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

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Design of an Intelligent Global Terminal Backsteping controller for a Class of Constrained Input Systems

Design of an Intelligent Global Terminal Backsteping Control...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Jinhua Wu Junwei Lei Jinyong Yu Zuoe Fan Department of Control Engineering Naval Aeronautical Engineering Academy Yantai China

A new intelligent global terminal backstepping design method is proposed for a class of constrained input systems. It has several advantages as the following. Firstly, the differential bomb problem is avoided because of the no time derivative design concept. So the control law is simplified and the system becomes more stable and robust. Secondly, a quantitative analysis about the convergence time of each step is discussed by adopting the global terminal control rule based on the popular backstepping design method. At last, the high gain problem and input saturation problem are solved successfully by adopting the soft function and intelligent rule of regulation for parameters of controller. The control law intelligently regulate the convergence time to make the control as small as possible to avoid the saturation of input. So the method is meaningful because it is able to solve the constrained input problem, differential bomb problem and high gain feedback problem successfully. And the numerical simulation shows the effectiveness of this proposed method.

关键词： control systems Backstepping Weapons control engineering Aerospace engineering Design methodology Feedback Automatic control robotics and automation Intelligent robots

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Utilizing Multi-Agent Modelling to Develope Urban Simulations

Utilizing Multi-Agent Modelling to Develope Urban Simulation...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Jinfeng Ma Feng Mao Wensheng Zhou Tsinghua University Beijing Beijing CN

Cities are faced with many problems such as urban sprawl, congestion, and segregation. They are constantly changing. The heterogeneous nature of cities, make it difficult to generalize localized problems from that of city-wide problems. Computer modeling is becoming an increasingly important tool when examining how cities operate. Agent-based models allow for testing of different hypotheses and theories for urban changes, thus leading to a greater understanding of how cities work. This paper propose a multi-agents systems/simulation model based on integration among parallel processing, coupling with vector GIS,temporal logic analysis and the integration with the rule engine. The efficiency of our approach is shown through some experimental results, which highlights how different theories can be incorporated into one model and demonstrates how the well-known principle that local action can give rise to global pattern but also how such pattern emerges as the consequence of positive feedback and learned behavior.

关键词： Cities and towns Geographic Information Systems Solid modeling Java Analytical models Computer simulation Joining processes Extraterrestrial phenomena Libraries robotics and automation

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Research on Networking Simulation in TCN Simulation Training

Research on Networking Simulation in TCN Simulation Training

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international asia conference on informatics in control, automation and robotics, CAR

作者： Zhao-yong Fan Zhi-chun Gan Jian-jun Shen Wei Cheng Communication Commanding Academy Wuhan China Air Force Radar Academy Wuhan China

Modern military operations are becoming increasingly reliant on communication network and its connectivity. In order to help tactical communication network (TCN) manipulators in operating those advanced communication equipments and related network management software, a type of simulation training system for TCN is presented in this paper. Networking simulation was introduced into the system to provide necessary implementing environment. The system to accomplish the task was named networking simulator (NETSIM) federate, which serves as a bridge to combine TCN network management training and equipment operation training. To realize NETSIM, the networkpsilas abstract model of simulated TCN was analyzed and the three-layer program model framework was put forward. Key issues for NETSIM development were discussed in detail and appropriate solutions were also provided. The primary application of the research shows its scientificalness and feasibility.

关键词： Management training Military communication Communication networks robotics and automation Electronic mail Communication equipment Discrete cosine transforms Computer architecture Monitoring Network topology

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Detection of Ventricular Fibrillation by Support Vector Machine Algorithm

Detection of Ventricular Fibrillation by Support Vector Mach...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Qun Li Jie Zhao Yan-Na Zhao College of Physics and Electronics Shandong Normal University Jinan China

With the increasing of sudden cardiac death, the developing of a reliable and portable electrocardiograph (ECG) monitor is imminent, especially automated external defibrillators (AEDs). A pivotal component in AEDs is the detection of ventricular fibrillation (VF) by means of appropriate detection algorithms. Various algorithms were proposed, here we proposed a new algorithm, which is based on support vector machine (SVM), Hurst index, and the time-delay algorithm [phase space reconstruction (PSR)]. For the new VF detection algorithm we calculated the sensitivity, specificity, positive predictivity and accuracy, then we compared these values with the results from an earlier investigation of several VF detection algorithms under equal conditions, using same databases and all of data without any preselection. We used the BIH-MIT arrhythmia database and the CU database. The result shows that the proposed algorithm has a high detection quality and outperforms all other investigated algorithms.

关键词： Fibrillation Support vector machines Databases Support vector machine classification Electrocardiography Detection algorithms Heart robotics and automation Accuracy Hospitals

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A Method for Robust Nose Tip Location across Pose Variety in 3D Face Data

A Method for Robust Nose Tip Location across Pose Variety in...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Jun Yang Zhi-Wu Liao Li Xiao-Ning Zhen-Dong Wu College of Computer Sichuan University Chengdu China College of Computer Science Sichuan Normal University Chengdu China

3D face data have the potential to improve the face recognition performance at disadvantageous conditions, such as uncontrolled illuminations, pose and expression. 3D nose tip location is the crucial step for registration and recognition of 3D face data. An automatic nose tip location and pose estimation method robust for pose changing at 3D face scans is proposed in this paper. We firstly gain some tip candidates by directional maximum and normalize the 3D scan data to front by hypothetical nose tips. Two filters respectively based on local structure of curves and PCA reconstruction curves errors are utilized to discard false tip candidates. The results of nose tip position and face recognition at BJUT 3D Database show the proposed method is efficient and robust for pose angle variety.

关键词： Robustness Nose Face recognition Educational institutions Computer science Automatic control robotics and automation Lighting Principal component analysis Image reconstruction

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Investigations on Detection Model of Large Scale Rotation Shaft Torsional Vibration in Precision Heavy Machinery

Investigations on Detection Model of Large Scale Rotation Sh...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Zhao Wu School of Mechanical and Power Engineering Henan Polytechnic University Jiaozuo China

For solving on-line extract torsional vibrating parameter detecting and metrical problem of spanless point of complex and precise heavy machinery large scale rotary driving shaft, a new torsional vibration continuous shaft segment mass detecting and analytic model was proposed by using kinetics theory and measuring theory. The new method established the vibrational transmission relationship between the measurable point and the spanless point. New model was verified correctness, feasibility and effectiveness by means of gathering torque signal in the production field and comparing the consistency between measured value and theoretical calculation value of spanless point torque signal. Based on the experimentpsilas result, new model can supply a engineered means for acquiring the vibration detailed information of the point on precise heavy machinery large scale driving shaft which was inconvenience fitted sensor. It also can program composition for implement on-line monitor and fault forecast on rotary shaft and then guarantee the precise heavy complex rotary machine even running.

关键词： Large-scale systems Shafts Machinery Vibration measurement Fatigue Production Frequency Stress robotics and automation Kinetic theory

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Optimal estimation of human body segments dynamics using realtime visual feedback

Optimal estimation of human body segments dynamics using rea...

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2009 IEEE/RSJ international conference on Intelligent Robots and Systems, IROS 2009

作者： Venture, Gentiane Ayusawa, Ko Nakamura, Yoshihiko Department of Mechano-Informatics University of Tokyo Japan Department of Mechanical System Engineering Tokyo University of Agriculture and Technology Japan

ISBN: (纸本)9781424438044

Mass parameters of the human body segments are mandatory when studying motion dynamics. In orthopedics, biomechanics and rehabilitation they are of crucial importance. Inaccuracies their value generate errors in the motion analysis, misleading the interpretation of results. No systematic method to estimate them has been proposed so far. Rather, parameters are scaled from generic tables or estimated with methods inappropriate for in-patient care. Based on our previous works, we propose a real-time software and its interface that allow to estimate the whole-body segment parameters, and to visualize the progresses of the completion of the identification. The visualization is used as a visual feedback to optimize the excitation and thus the identification results. The method is experimentally tested and obtained results are discussed. © 2009 IEEE.

关键词： Parameter estimation

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Safe test flights for small rotorcrafts

Safe test flights for small rotorcrafts

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Vitzilaios, Nikos Tsourveloudis, Nikos Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania 73300 Greece

ISBN: (纸本)9783642002700

In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but, also, prevents helicopters' damage because of crashing. A variety of sensors mounted on the stand, monitor and feedback rotorcraft's attitude and operational states. Based on the sensory information, a fuzzy logic controller has been developed and tested on a real rotorcraft, using the developed test bed. This controller proved able to perform hovering and altitude control. Experimental results are presented for various test cases. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fuzzy control

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Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots

Switching feedback controllers based on the maximal CPI sets...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Yamamoto, Ko Nakamura, Yoshihiko Department of Mechanical Science and Engineering Tokyo TECH 2-12-1 Oookayama Megutro-ku 152-8552 Tokyo Japan Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-ku 113-8656 Tokyo Japan

ISBN: (纸本)9781424445882

Humanoid robots should be able to stand and walk despite reasonable external disturbances. This paper addresses the robustness of a humanoid robot to unknown disturbances. Although there are control methods to absorb the disturbances based on the COG-ZMP inverted pendulum model, they do not consider the physical constraint on ZMP. In this paper, the authors enable the control law to consider the physical constraint explicitly with the maximal CPI set. Furthermore, the switching control framework is applied to a COG-ZMP inverted pendulum model, allowing for an improved robustness to external disturbances. The validity of the proposed method is verified with both of simulation and experiment. ©2009 IEEE.

关键词： Anthropomorphic robots

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Analyzing the "knacks " of transferring human and developing a two-body integrated model as a basis for humanoid control

Analyzing the "knacks " of transferring human and developing...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Ogata, Kunihiro Kuniyoshi, Yasuo Intelligent Systems and Informatics Laboratory Department of Mechano-Informatics Graduate University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan

ISBN: (纸本)9781424445882

In order to help with care work and rescue operations, humanoid robots should have the ability to lift and carry humans gently and steadily. This paper is a step towards the ultimate goal of giving humanoid robots the ability to lift and carry humans, a task which involves very complex physical interactions. We measure several such lifting and carrying motions using a motion capture system, paying special attention to "knacks" which are motion patterns which are critical to success in the task. The knack movements are basically simple, so if they can be found, they can be used to obtain control methods enabling human-lifting motions for humanoid robots. In the experimental results, we found two common knacks between three subjects, and that falling momentum plays a very important role in the motion . Moreover we discovered that when a subject uses the two special knacks effectively, along with a rotation movement, the load on the waist is decreased. Thus, we propose a motion model for humanoid robot control that includes translation movement and rotation movement, and we expect that this model will have the ability to express various human handling motions. ©2009 IEEE.

关键词： Anthropomorphic robots

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