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检索条件"任意字段=IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003"

共 557 条记录，以下是411-420 订阅

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Profile tracking control of hybrid stepping motors using a learning method

Profile tracking control of hybrid stepping motors using a l...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： W.D. Chen G. Feng K.L. Yung Institute of Vibration Engineering Nanjing University of Aeronautics and Astronautics Nanjing China City University of Hong Kong Hong Kong China Department of Industrial and Systems Engineering Hong Kong Polytechnic University Hong Kong China

ISBN: (纸本)078037925X

Servo control of the hybrid stepping motor is complicated due to its highly nonlinear torque-current-position characteristics, especially under low operating speeds. The purpose of this paper is to develop simple and efficient control algorithms for the high-precision tracking control of hybrid stepping motors. The principles of learning control have been exploited to minimize the motor's torque ripple that is periodic and nonlinear in the system states with specific emphasis on low-speed conditions. The proposed algorithm utilizes a fixed PI feedback controller to stabilize the servomotor and the feedforward learning controller to compensate for the effect of the torque ripple and other disturbances for improved tracking accuracy. The stability and convergence performance of the learning control scheme is discussed. It has been revealed that all the error signals in the learning control system are bounded and the motion trajectory converges to the desired one asymptotically. The experimental results demonstrate the effectiveness and performance of the proposed algorithm.

关键词： Learning systems Servomotors Torque control Control systems Servosystems Nonlinear control systems Adaptive control Stability Convergence Error correction

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Design, modeling, and fabrication of an integrated micromechanical switch for potential applications in adaptive fractal antenna arrays

Design, modeling, and fabrication of an integrated micromech...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： G.M.H. Chan Jie Wang W.J. Li Chung-Ping Kwong Kwai-Man Luk Ke-Li Wu Centre for Micro and Nano Systems The Chinese University of Hong Kong Hong Kong China Departrnent of Electronic Engineering The Chinese University of Hong Kong Hong Kong China Centre for Micro and Nano Systems The Chinese University of Hong Kong Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Department of Electronic Engineering City University of Hong Kong Hong Kong SAR Hong Kong China

This paper presents the modeling and analysis of a MEMS switch for microwave applications. Parylene polymer (poly-para-xylylene) is studied as a substitution for silicon or metal-based materials in existing capacitive shunt RF switches to enhance the device performance. Through modeling and analysis, we have shown that polymer-based RF switches can be driven by lower actuation voltage with larger off/on capacitance ratio. Fabrication of the switch and integration of the switch with wireless antenna system is underway. Successful development of the switch will potentially enhance the performance of adaptive fractal antennas for microwave applications.

关键词： Switches Fabrication Micromechanical devices Fractal antennas Adaptive arrays Antenna arrays Polymers Radio frequency Microswitches Microwave devices

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Level of detail control of a virtual dental training system

Level of detail control of a virtual dental training system

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Min Li Yunhui Liu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Department o fAutomation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

ISBN: (纸本)078037925X

This paper presents a level of detail control method for a virtual dental training system, the input of which is a triangulated surface model without the property of continuity commonly satisfied in other methods. This method uses relative curvatures of vertices as the criteria for multiresolution modeling. The primary strategy of this method is to produce tooth models with needed level of detail by vertex decimation. After illustrating our motivation and consideration to develop this method, the paper introduces the policy for vertex decimation and the computation method of relative curvature at first. Then the level of detail control method is presented in detail. And we adopt both maximum and average error metrics to measure the geometric fidelity between the original model and approximations. Finally, some sampled results are illustrated and analyzed in depth. The experiments demonstrate that the method can provide good level of detail control for the tooth models with reasonable time cost and geometric deviations.

关键词： Control systems Dentistry Teeth Energy resolution Spatial resolution Solid modeling Computational modeling Clustering algorithms Partitioning algorithms Costs

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The choice of B-spline biorthogonal wavelets for image coding according to time-frequency resolution

The choice of B-spline biorthogonal wavelets for image codin...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Yi-Rong Zhang Ming Xian Shun-Ping Xiao Guo-Yu Wang School of Electronic Science and Engineering National University of Defense Technology Changsha China

ISBN: (纸本)078037925X

This paper concisely analyzes the influence of the choice of wavelet bases on coding efficiency and quality when image and video coding are based on the wavelet transform. From the point of view suitable for extracting high frequency components of image and video signals, the paper presents the standard of the choice of B-spline biorthogonal wavelets according to time-frequency resolution property, also gives the construction process of B-spline biorthogonal wavelets. A method is proposed in the paper, which can be used for calculating the area of time-frequency window. Moreover, as for every B-spline function with N order (2/spl les/N/spl les/20), the condition of its decomposition wavelet with optimum time-frequency resolution property is given, which suggests that the lower the order of B-spline function is, the better the time-frequency resolution property of its decomposition wavelet is, and that the time-frequency resolution property of B-spline biorthogonal wavelets with even orders is comparatively superior to that of B-spline biorthogonal wavelets with odd orders. On this condition, corresponding dual scaling function and wavelet can be obtained.

关键词： Spline Image coding Time frequency analysis Image resolution signal resolution Wavelet analysis Image analysis Video coding Wavelet transforms signal processing

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The application of DLB algorithm in distributed speech dialogue system

The application of DLB algorithm in distributed speech dialo...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Heng Wang Limin Du Department of Biomedical Engineering Shanghai Jiaotong University Shanghai China Center for Speech Interaction Technology Research Institute of Acoustics Chinese Academy and Sciences Beijing China

ISBN: (纸本)078037925X

This paper presents our recent work towards development of a distributed speech interactive system, which was a human computer interactive dialogue system for stock and calling for people by phone. This system integrated speech recognition (ASR), text to speech (TTS) and natural language perception (NLP) technologies with a distributed architecture to allow multi-users to access and converse with it concurrently. During a typical telephone based interaction, users could retrieve up-to-date stock information and calling for somebody by directly speaking their name. Our paper proposed an efficient algorithm with sender active and non-preemptive concepts in order to solve the loads allocating when multi-users accessed the system and gave rise to much burden to the recognition servers and TTS servers. This paper was composed of five parts, 1) an introduction about why such architecture was built; 2) an overview of the system; 3) proposal and implementation of the algorithm; 4) evaluation and measurement of the system performance based on the architecture; and 5) gives a brief summary.

关键词： Speech synthesis Application software Interactive systems Humans Distributed computing Speech recognition Automatic speech recognition Natural languages Computer architecture Telephony

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Swing up pendubot with a GA-tuned bang-bang controller

Swing up pendubot with a GA-tuned bang-bang controller

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Dongbin Zhao Jianqiang Yi Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China

ISBN: (纸本)078037925X

This paper presents a new control method to swing up pendubot (pendulum robot), a typical two-link under-actuated system. The pendubot is composed of the first active joint and the second passive joint. The swing up is a complex problem to move the two links from low to top position by appropriate external torque on the first joint. A bang-bang controller is developed to apply constant output torque on the system periodically. When the two links are located about the natural low position, the constant torque is applied on the first actuated joint to make the links swing up by one or more times, finally close to upright position, the attractive basin of a linear controller for balancing. The balancing controller is designed with LQR method. The constant output torque with control basin of the bang-bang controller is determined with a modified genetic algorithm. The control parameters are verified to swing up the pendubot through simulation results with different typical experimental setups. The results indicate that a large output torque cause the two links swinging up quickly to the attractive basin, while a small torque needs several swings back and forth to reach the attractive basin, but it provides a valuable control strategy for real applications.

关键词： Torque control Control systems Robots Optimal control Linear feedback control systems Automatic control robotics and automation Genetic algorithms Shoulder Nonlinear control systems

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Adaptive RAKE-blind source recovery algorithms for 3GPP UMTS/WCDMA downlink receivers

Adaptive RAKE-blind source recovery algorithms for 3GPP UMTS...

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ieee international conference on robotics, intelligent systems and signal processing

作者： K. Waheed K. Desai F.M. Salem Circuits Systems and Neural Networks Laboratoy Michigan State University East Lansing MI USA

Wideband code division multiple access (WCDMA) is the dominant air interface for the Universal Mobile Telephone Services (UMTS) frequency domain duplex (FDD) mode and for future IMTS wireless networks. The transmitted CDMA signals from based station (BS) propagate through noisy multipath fading communication channels before arriving at the receiver of the mobile station (MS). In contrast to classical single-user detection (SUD) algorithms, which do not provide the requisite performance for modern high data rate applications, optimal multi-user detection (MUD) approaches require a lot of a-priori information not available to the user equipment (UE). We propose two adaptive approaches namely Rake-blind source recovery (RAKE-BSR) and RAKE-principal component analysis (RAKE-PCA) that fuse an info-theoretic stage into a standard RAKE receiver. This results in robust detection algorithms with performance exceeding the standard LMMSE detectors for WCDMA systems under conditions of congestion, imprecise channel estimation and unmodeled multiple access interference (MAI).

关键词： 3G mobile communication Multiaccess communication Downlink RAKE receivers Fading Multiuser detection Multiple access interference Wideband Telephony Frequency domain analysis

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A low power frequency synthesizer with an integrated negative transconductance LC-tuned VCO

A low power frequency synthesizer with an integrated negativ...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： K. Waheed K. Desai F.M. Salem Circuits Systems and Neural Nefworki Laboratory Michigan State University East Lansing MI USA

A low-power 900 MHz GSM frequency synthesizer (FS), with an on-chip LC-tuned voltage controlled oscillator (VCO) is presented. The synthesizer possesses several novel features that include a completely integrated structure, a low phase noise on-chip LC VCO, a low-power dual-modulus divider (DMD) in CML topology, a compensated charge pump with balanced switching, an on-chip third order loop filter and a proposed relatively easy to implement fractional accumulator based frequency synthesis technique. The complete synthesizer achieves in-bandphase noise characteristics better than -110 dBc/Hz at 100 kHz offset. The channel switching time is less than 500 /spl mu/s for a 25 MHz frequency transition. The proposed architecture has been realized using the 0.5 /spl mu/m AMI C5N technology. The complete integrated synthesizer occupies less than 1500 x 700 /spl mu/m/sup 2/ of die real estate with 22 mW power dissipation.

关键词： Frequency synthesizers Transconductance Voltage-controlled oscillators GSM Phase noise Topology Charge pumps Filters Frequency conversion 1f noise

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Sensorless position estimation of switched reluctance motors using artificial neural networks

Sensorless position estimation of switched reluctance motors...

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ieee international conference on robotics, intelligent systems and signal processing

作者： T. Lachman T.R. Mohamad S.P. Teo School of Engineering Faculty of Engineering & IT Sedaya International College Kuala Lumpur Malaysia Department of Electrical Engineering Faculty of Engineering University of Malaya Kuala Lumpur Malaysia

ISBN: (纸本)078037925X

In this paper a model for sensorless position estimation of switched reluctance motor (SRM) is developed. This artificial neural network (ANN) based model is ultimately developed for nonlinear modeling of SRM. The nonlinear characteristics of SRM, which are mainly due to the magnetic saturation of the phase winding, are considered. This model is developed together with a set of measured data, which comprises of magnetization data for the SRM with flux linkage and phase currents as inputs and the corresponding rotor position as output. ANN forms a very efficient mapping structure for the nonlinear SRM. Given a sufficient large training data set, the ANN can build up a correlation between flux-linkages and rotor angle for an appropriate network architecture. The resultant model allows the determination of rotor estimation without any implementation of empirical equation to determine the unknown parameters in SRMs. This paper presents the development, implementation, operation and results of an ANN-based position estimator for any type of SRM.

关键词： Reluctance motors Artificial neural networks Reluctance machines Magnetic flux Saturation magnetization Current measurement Position measurement Phase measurement Couplings Training data

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2003 ieee international conference on Industrial Technology (ieee Cat. No.03TH8685)

2003 IEEE International Conference on Industrial Technology ...

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ieee international conference on Industrial Technology (ICIT)

The following topics are dealt with: neural networks; learning; haptics; RFID; wireless sensing; embedded system; integrated circuit technology; fuzzy logic; artificial intelligence; evolutionary computing; sensoring, inspection and detection; mechatronic control algorithms; mechatronic devices; intelligent system; mobile robots; signal processing estimation; signal processing analysis; sliding mode control; robust control; adaptive control; signal processing measurement; signal processing identification; flexible manufacturing system; computer networks applications; industrial applications; power electronics; motor drives control; induction motor control; nonlinear control; PWM; teleoperation; medical robotics; SPICE; multitechnological systems; advanced motion control; chaotic dynamics; process automation; image compression; image analysis; automatic guided vehicle; industrial telecommunication; industrial automation; industrial control; distributed management in industry; active power factor correction; electric vehicle; alternative electric energy; and power conversion technologies.

关键词： Neural networks Learning systems Integrated circuit fabrication Fuzzy logic Mechatronics Mobile robots Variable structure systems Robustness Adaptive control Flexible manufacturing systems Power electronics Induction motors Nonlinear systems Motion control Industrial control Reactive power control Road vehicle electric propulsion Data compression Image coding SPICE Computer networks Power conversion Manufacturing automation software

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