drives, POWERENG

作者： E. Pouresmaeil H. R. Shaker M. Mehrasa M. A. Shokridehaki E. M. G. Rodrigues J. P. S. Catalão Centre for Energy Informatics Univ. of Southern Denmark Odense Denmark Babol (Noshirvani) University of Technology Babol Iran Univ. Beira Interior IST Univ. Lisbon Lisbon Portugal

this paper deals with a control technique for multilevel converter topologies base on Direct Lyapunov control Method (DLCM) for integration of Renewable Energy Resources (RER) into the power grid. the compensation of variations in reference current components is considered properly in this control plan, which is the main contribution and novelty of this work in comparison with other control strategies. the proposed control technique provides the injection of harmonic current components of loads via the interfacing system, which is based on multilevel converter topologies and compensation of loads reactive power. then, the active power in fundamental frequency will be supplied through the main grid and a unity Power Factor (PF) between the grid current and load voltage is obtained during the connection of nonlinear load to the grid. High performance of DLCM is validated through simulation results during dynamic and steady-state operating conditions.

关键词： Harmonic analysis Power harmonic filters Mathematical model Power system dynamics Active filters Power grids

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Zero-voltage switching implementation of a virtual infinite capacitor

Zero-voltage switching implementation of a virtual infinite ...

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international conference on Power Engineering, Energy and Electrical Drives, POWERENG

作者： Guy Yona George Weiss Program of Autonomous Systems and Robotics Technion - Israel Institute of Technology Haifa Israel School of Electrical Engineering Tel-Aviv University Tel-Aviv Israel

We define the virtual infinite capacitor (VIC) as a nonlinear capacitor that has the property that for an interval of the charge Q (the operating range), the voltage V remains constant. We propose a lossless zero-voltage switching realization for the VIC using a switched power converter and capacitors. this circuit is simple but it requires a complex control algorithm that we describe. there are two controllers needed to operate a VIC: the voltage controller acts fast to maintain the desired terminal voltage, while the charge controller acts more slowly and maintains the charge Q in the desired operating range by influencing the incoming current. the VIC is useful as a filter capacitor for various applications, for example power factor compensators (PFC), as we describe. In spite of using small capacitors, the VIC can replace a very large capacitor in applications that do not require substantial energy storage. We give simulation results for a PFC working in critical conduction mode with a VIC for output voltage filtering.

关键词： Capacitors Switches Mathematical model Capacitance Zero voltage switching Voltage control Energy storage

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Kinematic modeling and validation of a 6-DOF industrial robot

Kinematic modeling and validation of a 6-DOF industrial robo...

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2015 5th international conference on Computer Sciences and automation Engineering(ICCSAE 2015)

作者： Guo-Qing Sun Guan-Bin Gao Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology

the kinematic model of industrial robots is the transformation between the working space and the space of joints. After analysis of the kinematic methods in the area of linkage mechanisms, the kinematic model was established according to DH method for a 6-DOF industrial robot. To verify the kinematic model, the graphic simulation of the industrial robot was established with robotics Toolbox in Matlab. the calculation result of the kinematic model and the simulation are consistent. Experiments were carried out to verify the kinematic model, which shows that the kinematic model is correct.

关键词： Industrial robot Kinematic model Graphic simulation Transformation

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Stability analysis for operation of DG units in smart grids

Stability analysis for operation of DG units in smart grids

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international conference on Power Engineering, Energy and Electrical Drives, POWERENG

作者： E. Pouresmaeil H. R. Shaker M. Mehrasa M. A. Shokridehaki E. M. G. Rodrigues J. P. S. Catalão Centre for Energy Informatics Univ. of Southern Denmark Odense Denmark Babol (Noshirvani) University of Technology Babol Iran J.P.S. Catalão Univ. Beira Interior Covilhã Portugal and INESC-ID IST Univ. Lisbon Lisbon Portugal Universidade de Lisboa Lisboa Lisboa PT

this paper presents a multifunction control strategy for the stable operation of Distributed Generation (DG) units during grid integration. the proposed control model is based on Direct Lyapunov control (DLC) theory and provides a stable region for the appropriate operation of DG units during grid integration. Using DLC technique in DG technology can provide the continuous injection of maximum active power in fundamental frequency from the DG source to the grid, compensating all reactive power and harmonic current components of grid-connected loads through the integration of DG link into the grid. Application of this concept can guarantee to reduce the stress on the grid during the energy demand peak. Simulation results are presented to demonstrate the proficiency and performance of the proposed DLC technique in DG technology.

关键词： Mathematical model Load modeling Switches Steady-state Voltage control Power system dynamics Reactive power

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7th international conference on Fluid Power and Mechatronics Harbin,China

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液压与气动 2015年第1期 7-7页

international conference on Fluid Power and Mechatronics(previously named international Symposium on Fluid Power Transmission and control)is a series conference sponsored by Fluid Power Transmission and control Institution,Chinese Mechanical Engineering Society(FPTCI,CMES).the previous six conferences were successfully held in Beijing(1991),Shanghai(1995),Harbin(1999),Wuhan(2003),Qinhuangdao(2007)and Beijing(2011).the aim of the conference is to provide a platform for researchers,engineers and students from industries and universities to exchange their ideas and technologies on the development of fluid power and mechatronics *** 7th international conference on Fluid Power and robotics will be held on August 5th-7th,2015 in Harbin,China.

关键词： international conference on Fluid Power and Mechatronics Harbin,China

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Hidden Markov models & principal component analysis for multispectral palmprint identification

Hidden Markov models & principal component analysis for mult...

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international conference on Information and Communication Technology and Accessibility (ICTA)

作者： Abdallah Meraoumia Maarouf Korichi Salim Chitroub Ahmed Bouridane Laboratory of Mathematics Informatics and Systems (LAMIS) University of Tebessa Tebessa ALGERIA Electronics and Computer Science Faculty Laboratory of Intelligent and Communication Systems Engineering (LISIC) Algiers ALGERIA Department of Computer Science and Digital Technologies Northumbria University Newcastle Newcastle upon Tyne UK

Automatic personal identification from their physical and behavioral traits, called biometrics technologies, is now needed in many fields such as: surveillance systems, access control systems, physical buildings and many more applications. In this paper, we propose an efficient online personal identification system based on Multi-Spectral Palmprint images (MSP) using Hidden Markov Model (HMM) and Principal Components Analysis (PCA). In this study, the band image {RED, BLUE, GREEN and Nearest-InfraRed (NIR)} is rotated with different orientations then applying the PCA technique to each oriented image, to decorrelate the image columns, and concentrate the information content on the first components of the transformed vectors. thus, the observation vector is formed by concatenate some components of the transformed vectors for all orientations. Subsequently, we use the HMM for modeling the observation vector of each MSP. Finally, log-likelihood scores are used for MSP matching. Our experimental results show the effectiveness and reliability of the proposed approach, which brings both high identification and accuracy rate.

关键词： Hidden Markov models Biometrics (access control) Feature extraction Principal component analysis Databases Computational modeling Transforms

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