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Asymptotic stability study of induction motor vector control systems with Luemberger observer

Asymptotic stability study of induction motor vector control...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： O. Stoicuta T.C. Pana Department of Control Applied Informatics and Computers University of Petrosani Petrosani Romania Department of Electrical Drives and Robots Technical University of Cluj Napoca Cluj-Napoca Romania

In this paper we analyze the asymptotic stability of a vector control system for an induction motor with short-circuited rotor that contains in its loop a Luemberger estimator. The studied control system is based on the direct rotor flux orientation method (DFOC) and the stability study is based upon the linearization theorem around the equilibrium points of the control system, emphasizing the estimated variation domain of the rotor resistance for which the control system remains asymptotically stable when the prescribed speed of the control system is close to zero. The stability study is made in both the continual and discrete cases. The mathematical model of the vector regulating system is made using a value dlambda e -qlambda e linked to stator current. The Luemberger estimator within the regulating system is projected based on the proportionality between the self values of the induction motor and those of the Luemberger estimator.

关键词： Mathematical model control systems Induction motors Rotors Asymptotic stability Machine vector control Regulators

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Influence of animal body on ingested wireless device before and after death

Influence of animal body on ingested wireless device before ...

引用

2008 IEEE/ASME international conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Xu, Lisheng Meng, Max Q.-H. Chan, Yawen Hu, Chao Wang, Haibin School of Control Science and Engineering Shandong University Jinan 250061 China Department Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong Department of Medicine and Therapeutics Chinese University of Hong Kong Shatin N.T. Hong Kong Chinese Academy of Sciences Chinese University of Hong Kong Key Lab for Biomedical Informatics and Health Engineering Shenzhen 518067 China

ISBN: (纸本)9781424424955

This paper measured the radiation characteristics of antennas inside the ingestible wireless devices (IWDs). Three monopole antennas were designed and put in two positions of the intestine of an adult female pig at the weight of 80 kg. The return losses of the antennas were measured when the pig was anesthetic and after euthanasia within one hour. The results demonstrate that the frequencies drift greatly from 2.78,2.17, and 4.29 GHz at the free space into 1.42, 1.0, and 2.2 GHz when the antennas are put in the top position of the intestine of the anesthetic pig and the frequency will increase to 1.62, 1.15, and 2.85 GHz after the pig's euthanasia within one hour. The frequencies increase from 1.5, 1.03, and 2.3 GHz to 1.67, 1.13, and 2.8 GHz when the antennas are put in the bottom position of the intestine of the pig after its euthanasia within one hour. The dead body of the pig absorbed less radiation energy than the living body. Our measurement results further validate the decrease of the dielectric properties of the animal tissues after death. These differences need to be taken into account in electromagnetic modeling for simulation, and should be taken into account before the design of ingested antennas. © 2008 IEEE.

关键词： Monopole antennas

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Towards an electric-powered air-gliding skateboard

Towards an electric-powered air-gliding skateboard

引用

2008 IEEE/ASME international conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Shan, Qing Yang, Jason L. Chan, C.S. Zhang, Guanglie Li, Wen J. Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong Virtus Asia Ltd. Hong Kong Science Park Hong Kong Hong Kong

ISBN: (纸本)9781424424955

This paper presents the development of a novel air-gliding (hovering) "skateboard" (or "skim-board") which operates based on an aerodynamic principle that distributes airflow uniformly between the board and a flat surface to provide an effective air-bearing for air-gliding. Experiments were parametric ally conducted to understand the aerodynamic hovering principle as well as to characterize the performance of the hovering system. We have built several prototypes of the hovering system and showed that it is possible for a board with surface area of ∼1mx0.3m (weighing ∼5Kg) to glide in air with a rider of ∼50Kg on top of it. Besides the obvious fun application of using this hovering board as a skateboard that requires no wheels, another example of applications is to use it as an 'air-skimming' board - when a rider takes a running start and jump onto the board, the board is able to glide with the rider on top of it for several meters. This 'air-skimming' board concept is similar to skim-boarding on a thin-sheet of water that is popular with young adults in many parts of the world. The basic design methodology and performance characteristics of this novel land transport system are described in this paper. © 2008 IEEE.

关键词： Aerodynamics

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Knowledge integration within an applied mobile robot summer course

Knowledge integration within an applied mobile robot summer ...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Lluis Pacheco Xavier Cufi Ningsu Luo Ines Ferrer Joan Batlle Institute of Informatics and Applications University of Girona Spain

This paper presents the use of a mobile robot platform as an innovative educational tool in order to promote and integrate different curriculum knowledge. Hence, it is presented the acquired experience within a summer course named ldquoapplied mobile roboticsrdquo. The main aim of the course is to integrate different subjects as electronics, programming, architecture, perception systems, communications, control and trajectory planning by using the educational open mobile robot platform PRIM. The summer course is addressed to a wide range of student profiles. However, it is of special interests to the students of electrical and computer engineering around their final academic year. The summer course consists of the theoretical and laboratory sessions, related to the following topics: design & programming of electronic devices, modelling and control systems, trajectory planning and control, and computer vision systems. Therefore, the clues for achieving a renewed path of progress in robotics are the integration of several knowledgeable fields, such as computing, communications, and control sciences, in order to perform a higher level reasoning and use decision tools with strong theoretical base.

关键词： Robots Robot sensing systems Mobile robots Education Trajectory Programming profession Programming

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A new framework for microrobotic control of motile cells based on high-speed tracking and focusing

A new framework for microrobotic control of motile cells bas...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Takeshi Hasegawa Naoko Ogawa Hiromasa Oku Masatoshi Ishikawa Department of Creative Informatics Graduate School of Information Science and Technology University of Tokyo Tokyo Japan Department of Information Science and Computing Graduate School of Information Science and Technology University of Tokyo Tokyo Japan

We propose a new framework and novel visual control system for motile cells in three-dimensional (3-D) space. Our goal is to utilize microorganisms as micro-robots in various applications by exploiting galvanotaxis (locomotor response to electrical stimulus) to actuate them. This requires automated motion control of swimming cells in 3-D space; in contrast, our previous work has been limited to 1-D or 2-D motion control on the focal plane. The system is capable of 3-D tracking and control of swimming cells by utilizing a high-speed vision system. A combination of "lock-on" tracking within the focal plane and automated focusing using a Depth-From-Diffraction method executed at 1-kHz frame rate ensures both detailed measurement and a large working space. Experimental results for closed-loop 3-D motion control of Paramecium cells trapped within a small 3-D region demonstrate the possibility of using microorganisms as micromachines.

关键词： Motion control Motion planning Automatic control control systems Microorganisms Machine vision Extraterrestrial measurements

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Developing a new carrier system with throwing and catching robot

Developing a new carrier system with throwing and catching r...

引用

international conference on control, automation and Systems ( ICCAS)

作者： Yutaka Sameshima Ryuichi Oguro Department of Systems Innovation and Informatics Kyushu Institute of Technology Fukuoka Japan

control of an object-throwing and catching robot is examined in this paper. We develop a new carrier system which uses two robots, thrower robot and catcher robot. In order to realize this system, we need to know problems which could happen in throwing and catching motion of these robots. Therefore, we have to produce a preliminary experiment system by a linear slider which has two sliders, thrower slider and catcher slider. In this experiment, the thrower slider throws a ball by inertial force, and the catcher slider moves automatically to point of fall of the ball with information about velocity of the thrower side. The experiment has following results. First, points of the thrown ball differ a little from each result in spite of the same condition. Second, we can find it is important to improve the accuracy of throwing a ball to a target position. In this paper, we show the structure of the preliminary system, and the verified problems about this system.

关键词： Robots robotics and automation control systems Technological innovation informatics Motion control Automatic control

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Remote control of a multirobot infrastructure for E-learning training sessions

Remote control of a multirobot infrastructure for E-learning...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Th. Borangiu F. D. Anton S. Anton N. Ivanescu Department of Automation and Industrial Informatics University Politehnica of Bucharest Bucharest Romania

The paper describes a scientific project aiming to build up an R&D collaboration portal and communication platform for robot integration in on demand, flexible manufacturing structures and hands-on team training. The project offer a solution to control remotely a fault tolerant robotized manufacturing cell. The platform is a software product designed to support multiple remote connections with a number of Adept Technology V+ robot-vision controllers (masters over manufacturing workstations), either located in a local network or via Internet. Additionally, allows the transfer of multiple captured pictures to an IBM xSeries server for high-speed, parallel processing of images according to existing or new algorithms (enhancement, feature extraction for part flow management, guidance vision for robots (GVR), and automated visual inspection (AVI) from measurements based on vision tools).

关键词： Servers Robots Fault tolerant systems Fault tolerance Cameras Software Redundancy

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“Fail-safe” system for diagnosis quality control in cervical cancer screening

“Fail-safe” system for diagnosis quality control in cervic...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： T. Sanislav M. Dragan D. Capatina I. Stoian Cluj-Napoca Subsidiary IPA-Research and Development Institute for Automation Romania

IT technologies ensure mechanisms for management, connection, interpretation and/or modeling of medical data and images, which assume very large volumes vehiculated under safety and confidential conditions. These must be stored in structured formats like databases or knowledge-databases. The development of a software dedicated for the diagnosis control of a screening program is justified by: (a) Cancer is one of the most important health problems; (b) Cervical cancer is the second most common cancer worlwide (in Romania also), (c) despite a significant progress in early diagnostic and treatment. The major goal of our research is to find an appropriate screening strategy for Romania and thus reducing cancer incidence and mortality rates, improving the quality of life for the patients. Many studies confirmed the efficiency of cervical cancer screening, and our work supports these studies by providing an organized framework, in line with European directives, for collection and validation of resulted screening data.

关键词： Cancer Biomedical imaging Databases Pixel informatics Image segmentation Servers

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Trajectory Generation for Dynamic Bipedal Walking through Qualitative Model Based Manifold Learning

Trajectory Generation for Dynamic Bipedal Walking through Qu...

引用

2008 IEEE international conference on robotics and automation (ICRA 2008), vol.1

作者： Subramanian Ramamoorthy Benjamin J. Kuipers School of Informatics University of Edinburgh Edinburgh UK Department of Computer Sciences University of Texas Austin Austin TX USA

Legged robots represent great promise for transport in unstructured environments. However, it has been difficult to devise motion planning strategies that achieve a combination of energy efficiency, safety and flexibility comparable to legged animals. In this paper, we address this issue by presenting a trajectory generation strategy for dynamic bipedal walking robots using a factored approach to motion planning - combining a low-dimensional plan (based on intermittently actuated passive walking in a compass-gait biped) with a manifold learning algorithm that solves the problem of embedding this plan in the high-dimensional phase space of the robot. This allows us to achieve task level control (over step length) in an energy efficient way - starting with only a coarse qualitative model of the system dynamics and performing a data-driven approximation of the dynamics in order to synthesize families of dynamically realizable trajectories. We demonstrate the utility of this approach with simulation results for a multi-link legged robot.

关键词： Legged locomotion Motion planning Strategic planning Energy efficiency Orbital robotics Safety Animals Trajectory Level control control system synthesis

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Simple solution for visual servoing of camera-in-hand robots in the 3d Cartesian space

Simple solution for visual servoing of camera-in-hand robots...

引用

international conference on control, automation, robotics and Vision (ICARCV)

作者： Luis Hernandez Rene Gonzalez Hichem Sahli Javier Gonzalez Yoani Guerra Departamento de Automática y Sistemas Computacionales Universidad Central de las Villas Villa Clara Cuba Calle 4ta s/n e/ Ave Calixto García y Tirso Díaz Empresa de Automatización Integral (CEDAI) Villa Clara Cuba Department of Electronics and Informatics (ETRO) Vrije Universiteit Brussel Brussels Belgium

In this paper, the control problem, in a 3D cartesian space, of camera-in-hand robotic systems is considered. In this approach, a camera is mounted on the robot, at the hand, which provides an image of objects located in the robot environment. The aim of this approach is to move the robot arm in such a way that the image of the considered object, a sphere in our case, coincides with the center of the image, and its apparent radius is constant. We propose a simple image-based direct visual servo controller which requires the knowledge of the objects' radius, but it does not need to use the inverse Jacobian matrix. The robotic and vision system are modelled for small variations around the operating point for position control. In these conditions, the stability of the whole system is balanced and the characteristics for steady-state response for object trajectory are obtained. Both simulation and experimental results, using an ASEA-IRB6 robot manipulator, are presented to illustrate the proposed controller's performance.

关键词： Visual servoing Orbital robotics Robot vision systems control systems Cameras Servomechanisms Jacobian matrices Machine vision Position control Stability

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