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检索条件"任意字段=Proceedings of the IEEE/IFAC Joint Symposium on Computer-Aided Control System Design"

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2024 5th International symposium on computer Engineering and Intelligent Communications, ISCEIC 2024

2024 5th International Symposium on Computer Engineering and...

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5th International symposium on computer Engineering and Intelligent Communications, ISCEIC 2024

ISBN: (纸本)9798331518677

The proceedings contain 122 papers. The topics discussed include: deep learning-based CSI feedback in Wi-Fi systems;YOLOv8-Pointcloud-SLAM3: visual dense point cloud SLAM for robot navigation in dynamic environments;neighborhood enhancement based residual analysis model for anomaly detection on attributed graph;a cloud model-based collaborative filtering approach for sparse data recommendation systems;IoT-based teleoperation system of a mobile robots;IoT-based teleoperation system of a mobile robots;scholar network system for protecting intellectual property rights based on blockchain technology;joint beamforming design for active RIS aided integrated sensing and communication system;and design and implementation of a two-wheeled self-balancing robot based on STM32.

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A Multimedia Framework for Continuum Robots: systematic, Computational, and control Perspectives

A Multimedia Framework for Continuum Robots: Systematic, Com...

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2024 International symposium on Intelligent Signal Processing and Communication systems, ISPACS 2024

作者： Hsieh, Po-Yu Hou, June-Hao Graduate Institute of Architecture National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)9798350389210

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses a significant limitation for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for continuum robotic systems that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform. The proposed method allows for efficient modeling and quick preview of the robot performance, and thus facilitating iterative design and implementation, with a view to enhancing the quality of robot developments. © 2024 ieee.

关键词： Machine design

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Trajectory Tracking control for Manipulator Considering Nonlinear Characteristics 8

Trajectory Tracking Control for Manipulator Considering Nonl...

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8th International symposium on computer Science and Intelligent control, ISCSIC 2024

作者： Tian, Dongyu Feng, Jiaqing Zhang, Lei Tian, Rong Xi'an Polytechnic University School of Electronics and Information Xi'an China

ISBN: (纸本)9798350380286

To mitigate the impreciseness in joint tracking control for manipulator systems with input saturation due to external disturbance, parameter uncertainty and dead zone nonlinearity, a fast non-singular terminal sliding mode active disturbance rejection control (FNTSM-ADRC) method was proposed. The active disturbance rejection control (ADRC) framework served as the basis for the proposed controller's design. An improved extended state observer (ESO) was introduced for feedback compensation to observe and estimate the lumped disturbance. Furthermore, the control law was designed by using the fast non-singular terminal sliding mode (FNTSM) combined with the improved reaching law, which accelerated the speed of the state reaching the sliding mode surface (SMS) and the better demand for chattering reduced and control precision can be achieved. Finally, the system stability was verified by the Lyapunov stability criterion. Simulation and experimental results demonstrate that the proposed tracking algorithm exhibits better control performance as well as anti-interference capability. © 2024 ieee.

关键词： Stability criteria

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design and Analysis of Linear Incremental Encoder Based on Back Magnetic TMR Sensors

Design and Analysis of Linear Incremental Encoder Based on B...

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2023 Photonics and Electromagnetics Research symposium, PIERS 2023

作者： Chen, Po-Yang Wang, Pei-Jen National Tsing Hua University 101 Guangfu Road Hsinchu Taiwan

ISBN: (纸本)9798350312843

With the development of modern industry, production methods have become more precise, intelligent and efficient. The processing environment and methods are becoming more and more complex. Stable, accurate and real-time position and velocity measurement is very important. Because the safety and reliability of equipment operation are closely related to the measurement of system control and motion state. Among the mechanical movements of equipment, linear movement is one of the most common and important. In this paper, a simplified position measurement system using Tunneling Magneto-Resistance (TMR) sensing technique is proposed to cater this objective. Compared with other position sensing technologies, magnetic sensing technology still has certain accuracy and reliability in harsher environments. Among many magnetic sensing technologies, magnetoresistive sensors have higher sensitivity and stability, smaller energy consumption and volume, and shorter response time. Among the magnetoresistive sensing technologies, tunneling magnetoresistance effect sensors have the best performance. Use computer-aided design software to model the magnetic ruler, and use computer-aided engineering software to conduct sensitivity analysis. Finally, an encoder is designed based on the analyzed results. © 2023 ieee.

关键词： Energy utilization

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Light Shift Detection Using a Multiple Photodetection Method Suitable for a Chip-Scale Atomic Clock

Light Shift Detection Using a Multiple Photodetection Method...

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2023 joint Conference of the European Frequency and Time Forum and ieee International Frequency control symposium, EFTF/IFCS 2023

作者： Fukuoka, Masahiro Goka, Shigeyoshi Tokyo Metropolitan University Graduate School of System Design Department of Electrical Engineering and Computer Science Tokyo Japan

ISBN: (纸本)9798350311426

In this study, we demonstrated light shift detection in a running atomic clock using the multi-photodetection method. This method enables the observation of atomic resonances with different intensities using the intensity distribution of the laser beam. As it requires only two photodiodes to detect light shifts, it is easily applicable to miniature vapor-cell-based atomic clocks such as chip-scale atomic clocks and miniature atomic clocks. © 2023 ieee.

关键词： chip-scale atomic clock coherent population trapping intensity distribution laser light shift VCSEL

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design and Implementation of Water Environment Monitoring system Based on Bionic Robot Fish 2

Design and Implementation of Water Environment Monitoring Sy...

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2nd International symposium on control Engineering and Robotics, ISCER 2023

作者： Lin, Meihuan Wu, Weilin Guangxi Minzu University Department of Electronic Information Nanning Guangxi530006 China Wuzhou University Guangxi Key Laboratory of Machine Vision and Intelligent Control Guangxi543002 China

ISBN: (纸本)9798350336405

In this paper, a small robotic fish system with single joint caudal fin propulsion is designed and developed independently by imitating the tail fin swing mode of real fish in nature. It has human-computer interaction and ornamental. The whole design process is divided into mechanical structure design, software/hardware design. In this paper, the three-dimensional design software Solidworks is used to model the mechanical structure, and the mechanical structure is simulated. After many experiments and optimizations, the caudal fin with higher propulsion efficiency was finally developed, and the maximum navigation speed, turning radius, maximum floating/diving speed and other performance indicators of the robotic fish under high-efficiency caudal fin propulsion were tested. At the same time, appropriate remote control communication technology was selected to realize the free remote control of the robotic fish within a certain water depth range. © 2023 ieee.

关键词： Remote control

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Nonlinear control Strategy with Guaranteed Transient Performance for Double Pendulum Cranes 8

Nonlinear Control Strategy with Guaranteed Transient Perform...

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8th International symposium on computer Science and Intelligent control, ISCSIC 2024

作者： Fan, Zhenyue Chen, He Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

This paper proposes a control strategy with guaranteed transient performance for double pendulum crane systems. This control strategy not only completes the control objectives, but also improves the convergence performance. First, applying the prescribed performance bound (PPB) technology, the state variable errors of the system are transformed. This technology can eliminate the steady static errors and guarantee transient performance. This technology enables the trolley to reach the specified desired position quickly, and limits the first and second pendulum angles, ensuring the safety performance of the system. Then, in the controller design, more swing angle information is used as feedbacks. In this way, the first and second pendulum angles are restrained, the double pendulum effect is solved. So, this way improves the safety of the system. The stability analysis proves that the errors of the system state variables can reach a very small neighborhood of zero with the specified exponential speed according to prescribed performance bound technology. Finally, the simulation results validate that this control strategy achieves the control objectives, restrains the first and second pendulum angles, and ensures the transient performances of the system. © 2024 ieee.

关键词： Transient stability

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Adaptive Output Feedback control for 2D TORA system Based on Velocity Observer 8

Adaptive Output Feedback Control for 2D TORA System Based on...

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8th International symposium on computer Science and Intelligent control, ISCSIC 2024

作者： Yang, Xinran Chen, He Hebei University of Technology School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China

ISBN: (纸本)9798350380286

The typical underactuated system two-dimensional translational oscillator with rotational actuator (2D TORA) that consist of two unactuated translational carts and an actuated rotational eccentric ball which acts as its control input. As an extension of TORA system, the 2D TORA system is more general, meanwhile, the dynamic characteristics of this system makes it challenging to design a proper control scheme. It is very important to realize the accurate positioning of payloads in special application environment. In this paper, an adaptive output feedback controller is proposed to realize all state variables positioning. Specifically, in order to solve the matter of uncertain friction and unknown disturbance, an adaptive method for unknown friction coefficient is designed. Moreover, we come up with a velocity observer to calculate the angular velocity instead of differentiating the output signals. Based on Lyapunov stability theory, the state convergence and stability of the 2D TORA system are analysed. Finally, simulation test results exhibit that the presented control method is effective. © 2024 ieee.

关键词： Friction

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design and construction of a medium chamber for a tissue bioreactor system 22

Design and construction of a medium chamber for a tissue bio...

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2024 ieee 22nd World symposium on Applied Machine Intelligence and Informatics, SAMI 2024

作者： Kolembusova, Petra Ferencik, Norbert Steingartner, William Hudak, Radovan Sedlakova, Veronika Stefanovic, Branko Technical University of Košice Dept. of Biomedical Engineering Košice Slovakia Technical University of Košice Dept. of Computer and Informatics Košice Slovakia

ISBN: (纸本)9798350317206

In the field of tissue engineering and regenerative medicine, understanding the intricate properties and behaviors of cells and tissues within their natural environment is fundamental for translating theory into practical applications. This scientific article introduces the development of a functional medium chamber. The design of this chamber was driven by the need to align it with the volume requirements and specified conditions of bioreactor systems. The objective was to acquire new practical and theoretical insights in the realms of tissue engineering, 3D printing, and bioreactor technology. The emphasis throughout the project was on simplicity in design, with the aim of enabling easy construction and disassembly of the model. This initiative not only involved the creation of a chamber design but also encompassed the 3D printing process and extended functional testing over the long term. The design parameters, including the closing mechanism and chamber shape, were thoughtfully selected to enhance versatility, making the chamber adaptable for various bioreactor systems in the future. Subsequently, the printed chamber underwent rigorous testing using water as the culture medium, laying the groundwork for potential advancements in bioreactor technology and tissue cultivation. © 2024 ieee.

关键词： Bioreactors

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Estimating Finger joint Angles with Wearable system Based on Machine Learning Model Utilizing 3D computer Graphics

Estimating Finger Joint Angles with Wearable System Based on...

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2023 ieee International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Obinata, T. Yoshikawa, D. Uehara, A. Kawamoto, H. Graduate School of Science and Technology University of Tsukuba Ibaraki Japan Japan Society for the Promotion of Science Japan Institute of Systems and Information Engineering Center for Cybernics Research University of Tsukuba Ibaraki Tsukuba Japan

ISBN: (纸本)9798350337020

Robotic rehabilitation for paralyzed hands utilizes exoskeletons and soft gloves equipped with active mechanisms to provide support for hand motion. From a safety and control perspective, it is imperative to measure finger joint angles during motion support provided by a soft robotic wearable system. However, embedding sensors into these devices can be inconvenient as it may lead to bulkiness or structural difficulties. This study aims to develop a machine learning model for estimating finger joint angles from images utilizing data created with computer graphics (CG), and to validate the feasibility of this method through basic experiments. The three-dimensional CG (3DCG) hand model includes bones corresponding to the major joints of the fingers, and a wearable system of the index finger imported from a computer-aided design software was attached to the 3DCG hand model. After rendering the integrated motion between the hand model and the wearable system for finger flexion and extension, images in conjunction with the finger joint angles were recorded as the training data. The finger joint angle estimator was based on a pre-trained vision transformer model and was learned using the created 3DCG training dataset. The basic experiments showed that the developed machine learning model enabled the estimation of finger joint angles with reproducibility for four types of hand postures with the wearable system. Furthermore, the differences between the joint angles measured in the real world and those estimated by the developed model were smaller than those for an existing hand pose estimation model. The developed machine learning model, which utilizes 3DCG, has the potential to estimate finger joint angles with the wearable system using image videos. © 2023 ieee.

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