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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2796 条记录，以下是2461-2470 订阅

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Estimation of RoA for Nonlinear Systems Based on Gaussian Processes

Estimation of RoA for Nonlinear Systems Based on Gaussian Pr...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Yucheng Chen Yupeng Zhu Hongming Zhu Quanqi Zhang Chengwei Wu Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper employs Gaussian Processes (GPs) to estimate uncertainty dynamics inherent in nonlinear systems. A control policy ensuring the system satisfies initial stability constraints is derived using linear quadratic regulator (LQR). By modeling the Lyapunov function based on uncertain dynamics as GPs, the stability of the system dynamics in the Lyapunov sense is ensured. To discretize the Lyapunov function with Lipschitz continuity, a finite number of discrete points are chosen to represent the properties of the function. the region of attraction (RoA) based on Lyapunov function is widely utilized as a safe constraint in the field of control. Additionally, the maximum uncertainty dynamics are chosen as the boundary for exploration to expand the evaluation of the RoA. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed approach.

关键词： Uncertainty Regulators System dynamics Estimation Gaussian processes Stability analysis Nonlinear dynamical systems informatics thermal stability Lyapunov methods

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Single motor actuated peristaltic wave generator for a soft bodied worm robot

Single motor actuated peristaltic wave generator for a soft ...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Benjamin Winstone Tony Pipe Chris Melhuish Mark Callaway Appolinaire C. Etoundi Sanja Dogramadzi Bristol Robotics Laboratory University of the West of England Bristol UK Department of Radiology Bristol Royal Infirmary Bristol UK

ISBN: (纸本)9781509032884

this paper presents the design and development of a single motor actuated peristaltic worm robot with three segments using a bio-inspired method of locomotion with one actuator that achieves optimised worm like peristaltic motion. Each segment consists of two solid circular disks that have a tendon connected through to the drive mechanism using a Bowden cable and a soft rubber skin that deforms under the compression of the tendon. Our hypothesis that a tuned peristaltic waveform can achieve improved performance of locomotion distance and clamping strength is proven using an initial test platform capable of demonstrating varying waveform types with multiple actuators. three experiments were undertaken: (i) moving along a flat surface, (ii) moving through a confined tunnel (iii) moving through a confined tunnel whilst pulling a payload. Results from these experiments have identified the optimal parameters for a smart gearbox capable of achieving the same optimal peristaltic waveform signal as the more complex test platform but with only one actuator driving all three worm segments. Unlike other examples of peristaltic worm robots, this example uses a control method embedded within the mechanics of the design removing excessive number of actuators which contributes to miniaturisation, reduces power consumption and simplifies the overall design.

关键词： Tendons Actuators Grippers Motion segmentation Clamps Contracts

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Teaching advanced test issues in digital electronics

Teaching advanced test issues in digital electronics

引用

international conference on Information Technology Based Higher Education and Training, IthET

作者： R. Ubar E. Orasson J. Raik H.-D. Wuttke Computing Engineering Department Tallinn University of Technology Tallina Estonia Engineering Student Services Center University of Pittsburgh Pittsburgh PA USA Faculty of Informatics and Automation Ilmenau Technical University Ilmenau Germany

An environment targeted to e-learning is presented for teaching advanced test issues in digital electronics. Digital circuits and systems are getting more and more complex, and in the same time the requirements for the quality of systems are getting higher and higher. this is the reason why the importance of testing as an engineering task has started to grow extremely fast. An environment which consists of a set of Java applets has been created to help the students to improve their understanding of test. the tools support university courses on digital electronics, computer hardware, testing and design for testability to learn by hands-on exercises how to generate test patterns, and how to analyze their quality. the tasks chosen for hands-on training represent simultaneously real research problems, which allow to foster in students critical thinking, problem solving skills and creativity.

关键词： Electronic equipment testing Education Circuit testing Electronic learning Digital circuits Java Hardware Design for testability Test pattern generators Pattern analysis

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Computer-Aided Detection of Atrial Fibrillation Episodes from Electrocardiogram Signals Using Variational Mode Decomposition

Computer-Aided Detection of Atrial Fibrillation Episodes fro...

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international conference on Contemporary Computing and informatics (IC3I)

作者： Deepak Parashar Kanhaiya Sharma Computer Science & Engineering Department Symbiosis Institute of Technology Symbiosis International University Pune Maharashtra India

Atrial Fibrillation (AF) is defined as a heart beating irregularly. It may increase the risk of stroke and sometimes results in heart failure. Lately, the number of patients with AF episodes has increased exponentially worldwide. Early detection is the only way to reduce and control its effect. However, it is crucial to detect AF in the early stages in most patients who do not show any significant symptoms in the early stage. Many recent studies have shown ways to identify early symptoms based on the signature present in the recording of the electrocardiogram. Usually, the signature is present in terms of either frequency domain or time-frequency domain characteristics. None of the studies have shown classification using features from each domain and described the specific behavior of each feature relating to the characteristic of AF. In this work, a rigorous collection of features from each domain is calculated and analyzed for the automatic detection of AF patterns using variational mode decomposition. High-frequency decomposed components have been used for further processing. the dataset from the MIT-BIH repository has been utilized to measure the robustness of the introduced approach. We obtained the highest accuracy of 98.67% on the MIT-BIH database. Obtained indicators show that the proposed method outperformed latest approaches.

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Design of Simulation and Evaluation System for Safety Operation in High Energy Radiation Scene Based on SysML

Design of Simulation and Evaluation System for Safety Operat...

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international conference on Electronic Engineering and informatics (EEI)

作者： Huai Wu Baoran An Weijian Huang Xuedong Zhang Sifeng Zeng Institute of Computer Application China Academy of Engineering Physics Mianyang China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

With the emergence and wide application of new energy sources and technologies, various high-energy radiation devices have become indispensable core facilities and play an important role. At present, there are not only a large number of high-energy radiation devices in service, but also many have been or will enter the decommissioning stage. Aiming at the uncertainty and fuzziness of the traditional safety evaluation methods in the maintenance and decommissioning of high-energy radiation equipment, this paper designs the algorithms of task allocation, path planning and safety ergonomics evaluation for high-energy radiation equipment. Based on the system modeling language, the rationality of the system control flow is verified, and a simulation evaluation system for high-energy radiation equipment is developed to realize the comprehensive evaluation of safety operation schemes.

关键词： Uncertainty Ergonomics Process control control systems Systems Modeling Language Path planning Safety Maintenance Resource management informatics

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Dynamic Modeling and controlling for the Crawling Motion of the 6-strut Tensegrity Robot

Dynamic Modeling and Controlling for the Crawling Motion of ...

引用

IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Bin Li Wenjuan Du Wenyuan Liu State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9781538604915

the 6-strut tensegrity robot (TR-6) is a novel deformable mobile robot, and it can generate different gaits by self-deformation to adapt to various terrains. As the shape of the TR-6 is similar to a sphere, unexpected falling often occur when the robot is climbing a slope with rolling gait. By self-deformation, the TR-6 can generate crawling gait and move forward steady. As the topology of the TR-6 is complicated, the components of the structure are highly coupled, and the TR-6 is a multi-input system, there is no existed method for solving the control problem of the crawling gait for TR-6. this paper presents a control method for the crawling gait of TR-6 based on the genetic algorithm (GA). Firstly, a dynamic model of the TR-6 is built by the Newton-Euler method. Secondly, based on the TR-6 dynamic model, an optimal initial configuration and the range of the control parameters for avoiding the unexpected rolling during crawling motion are determined. Lastly, by converting the multi-input control problem to an optimization problem and solving the optimization problem by GA, a group of control parameters are chosen to control the TR-6 crawl forward steady and fast. the control method is realized by C++ code, and a group of control parameters are given by the numerical simulation. the experiments verifies the result of simulation.

关键词： Force Robots Dynamics Genetic algorithms Mathematical model Optimization Actuators Robot creeping control parameter Genetic Algorithm (GA) actuators Mathematical Model Force control Methods Gait dynamics Standing Orders Locomotion Simulation results Component architectures input system

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Improvement of Robot Task accuracy by multi-view Eye-in-Hand

Improvement of Robot Task accuracy by multi-view Eye-in-Hand

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international conference on control, automation and Systems ( ICCAS)

作者： Howon Jung Byeong Chang Kang Kyung Jae Jang Jong Hyeong Kim Department of Mechanical Design Robotics Seoul National University of Science and Technology Seoul Korea Seoul National University of Science and Technology Seoul Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

this paper proposes a multi-viewing eye-in-hand system configured with an RGB-D camera and a 6-axis robot manipulator to improve robot task accuracy. this system can capture optimal images by changing the viewing direction and field-of-view of the RGB-D camera. the proposed method is very efficient for robot applications, compared to multi-viewing vision system of using several cameras.

关键词： Accuracy automation Robot kinematics Machine vision Robot vision systems Cameras Manipulators control systems Real-time systems

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A Quasi-extreme Reduction for Interval Transportation Problems 6th

A Quasi-extreme Reduction for Interval Transportation Probl...

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6th international conference on Dynamics of Information Systems, DIS 2023

作者： Garajová, Elif Rada, Miroslav Faculty of Mathematics and Physics Department of Applied Mathematics Charles University Prague Czech Republic Faculty of Informatics and Statistics Department of Econometrics Prague University of Economics and Business Prague Czech Republic Faculty of Finance and Accounting Department of Financial Accounting and Auditing Prague University of Economics and Business Prague Czech Republic

ISBN: (纸本)9783031503191

Transportation problems provide a classic linear programming model used in many areas of operations research, such as inventory control, logistics or supply chain management. the goal of a transportation problem is to find a minimum-cost transportation plan for shipping a given commodity from a set of sources to a set of destinations. Since the input data of such models are not always known exactly in practice, we adopt the approach of interval programming, which handles uncertainty in the supply, demand and cost parameters by assuming that only lower and upper bounds on these quantities are given. One of the main tasks in interval programming is to compute bounds on the values that are optimal for some realization of the interval coefficients. While the best optimal value of an interval transportation problem can be computed by a single linear program, finding the worst (finite) optimal value is a much more challenging task. For interval transportation problems that are immune against the "more-for-less" paradox, it was recently proved that the worst optimal value can be found by considering only quasi-extreme scenarios, in which all coefficients in the model but one are set to the lower or upper bounds. We strengthen the former result and show that an analogous property also holds true for general interval transportation problems. then, we utilize the obtained characterization to derive an exact method for computing the worst optimal value. © 2024, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Inventory control

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Neural Network-Based Nonlinear Multiagent Systems Tracking control with Dynamic Connectivity Preservation

Neural Network-Based Nonlinear Multiagent Systems Tracking C...

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international conference on Electronic Engineering and informatics (EEI)

作者： Shuxing Xuan Hongjing Liang Lei Chen University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper delves into a specific category of multiagent systems marked by nonlinear uncertainties. It tackles the distributed adaptive consensus tracking issue while emphasizing dynamic connectivity preservation. Considering the presence of uncertain nonlinear terms in the system, neural networks are utilized approximate these nonlinear terms. Taking into account the dynamic transformation range of communication among agents, an adaptive neural network controller is designed using an error transformation method to ensure the initial dynamic connectivity preservation patterns. Furthermore, the proposed control method is demonstrated to maintain boundedness for all signals through Lyapunov theory. Numerical simulations provide evidence of the effectiveness of the proposed control method.

关键词： Uncertainty Simulation Neural networks Dynamic range Numerical simulation Nonlinear dynamical systems Numerical models Closed loop systems informatics Multi-agent systems

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Intensive Electromagnetic Target Association based on Multi-dimensional Characteristics Fuzzy Weighted Algorithm

Intensive Electromagnetic Target Association based on Multi-...

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international conference on Electronic Engineering and informatics (EEI)

作者： Ye Du Qilun Yang Xuying Zhang Yuan Zuo Science and Technology on Electronic Information Control Laboratory Chengdu China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

In order to improve the intensive electromagnetic target association requirement for electronic reconnaissance, the multi-dimensional characteristics fuzzy weighted algorithm is proposed in this paper. On the basis of the signal deinterleaving, each dimensional electromagnetic parameter is carried out by nonlinear Euclid distance as the degree of membership firstly, and then the membership degree of different electromagnetic parameters is fuzzy weighted, finally the electromagnetic target is tracked based on the weighted membership. the simulation demonstrates that the proposed algorithm can track the intensive target with interlocking electromagnetic parameters accurately, and it has good robustness to the parameters of algorithm.

关键词： Radio frequency Target tracking Accuracy Reconnaissance Robustness Time measurement Electromagnetics informatics

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