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检索条件"主题词=Control Engineering Computing"

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FPGA based Speed control of Brushless DC Motors using IOPT Petri Net models

FPGA based Speed Control of Brushless DC Motors using IOPT P...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Pereira, Fernando Gomes, Luis Univ Nova Lisboa Fac Ciencias & Tecnol P-1200 Lisbon Portugal

ISBN: (纸本)9781467345675;9781467345682

This paper describes how to implement a functional Brushless DC Motor open-loop speed controller from simple IOPT Petri Net models, using the integrated development environment offered by IOPT-Tools, without the need to manually write software or hardware descriptions. IOPT nets are a Petri net class specifically designed to support the implementation of embedded system controllers. The IOPT-Tools Web service (http://***) includes an interactive graphical editor to design IOPT models, a model-checking framework consisting of a state-space generator and a query system, and automatic code generation tools to produce software (C) or hardware (VHDL) controller implementations. The Brushless DC Motor speed controller was decomposed into several subsystems, including a noise-filter, quadrature-decoder, PWM generator and an BLDC commutation-manager. These sub-systems were modeled using simple IOPT models, analyzed using the model-checking tools, resulting in the automatic creation of VHDL modules for each sub-system. To finish the entire project, a top VHDL module is used to instantiate copies of the automatically generated components and specify signals to connect the components to the external world. With the addition of an inverter board, a working prototype was implemented and successfully tested.

关键词： Petri nets brushless DC motors control engineering computing digital control field programmable gate arrays formal verification hardware description languages machine control open loop systems

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Feed-forward Positioning of Musculoskeletal-like Robotic Systems with Muscular Viscosity: Determination of an Adequate Internal Force

Feed-forward Positioning of Musculoskeletal-like Robotic Sys...

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IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

作者： Matsutani, Yuki Ochi, Hiroaki Kino, Hitoshi Tahara, Kenji Yamamoto, Motoji Kyushu Univ Grad Sch Engn Nishi Ku 744 Motooka Fukuoka 8190395 Japan Fukuoka Inst Technol Fac Engn Dept Intelligent Mech Engn Fukuoka Japan Kyushu Univ Fac Engn Fukuoka 812 Japan

ISBN: (纸本)9781479923687

This paper proposes a new feed-forward positioning method for a musculoskeletal-like robotic system considering a muscle-like nonlinear viscosity, and a new determination method of the internal force using the reinforcement learning scheme. In our previous works, a feed-forward positioning method for the musculoskeletal-like robotic systems has been proposed. In the method, the position regulation of the system can be accomplished by inputting a desired internal force balancing at a desired position. It has been quite effective for the muscle-like driven mechanism because no sensor is necessary to regulate the position. However, this method often induces an overshoot phenomenon when performing a set-point control. In addition, there is another intrinsic problem that musculoskeletal-like redundant-driven mechanisms own the illposed problems that the internal force is unable to determine uniquely. In this paper, for the farmer problem, a muscle-like nonlinear viscosity is newly added to the controller to reduce such an overshoot phenomenon and then to expand the stable region of the manipulator. For the latter problem, a determination method of the internal force using a reinforcement learning scheme is newly proposed. In what follows, firstly a new feedforward controller which considers the muscle-like viscosity is introduced, and shows its effectiveness through numerical simulations. Next, the determination method of the internal force using a reinforcement learning scheme is proposed and its effectiveness is also shown through numerical simulations.

关键词： control engineering computing feedforward learning (artificial intelligence) manipulators nonlinear control systems numerical analysis position control viscosity

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Exploiting Accelerometers to Improve Movement Classification for Prosthetics

Exploiting Accelerometers to Improve Movement Classification...

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13th IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Gijsberts, Arjan Caputo, Barbara Idiap Res Inst CH-1920 Martigny Switzerland

ISBN: (纸本)9781467360241;9781467360227

Recent studies have explored the integration of additional input modalities to improve myoelectric control of prostheses. Arm dynamics in particular are an interesting option, as these can be measured easily by means of accelerometers. In this work, the benefit of accelerometer signals is demonstrated on a large scale movement classification task, consisting of 40 hand and wrist movements obtained from 2 0 subjects. The results demonstrate that the accelerometer modality is indeed highly informative and even outperforms surface electromyography in terms of classification accuracy. The highest accuracy, however, is obtained when both modalities are integrated in a multi-modal classifier.

关键词： control engineering computing electromyography medical signal processing prosthetics signal classification

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Experiences with model-centred design methods and tools in safe robotics

Experiences with model-centred design methods and tools in s...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Biggs, Geoffrey Sakamoto, Takeshi Fujiwara, Kiyoshi Anada, Keiju Natl Inst Adv Ind Sci & Technol Intelligent Syst Res Inst Tsukuba Ibaraki Japan

ISBN: (纸本)9781467363587

Development of a system is complex, requiring a well-structured process to manage the range of tasks involved and their work products. There are many models and processes available for structured development, including the well-known Waterfall and Agile models. Recent standards for safety-critical system development utilise the V-model, such as the process given in the ISO 26262 standard for functional safety of road vehicles. However, the process clashes with the commonly-expressed desire for greater reuse of development artifacts in robotics. We have experimented with applying a process, the Object-Oriented Systems engineering Method, to the design of a robotic wheelchair. This paper describes our application of the process to a safety-critical robot, as well as our use of SysML for managing design information and ZipC for code generation and verification. We discuss our experiences, both good and bad, in order to inform other robot developers of what to consider when choosing a process and tools.

关键词： SysML control engineering computing mobile robots object-oriented methods program compilers program verification safety-critical software software development management software prototyping software reusability systems engineering task analysis user centred design wheelchairs

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Developing an Unpaved Road Assessment System for Practical Deployment with High-Resolution Optical Data Collection using a Helicopter UAV

Developing an Unpaved Road Assessment System for Practical D...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Dobson, Richard J. Brooks, Colin Roussi, Chris Colling, Tim Michigan Tech Res Inst MTRI Ann Arbor MI USA

ISBN: (纸本)9781479908172;9781479908158

The need of local governments and transportation agencies to periodically asses the condition of unpaved roads in a cost-effective manner with rapid response times has lead to interest in the use of UAVs (Unmanned Aerial Vehicles) and remote sensing technologies. Currently these assessments are done through visual inspections with agency staff making occasional spot measurements. An unpaved road assessment system was developed to address these issues while at the same time providing a more accurate means of characterizing distresses and determining the roads condition for inspectors. This system uses a single-rotor UAV with a Digital Single-lens Reflex (DSLR) camera to capture overlapping imagery of unpaved roads. The UAV is equipped with a full combination GPS plus IMU (Inertial Measurement Unit) that allows it to fly predetermined waypoints with great stability while at the same time allowing the pilot the ability to take over at any time. Collected imagery is analyzed to locate road distresses. The imagery is run through a Structure From Motion (SfM) algorithm that generates a 3D model of the road surface from which additional condition information can be characterized. This system is easily transported and rapidly deployable to sections of unpaved roads for assessment.

关键词： automatic optical inspection autonomous aerial vehicles cameras control engineering computing helicopters local government motion control remote sensing road building solid modelling transportation

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Intuitive Human Robot Interaction based on unintentional synchrony: a psycho-experimental study

Intuitive Human Robot Interaction based on unintentional syn...

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IEEE 3rd Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)

作者： Hasnain, Syed Khursheed Mostafaoui, Ghiles Salesse, Robin Marin, Ludovic Gaussier, Philippe Univ Cergy Pontoise ETIS ENSEA Neurocybernet Team F-95302 Cergy Pontoise France Univ Montpellier I Movement Hlth Lab F-34006 Montpellier France

ISBN: (纸本)9781479910366

Inspired by studies of interpersonal coordinations, we assumed that unintentional synchrony is a fundamental parameter to initiate and maintain Human Machine interactions. We developed, in our previous works, a neural model allowing a robot to synchronize its behavior depending on the human movement frequency, and thus to choose this interacting partner on the basis of synchrony detection between its own learned dynamics and the visual stimuli induced by the human motion. To confirm or deny our assumptions we present here a psychological study to measure unintentional synchronization during Unidirectional and Bidirectional Human Robot Interaction using our previously proposed model for initiating the interaction and focusing the robot attention on a selected partner. The experimental results demonstrated that bidirectional intuitive interaction leading to possible unintentional synchronization is primordial to obtain natural human robot interactions using a minimal cognitive load (unintentional behavior).

关键词： cognition control engineering computing human-robot interaction motion control psychology synchronisation

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Optimal Feedback-controlled Point Process Decoder for Adaptation and Assisted Training in Brain-Machine Interfaces

Optimal Feedback-Controlled Point Process Decoder for Adapta...

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6th International IEEE EMBS Conference on Neural engineering (NER)

作者： Shanechi, Maryam M. Carmena, Jose M. Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9781467319690

Closed-loop decoder adaptation (CLDA) improves brain-machine interface performance by estimating the decoder parameters in closed-loop operation. By allowing the subject to use an initialized decoder, CLDA techniques infer the intended movement in closed loop, and refine the decoder parameters based on this inference and the recorded neural activity. In some cases, an initialized decoder may be far from optimal. This may cause the initial decoded trajectories to be biased towards a specific region of space, hence affecting the speed of parameter convergence by not allowing the decoder to explore the space. Moreover, this can lower the subject's motivation level due to low initial performance. Here we propose a new combined assisted training and CLDA algorithm based on an infinite-horizon optimal feedback control design for the BMI. We derive an adaptive optimal feedback-controlled point process decoder (FC-PPF) that estimates the subject's intended movement based on the visual feedback of the decoded kinematics and the target position. Using closed-loop BMI simulations that explicitly model the visual feedback delay, we show that decoder parameter values in the adaptive FC-PPF converge to the true values even when initialized arbitrarily. We also show that adaptive FC-PPF can be used as both a combined assisted training and CLDA technique or as a CLDA technique without assistance, hence providing a possible unified framework for closed-loop decoder adaptation.

关键词： adaptive control brain-computer interfaces closed loop systems control engineering computing control system synthesis feedback handicapped aids infinite horizon optimal control

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Inter-cell Interference Management for Heterogenous Networks based on Belief Propagation Algorithms

Inter-cell Interference Management for Heterogenous Networks...

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IEEE Wireless Communications and Networking Conference (WCNC)

作者： Chen, Youjia Lin, Zihuai Vucetic, Branka Cai, Jianyong Fujian Normal Univ Coll Photon & Elect Engn Fuzhou 350007 Fujian Peoples R China Univ Sydney Sch Elect & Informat Engn Sydney NSW 2006 Australia

ISBN: (纸本)9781467359399;9781467359382

Inter-cell interference coordination (ICIC) and resource allocation problems are fundamental challenges for the design of wireless networks. In this paper, we propose a distributed network inter-cell control scheme, and introduce a Belief Propagation (BP) framework to solve the optimization problem. The goal is to maximize the sum rate of those Base Stations (BS). This new approach assumes that the inter-cell interference is a set of stochastic variables. Based on a set of prior distributions, it calculates the posterior distributions of the scheduling variables. The solution allocates PRBs to Mobile Stations (MS) in the cells, including optimization of the transmit powers in each subcarrier. Numerical results demonstrate that this algorithm achieves a good result in typically a couple of iterations.

关键词： cellular radio control engineering computing iterative methods mobility management (mobile radio) optimisation radiofrequency interference resource allocation scheduling stochastic processes telecommunication computing telecommunication control

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High-performance Visual Odometry with Two-stage Local Binocular BA and GPU

High-performance Visual Odometry with Two-stage Local Binocu...

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IEEE Intelligent Vehicles Symposium

作者： Lu, Wei Xiang, Zhiyu Liu, Jilin Zhejiang Univ Dept Informat Sci & Elect Engn Hangzhou 310003 Zhejiang Peoples R China

ISBN: (纸本)9781467327541

Visual odometry becomes an important method to deal the localization work in intelligent vehicle and robotics. A high performance visual odometry needs to achieve two requirements: high accuracy and high frequency. So we propose a two-stage local binocular bundle adjustment algorithm doing the optimization and construct a parallel pipeline using GPU acceleration. Finally, our system can run at about 35 similar to 40 frames per second with the maximum RMS 3D localization error less than 1%.

关键词： automated highways control engineering computing graphics processing units mean square error methods optimisation parallel processing robot vision

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controllable Energy Recovery for a Smart PVRO Desalination System

Controllable Energy Recovery for a Smart PVRO Desalination S...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Mechatronics for Human Wellbeing

作者： Reed, Elizabeth A. Bilton, Amy M. Dubowsky, Steven MIT Field & Space Robot Lab Cambridge MA 02139 USA

ISBN: (纸本)9781467353205

Photovoltaic reverse osmosis (PVRO) systems are a viable clean water source for many underserved communities. PVRO systems often use batteries and fixed recovery ratio energy recovery devices to operate at a constant (non-optimal) pressure. An alternate approach that eliminates expensive batteries and greatly increases water production is to optimally control the operation of the system in real-time to respond to variations in solar radiation and water conditions. This paper presents the development of a computer-controlled energy recovery device (ERD) for PVRO systems. It allows for optimal control of both the RO operating pressure and recovery ratio using an integrated computer-controlled variable nozzle/Pelton generator system. Analytical models are developed for the variable nozzle, Pelton bucket and Pelton turbine. These models are validated using a custom designed experimental system. The efficiency of the components is evaluated to demonstrate the capability of this key device for smart PVRO systems.

关键词： control engineering computing desalination hydraulic turbines nozzles optimal control photovoltaic power systems reverse osmosis solar radiation water treatment

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