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检索条件"主题词=Computer algorithms"

共 3464 条记录，以下是3411-3420 订阅

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Mobile Experimental Platform for the Development of Environmentally Interactive Control algorithms towards the Implementation on a Walking Humanoid Robot

Mobile Experimental Platform for the Development of Environm...

引用

Joint international symposium on robotics

作者： Giulio Milighetti Janko Petereit Helge-Bjoern Kuntze Fraunhofer Institute of Optronics System Technologies and Image Exploitation Karlsruhe Germany

ISBN: (纸本)9781617387197

In the framework of the long term Collaborative Research Center SFB 588 "Humanoid Robots" the robot ARMAR III has to manage different basic skills in a highly dynamic environment. They mainly take place in the area close to the robot and require especially its upper body including head, arms and hands. However, during the last project phase the development has been mainly focused on basic skills which have to be accomplished mainly in a wider range and require also walking capability (e.g. carrying a tray). In order to investigate in advance such new environmentally interactive control algorithms, an adequate development platform is required. The mobile experimental platform developed with this goal at Fraunhofer IOSB consists of an upper body including various existing robot components like torso, head, arms and hands, as well as a lower body represented by a mobile robot. A Stewart platform provides then the functionality of a human hip connecting upper and lower body. This hexapod structure is the central element of the proposed platform because it is responsible for a motion of the upper body, that emulates the oscillations of a human gangway. Therefore, the most important steps of its design process will be discussed in this paper. In order to demonstrate the feasibility of the platform, a case study optimizing the gaze control of a humanoid robot head will be presented.

关键词： Humanoid robots upper body computer algorithms interactive control basic skill Platform lower body Robot development platform Mobile Hand central element Life skills Research centers

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Low Cost X4 Platform to Study Control algorithms

Low Cost X4 Platform to Study Control Algorithms

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International Conference on Unmanned Aircraft Systems

作者： D. Lara G. Romero D. Flores L. Ramirez A. Zuniga C. Pegard R. Abdelhamid E. Alcorta UAMRR-Universidad Autonoma de Tamaulipas Laboratoire MIS Universite de Picardie Jules Verne Universidad Autonoma de Nuevo Leon

ISBN: (纸本)9781479923779

In this paper, we present the design of an autopilot embedded system applied to control a four rotor mini helicopter, called X4-flyer. The main goal is to achieve a stable flight, controlling the vehicle attitude;this is done using two control strategies: a linear PD control and nonlinear nested saturations control. The onboard system uses a simplified architecture and the main processor has a structured program to handle the data acquisition, and calculates the control to send actuators correction to get a desired set point. Real time experiments, in a pivoted platform, show that the autopilot is a reliable low cost platform.

关键词： Automatic pilots learning control computer algorithms host processor STRUCTURAL APPLICATION Data Collection Methods Proportional derivative control Platform Set of points Standing Orders

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A Resonant Bidirectional DC-DC Converter for Aerospace Applications

A Resonant Bidirectional DC-DC Converter for Aerospace Appli...

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2011 IEEE Energy Conversion Congress and Exposition (ECCE 2011)

作者： Alireza Safaee Alireza Bakhshai Praveen Jain Queen's Centre for Energy and Power Electronics Research (ePOWER) Queen's University Kingston Ontario Canada

ISBN: (纸本)9781457705427;9781457705410

A wide-range input-output bidirectional dc-dc power converter suitable for power rating of several kilowatts is introduced in this paper. This converter provides a high frequency operation with zero voltage switching (ZVS) for all the switches, with no auxiliary circuitry or increased component stresses. The transformer leakage inductance is used as the resonant inductor. The proposed control algorithm includes a combination of variable frequency control and pulse width modulation methods. The control provides the minimum current for any active power level, with no compromise in zero voltage switching, through precise selection of the control variables of frequency, phase shift and duty cycle. The experimental results verify the feasibility and performance of the proposed topology.

关键词： Aerospace applications Zero voltage switching DC-DC power convertors Power rating Bidirectional DC to DC converters DC converter Frequency control zero voltage operating frequency control variable computer algorithms Switches

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Modeling of a Dual Actuator System and its Control Algorithm Preventing Saturation of Fine Actuator

Modeling of a Dual Actuator System and its Control Algorithm...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Duckjune Kim Kyung-Tae Nam Sang Hoon Ji Sang Moo Lee Department of Applied Robot Technology Korea Institute of Industrial Technology (KITECH) Ansan 426-791 South Korea

ISBN: (纸本)9781457708381

This paper discusses the design of control structure of dual actuator system, which is considered as DISO system, for high precision manufacturing stage. It proposes that PA tracks error signal between estimated coarse position and output coarse position at control sample to prevent saturation. Estimators are designed for both fine and coarse actuator plants to derive input signal to PA and state-feedback gain is defined by LQR. Dynamic model is defined by Newton's second law and coupling dynamics is considered for control structure. Experimental results demonstrate that unnecessary movement of PA during the transient response is reduced resulting in enhanced overshoot and settling time of the DSA system.

关键词： actuator system computer algorithms Nylons Control Architecture feedback gain fine fine Modeling setting time input signal TRANSIENT RESPONSE actuators Precision manufacturing ERROR SIGNAL

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Control Strategy for Two-Stage Photovoltaic Power Converter During Simultaneous Grid Faults and Irradiance Change

Control Strategy for Two-Stage Photovoltaic Power Converter ...

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IEEE International Conference on Power Electronics and Motion Control

作者： Ivana Isakov Vladimir Katic Ivan Todorovic Stevan Grabic Faculty of Technical Sciences University of Novi Sad

ISBN: (纸本)9781538641996

The development of the distributed power energy sources has resulted in the increase of the number of the power converters in the distribution network. The control strategies of these converters have to be improved in order to maximize the power production and satisfy the grid code requirements, especially in abnormal grid conditions. In this paper control algorithm for a photovoltaic (PV) system connected to the grid through two-stage power converter is analyzed considering normal grid conditions and grid faults, as well as sudden change of the illumination intensity on the PV side. The proposed solution features several key improvements comparing to the existing solutions, such as smooth transition between the modes of operation, fast response to the grid disturbances, provision of several grid support strategies and instantaneous limitation of the phase currents. The control algorithm is tested in the hardware-in-the-loop testing environment and the results that verify the proposed control strategy are given.

关键词： control strategy power conversion unit grids Converters illumination intensity Grid Power production Phase current Energy sources Grid computing Power grids smooth transition computer algorithms PHOTOVOLTAIC Power (Psychology)

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Lifetime Cost Optimized Wind Power Control Using Hybrid Energy Storage System

Lifetime Cost Optimized Wind Power Control Using Hybrid Ener...

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North American Power Symposium

作者： Dongsheng Li Fenglong Lu Qin Lv Li Shang Tongji University University of Colorado Boulder

ISBN: (纸本)9781479912537

This paper presents the use of hybrid energy storage, composed of ultracapacitor and Lithium-ion battery, to improve wind power stability. A control algorithm based on artificial neural network is proposed to manage the run-time use of the hybrid energy storage system to (1) optimize wind power predictability hence power grid stability, and (2) minimize the overall lifetime cost of the energy storage system. Evaluations using wind farm data demonstrate that, compared with two recently proposed control methods, the proposed control algorithm can extend system lifetime by 62% and 143%, and reduce the overall lifetime energy storage system cost (20 years) by 41% and 59%, respectively.

关键词： battery energy storage system flywheel energy storage system THERMAL ENERGY STORAGE SYSTEMS hybrid energy storage computer algorithms Wind energy Supercapacitors Energy storage systems lithium ion battery Runtime Control Methods Artificial neural networks

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DISTRIBUTED OPTIMIZATION-BASED CONTROL OF ELECTRICAL DISTRIBUTION SYSTEMS WITH ACTIVE DISTRIBUTED RESOURCES

DISTRIBUTED OPTIMIZATION-BASED CONTROL OF ELECTRICAL DISTRIB...

引用

International Conference and Exhibition on Electricity Distribution

作者： Christopher Saunders Georgios Georgiadis Lina Bertling Tjernberg Marina Papatriantafilou Le Anh Tuan Chalmers Univ.

ISBN: (纸本)9781629931333

This paper describes a framework to support the electricity distribution system operator (DSO) in identifying the appropriate control strategy in a system due to the stochastic nature of the integrated intermittent distributed generation. A distributed optimization and control algorithm is applied in order to determine the look-ahead allocation of distributed resources for risk mitigation, as well as real-time controls to attempt to ensure that the electrical distribution system (DS) is managed in a reliable and cost-effective manner. The management of these active resources will thus ensure that the DS can be optimized to operate in an efficient manner while providing adequate security.

关键词： dispensing system distributed energy resources Electricity Distribution Systems Electricity Standing Orders computer algorithms control strategy Risk Reduction digital storage oscilloscopes Frameworks

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Control algorithms for Prevention of Impacts in Rehabilitation Systems

Control Algorithms for Prevention of Impacts in Rehabilitati...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Joonbum Bae Kyoungchul Kong Masayoshi Tomizuka Department of Mechanical Engineering University of California Berkeley CA 94720 USA Department of Mechanical Engineering Sogang University Seoul Korea

ISBN: (纸本)9781457708381

Safety is one of the most important requirements in robotic rehabilitation systems. Vulnerable users may get injured or feel pain by a sudden impact, i.e. large assistive torque or fast change in the assistive torque from the rehabilitation systems. In automated rehabilitation systems, the desired torque is determined in real-time based on measurements that represent the patient's status. Abrupt changes of the desired torque command may cause the impact on the patient during the operation of the rehabilitation system. In this paper, a proxy is placed between the desired position and current position of the actuator as a safety buffer to prevent impacts from the rehabilitation system. The actuator tracks the proxy as accurate as possible with a sliding mode controller, which compensates for the modeling uncertainties and nonlinearities in the actuator. The performance of the proposed control algorithm has been verified by experiments with a compact series elastic actuator installed at the knee joint of an orthotic.

关键词： computer algorithms Rehabilitation Lake Restoration actuators Torque Knee Joint Proxy position regulator Current Position

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Influence of Software Effects on the Susceptibility of Ethernet Connections

Influence of Software Effects on the Susceptibility of Ether...

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IEEE International Symposium on Electromagnetic Compatibility

作者： Matthias Kreitlow Heyno Garbe Frank Sabath Bundeswehr Research Institute for Protective Technologies - NBC-Protection Munster Germany 29633 Institute of Electrical Engineering and Measurement Technology Hannover Germany 30167

ISBN: (纸本)9781479955466

It is widely known that Ethernet networks are susceptible to high-power electromagnetics (HPEM). Even with electromagnetic disturbance levels below the threshold, at which a hardware failure of components can be observed, there are impacts on the data transmission between two computers. A typical effect on the application level is a decrease of the maximum data rate between two endpoints with a higher field strength until the transmission completely breaks down. To quantify the effect of electromagnetic disturbances it is necessary to distinguish between effects which are software-related due to control algorithms and applications behaviour on higher protocol layers, and hardware-related effects caused by physical interaction between the network components and the disturbance. This paper shows the results of a new measurement method compared to classical tests using a FTP data transmission.

关键词： Ethernet networks data transmission application layer Network components protocol layer field strength Electromagnetic interference Hardware Failure computer software computer algorithms End Point Connections Connections Program Behavior

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A Novel High-Voltage Half-Bridge Converter with Phase-Shifted Active Rectifier

A Novel High-Voltage Half-Bridge Converter with Phase-Shifte...

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IEEE Interantional Conference on Industrial Technology

作者： Andrei Blinov Volodymyr Ivakhno Volodymyr Zamaruev Dmitri Vinnikov Oleksandr Husev Tallinn University of Technology Estonia 2National Technical University "Kharkiv Polytechnical Institute " Ukraine

ISBN: (纸本)9781467303408;9781467303422

The half-bridge converter with phase-shifted active rectifier allows us to avoid drawbacks of the traditional hard-switched half-bridge converter with a diode rectifier, such as high semiconductor losses and parasitic oscillations in the inverter. This paper introduces a novel improved control algorithm for a full-bridge phase-shifted active rectifier, allowing reduction of the energy circulation during its operation. The advantages of the algorithm are verified with a small-scale converter prototype. The experimental results were found in full accordance with expected waveforms.

关键词： diode rectifier half-bridge Phase shift Converters PARASITIC OSCILLATION Rectifiers computer algorithms

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