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Current optimization of 3-DOF permanent magnet spherical motor

Current optimization of 3-DOF permanent magnet spherical mot...

引用

IEEE conference on Industrial Electronics and Applications (ICIEA)

作者： Liang Zhang Liang Yan Weihai Chen Jingmeng Liu School of Automation Science and Electrical Engineering Beijing Aeronautics and Astronautics University Beijing China

this paper presents a novel two level current optimization algorithm for the control of the spherical motor. the proposed spherical motor consists of a rotor with 8 cylindrical permanent magnet (PM) poles and a stator with 24 air-core coils. An analytical expression of the torque model is obtained based on finite-element method. Based on this expression, the relationship between the motor torque and the coil current input is acquired. In order to make better use of the redundant coils, the space geometry method is exploited to study the redundant feature of the spherical motor. the current optimization algorithm is designed in two levels, which can not only minimize the energy consumption of the spherical motor, but also improve the stability and reliability of the spherical motor greatly.

关键词： Coils Rotors Torque Stators Permanent magnet motors Force Optimization

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Hybrid indoor tracking with Bayesian sensor fusion of RF localization and inertial navigation

Hybrid indoor tracking with Bayesian sensor fusion of RF loc...

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IEEE international Workshop on Intelligent Data Acquisition and Advanced computing Systems: Technology and Applications

作者： Andreas Fink Helmut Beikirch Department of Computer Science and Electrical Engineering Rostock University Rostock Germany

the reliable tracking of humans and materials in indoor scenarios is an ongoing research issue. For example, the monitoring of humans in partially hazardous environments - like the surroundings of an underground longwall mining infrastructure - is crucial to save human lives. A centroid location estimation technique based on received signal strength (RSS) readings offers a well known and low-cost tracking solution in such a rough environment where many other systems with optical, magnetical or ultrasound sensors fail. Due to signal fading the RSS values alone can not ensure a precise tracking. the sensor fusion of the RSS-based localization with an inertial navigation system (INS) leads to a more precise tracking. the longterm stability of the RSS-based localization and the good short-term accuracy of the INS are combined using a Kalman filter. the experimental results on a motion test track show that a tracking of humans in multipath environments is possible with low infrastructural costs.

关键词： Estimation Radio frequency Kalman filters Inertial navigation Tracking Sensor fusion

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Embedding of event processing into multi-agent systems decision mechanism

Embedding of event processing into multi-agent systems decis...

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international Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： Ioana Cobeanu Vasile Comnac Faculty of Electrical Engineering and Computer Science Department of Automation Transilvania University of Brasov Brasov Romania

the agent's decision mechanism should take into account only the events which can influence the agent's decision. that is way it is necessary to embed the event processing technology into multi-agent systems decision mechanism. From the stimuli received by the agent, there are selected only the ones which can influence their behaviour and based on this information the complex event processing module gives as output complex events. these complex events result from a series of operations like grouping, aggregation, sorting, filtering, merging, splitting or duplication of events. To study the CEP performance embedded into multi-agent systems decision mechanism the method presented in this paper is applied in a traffic control application.

关键词： Multiagent systems Engines Real time systems Intelligent agents Robots Traffic control Accidents

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An extention of height value algorithm for micro-mouse robot applying for exploring unknown region

An extention of height value algorithm for micro-mouse robot...

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IEEE conference on Industrial Electronics and Applications (ICIEA)

作者： Zhengtian Li Haibin Duan Yan Gao Zhuoning Dong School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Provincial Key Laboratory for Information Processing Technology Soochow University Suzhou China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

the micro-mouse competition is gaining immense popularity universally. this paper proposes algorithm referred to the “extended height value algorithm” which is developed to an advanced level, so that the artificial robot could be made capable of exploring unknown regions such as micro-mouse competition maze. All of the 256 units in the standard 16*16 units maze are given a series of numbers, which represent discretely assigned potential levels of turning into the crossway during exploring task. the numbers will be taken into consideration when the robot makes the crossway choice as well as autonomous route decisions. then the choices will alter when the micro-mouse walks in order to optimize the exploring process. the paper also demonstrates effective measures to avoid duplication exploring as much as possible with artificial intelligence technique. In order to verify the developed algorithm, a simple, yet effective simulation program is coded to show that the improved algorithm has higher average efficiency compared with the less intelligent traditional algorithms.

关键词： Algorithm design and analysis Robot kinematics Arrays Mice conferences Industrial electronics

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the Research on Surface Electromyography Signal Effective Feature Extraction

The Research on Surface Electromyography Signal Effective Fe...

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the 6th international Forum on Strategic Technology(IFOST 2011)(第六届国际战略技术论坛)

作者： Hanqing Zhao Guoqiang Xu Collge of Measure-Control Technology and Communication Engineering Harbin University of Science and Collge of Automation Harbin University of Science and TechnologyHarbinChina

ISBN: (纸本)9781457703980;9781457703966

An important issue in the classification of electromyography signals is the classifier design. For surface electromyography signals in the acquisition process of serious interference by the noise, in particular frequency electrical interference, we use the zero mean of the electromyography signals and the whole cycle of filtering, obtain effective extraction of the electromyography signals characteristics, we compared the whole period of Electromyography signals filtering and f non-whole period filtering for hand acting, obtains the whole period of electromyography signals filtering to suppress interference is a very effective method. the way of electromyography signals feature extraction provides a simple, fast and practical method and lay the foundation for follow-up electromyography signals multi-action recognition.

关键词： Electromyography signals whole period filter zero mean

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A hybrid approach of virtual force and A∗ search algorithm for UAV path re-planning

A hybrid approach of virtual force and A∗ search algorithm ...

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IEEE conference on Industrial Electronics and Applications (ICIEA)

作者： Zhuoning Dong Zongji Chen Rui Zhou Rulin Zhang School of Automation Science and Electrical Engineering Beihang University Beijing China Flight Automatic Control Research Institute Xi'an China

this article is concerned with the UAV path re-planning problem to be solved by using a novel approach based on the hybrid of virtual force and A* search algorithm (HVFA). the formulation of the UAV path re-planning is presented, and the hybrid system model of virtual force (VF) is given. the scheme of path re-planning is designed and the corresponding computational complexity is analyzed quantitatively. Simulation results prove the feasibility and usefulness of using HVFA for UAV path re-planning. Performance comparisons between the HVFA method and the fuzzy virtual force (FVF) method demonstrate that the proposed approach is fast enough to meet the real-time requirements of the online path planning problems.

关键词： Path planning Planning Force Real time systems Computational complexity Algorithm design and analysis Simulation

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Synchronization control of hydraulic horizontal regulation system

Synchronization control of hydraulic horizontal regulation s...

引用

IEEE conference on Industrial Electronics and Applications (ICIEA)

作者： Haibin Dou Shaoping Wang School of Automation Science and Electrical Engineering Beihang University Beijing China

this paper presents a control algorithm to address the leveling issue for lifting vehicle. the leveling system is achieved by electro-hydraulic system because of its advantages, such as small size-to-power ratios and so on. As four cylinders used to achieve synchronization, the issue of cylinder redundancy appears. In order to address this issue, the approach that two cylinders are only allowed to move in the same time is used. the two moving cylinders both are at the front of vehicle or at the back of vehicle. So the leveling issue is converted to motion synchronization of dual-cylinder. the design of controller to achieve motion synchronization of dual-cylinder is presented. the synchronization controller is a double loop controller. Inner-loop controller is a PID controller that is used to achieve the tracking performance of individual cylinder. Outer-loop controller is a compensation controller that is used to compensate the synchronization error of the cylinder the displacement of which is smaller. Simulation results on a dual-cylinder system verified the effectiveness of the proposed approach.

关键词： Synchronization Vehicles Servomotors Simulation Load modeling Valves Couplings

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Research on Trust-Based Access control Model in Cloud computing

Research on Trust-Based Access Control Model in Cloud Comput...

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2011 6th IEEE Joint international Information Technology and Artificial Intelligence conference(ITAIC 2011)

作者： Ahmed Sallam College of Information Science and Engineering Hunan University

In this paper we propose a trust-based dynamic access control model for cloud computing environment inspired by the GTRBAC model,where the users can validate their legal identities and acquire their access control privileges for the resources according to the role information and the trust-degree in the lightweight *** trust-degree in the certificate can be calculated by the direct trust-degree(DT) and recommendation trust-degree(RT),while the access permission for the resources can be decided by comparing the trust-degree with trust-degree threshold,in order to achieve effective control for cloud computing *** theoretical analysis results show that this method can effectively provide dynamic and secure access control.

关键词： cloud computing,access control,trust,GTRBAC

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Free matroidal structure of covering-based rough sets

Free matroidal structure of covering-based rough sets

引用

international conference on Computer sciences and Convergence Information Technology (ICCIT)

作者： Chengyi Yu Fan Min William Zhu Laboratory of Granular Computing Department of Mathematics and Information Science Zhangzhou Normal University Zhangzhou China Laboratory of Granular Computing Zhangzhou Normal University Zhangzhou China

Matroids were defined as abstract generation of graphs and matrices to try to capture abstractly essence of (in)dependence, it has wide application in electrical and computer science, mechanical engineering. Rough set theory is a new tool to deal with various types of data, covering-based rough set is a generalization of traditional rough set theory. this paper concerns the relationships between covering-based rough sets and matroid. Firstly, we establish the free matroidal structure of covering-based rough sets. Any subset of a universe can generate a free matroid, therefore any covering of a universe can be characterized by a family of free matroids. On the other hand, a family of free matroids can be used to generate a covering. Secondly, reducible element is to remove the redundant element in covering-based rough sets, reducible matroid is to remove redundant matroid in a family of matroids. We mainly research the relationship between reducible element and the reducible matroid in the family of free matroids induced by covering. Actually they are equivalent, the reducible element of a covering is always consistent with the reducible matroid induced by the covering. these results enrich covering-based rough set theory and matroid theory.

关键词： Rough sets Educational institutions Approximation methods Machine learning

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Drop test for Sn96.7-Ag3.7 polymer core solder ball in BGA package

Drop test for Sn96.7-Ag3.7 polymer core solder ball in BGA p...

引用

international Microsystems, Packaging, Assembly and Circuits Technology (IMPACT)

作者： Tien-Tsorng Shih Bing-Hua Chen Win-Der Lee Mu-Chun Wang Department of Electronics Engineering National Kaohsiung University of Applied Sciences Kaohsiung Taiwan Department of Electrical Engineering Lee Ming Institute of Technology Taipei Taiwan Department of Electronic Engineering Minghsin University of Science and Technology Hsinchu Taiwan

Using polymer core solder ball in ball-grid-array (BGA) package instead of solid solder ball in cost consideration is a feasible choice. Besides the consideration for inter-metallic compound (IMC) between solder ball and carrier substrate, the reliability test for drop test is necessary. Following the commercial specification test conditions, this candidate demonstrates an impressive performance. the uniformity for the test results is also better than that with the control group. the slope value and scale parameter of Weibull distribution adopted in this statistic calculation illustrated the polymer core solder ball in BGA package owned the wonderful bombardment endurance capability, incorporated with the ENEPIG processing recipe for substrate metal finish.

关键词： Polymers Substrates Lead Reliability Adhesives Resistance

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