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检索条件"主题词=Control Engineering Computing"

共 1546 条记录，以下是771-780 订阅

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Feedback Scheme Based on Fuzzy control for Shear Force control

Feedback Scheme Based on Fuzzy Control for Shear Force Contr...

引用

9th Electronics, Robotics and Automotive Mechanics Conference (CERMA)

作者： Escamilla, Diego V. Siller, Hector R. Guedea, Federico Cortes, Rodolfo Coello-Cardenas, Victor Tecnol Monterrey Ctr Innovat Design & Technol Monterrey Mexico

ISBN: (纸本)9780769548784;9781467350969

Fuzzy control is a practical alternative for a variety of challenging control applications, since it provides a convenient method for constructing nonlinear controllers via the use of heuristic information (1). In this work, we propose a novel technique to control the tip-sample distance in a scanning near field optical microscope (SNOM) using fuzzy control. The fuzzy controller design assumes only one input signal defined as the difference of the sampled signal (tuning fork-tip) and the reference signal, which are compared through designed software. This signal is used as the rule-base of the fuzzy logic controller. A basic data acquisition is used as interface to manipulate the fuzzy controller as feedback scheme in the positioning system (piezoelectric bimorph) for the shear force control. The approach curve of the shear-force measurement of the bimorph piezo was obtained using this scheme. In conclusion, this approach can be viewed as simple and reliable as feedback scheme based on fuzzy control for shear force control in a SNOM.

关键词： control engineering computing control system synthesis data acquisition feedback force control force measurement fuzzy control near-field scanning optical microscopy nonlinear control systems shear strength

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Rapid Prototyping of Real-time controllers for Humanoid Robotics: A Case Study

Rapid Prototyping of Real-time Controllers for Humanoid Robo...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Zhou, Yang Wang, Bin Jiang, Li Liu, Hong HIT State Key Lab Robot & Syst Harbin 150001 Peoples R China

ISBN: (纸本)9781467321273;9781467321259

This paper presents a rapid prototyping of real-time controllers for humanoid robotics based on standard off-the-shelf hardware and software. The proposed scheme allows control of a wide class of robotic systems in hard real-time. To take advantage of Simulink graphic programming interfaces, robotic programming environment, middleware and library are also presented based on Matlab/Simulink/RTW toolchain. Experiments are presented to show the performance on current computing hardware.

关键词： computer graphics control engineering computing humanoid robots middleware software prototyping

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Simulation and Hardware-in-the-Loop Evaluation of a GM Malibu

Simulation and Hardware-in-the-Loop Evaluation of a GM Malib...

引用

IEEE Vehicle Power and Propulsion Conference (VPPC)

作者： Moore, Jonathan D. Molen, G. Marshall Mississippi State Univ Dept Elect & Comp Engn Mississippi State MS 39762 USA

ISBN: (纸本)9781467309547;9781467309530

EcoCAR 2 is an Advanced Vehicle Technology Competition for collegiate level engineering students organized by Argonne National Laboratory (ANL) with the U.S. Department of Energy (DOE) and General Motors (GM) as the headline sponsors. The goal of the competition is to re-engineer a GM-donated 2013 Malibu Eco as a plug-in hybrid electric vehicle (PHEV) over the course of three years. Autonomie software developed by ANL and a mid-sized hardware-in-the-loop (HIL) system with rapid controller prototyping (RCP) controllers have been used for simulation of vehicle fuel economy and performance prior to the actual vehicle modification. The results of these simulations are compared to reported values for the Malibu Eco, and an analysis of the expected PHEV fuel economy is reported. Current ongoing work includes updating the HIL system plant model to represent the PHEV architecture and a vehicle control strategy using the RCP controllers for vehicle integration.

关键词： control engineering computing fuel economy hybrid electric vehicles power engineering education rapid prototyping (industrial) software engineering

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New Approach in control of Assembly/Disassembly Line Served by Robotic Manipulator Mounted on Mobile Platform

New Approach in Control of Assembly/Disassembly Line Served ...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Minca, E. Filipescu, A. Voda, A. Dunarea de Jos Univ Galati Dept Automat & Elect Engn Galati 800008 Romania

ISBN: (纸本)9781467321273;9781467321259

The new idea of this paper is to make reversible an assembly line, i.e. to allow complete disassembly, by using a mobile platform equipped with robotic manipulator. The approach is a hybrid one in which the assembly/disassembly line is the discrete system whilst the wheeled mobile robot (WMR) together with the robotic manipulator (RM) is considered the continuous one. The mobile platform is used only in disassembling operations, in order to transport the components from the disassembling locations to the storage locations. Therefore, Synchronized Hybrid Petri Nets (SHPN) approach is used in modeling and control. This hybrid system takes into consideration the distribution of the necessary tasks to perform the hybrid disassembly of the components, using robot synchronization with flexible line process. The ultimate goal is to make completely reversible the assembly line. The SHPN model is transposed into LabView platform, thus getting a control structure of the mechatronic line and of WMR.

关键词： Petri nets control engineering computing industrial manipulators mechatronics mobile robots production engineering computing robotic assembly synchronisation virtual instrumentation

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Study of Service Robot Architecture Based on Middleware and Abstract Environment

Study of Service Robot Architecture Based on Middleware and ...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Ma, Qiongxiong Zou, Yanbiao Zhang, Tie South China Univ Technol Inst Robot Mech & Automot Engn Sch Guangzhou Guangdong Peoples R China South China Univ Technol Mech & Automot Engn Sch Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781467321273;9781467321259

More and more robots are integrated in our daily life environment, human-robot interaction is one of the main characteristics of these robots. The service robot must have plenty of sensors to apperceive the environment, understand human's intention. Then the robot's behavior can be conformed with the social rules via pose, expression, voice, multimedia and so on. Uncertain environment and various functions require a flexible architecture to facilitate reuse of software and device. In order to develop low cost service robots to provide various services fast, architecture based on the middleware and abstract environment was proposed. In this architecture, we described the running principle and the members of the architecture, design the abstract environment and environment change event mechanism, and then we extend the event mechanism to be suitable for the different platform via the communication platform. To verify the proposed architecture, we use. NET framework to implement the abstract environment and apply the architecture on the guide service robot and advertisement service robot. The test shows that this architecture is suitable for improving reusability of robot software and reduce develop time.

关键词： advertising control engineering computing human-robot interaction intelligent robots middleware mobile robots program testing sensors service robots software architecture software reusability

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Feature Selection for Machine Learning Based Anomaly Detection in Industrial control System Networks

Feature Selection for Machine Learning Based Anomaly Detecti...

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IEEE/ACM International Conference on Green computing and Communications (GreenCom) / IEEE International Conference on Internet of Things (iThings) / 5th IEEE International Conference on Cyber, Physical and Social computing (CPSCom)

作者： Mantere, Matti Sailio, Mirko Noponen, Sami VTT Tech Res Ctr Finland Oulu Finland

ISBN: (纸本)9780769548654;9781467351461

The nature of the traffic in industrial control system network is markedly different from more open networks. Industrial control system networks should be far more restricted in what types of traffic diversity is present. This enables the usage of approaches that are currently not as feasible in open environments, such as machine learning based anomaly detection. Without proper customization for the special requirements of industrial control system network environment many existing anomaly or misuse detection systems will perform sub-optimally. Machine learning based approach would reduce the amount of manual customization required for different restricted network environments of which an industrial control system network is an good example of. In this paper we present an initial analysis of data received from a ethernet network of a live running industrial site. This includes both control data and the data flowing between the control network and the office network. A set of possible features to be used for detecting anomalies is studied for this environment.

关键词： computer network security control engineering computing industrial control learning (artificial intelligence) local area networks telecommunication traffic

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Study on Vehicle Braking Performance Detection System

Study on Vehicle Braking Performance Detection System

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IEEE 5th International Conference on Advanced Computational Intelligence (ICACI)

作者： Chen, Peijiang Linyi Univ Sch Automobile Linyi 276000 Shandong Peoples R China

ISBN: (纸本)9781467317443

In order to ensure the safety of the vehicle driving, the vehicle braking performance detection system was studied. On the basis of analyzing the structure and principle of vehicle performance detection system, and according to the control logic relation of the general test system, the overall plan was brought forward by using MCU as the controller. The various parts of the hardware circuit were designed and the software was implemented in accordance with the system function. The experiment result quantitatively shows that the vehicle braking performance detection system can live up to the design requirements. The detection performance indicators are in line with the relevant provisions and actual requirements, and the system can provide theoretical basis for vehicle detection and fault diagnosis.

关键词： braking condition monitoring control engineering computing fault diagnosis mechanical engineering computing microcontrollers road safety road vehicles vehicle dynamics

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FREVO: A Tool for Evolving and Evaluating Self-organizing Systems

FREVO: A Tool for Evolving and Evaluating Self-organizing Sy...

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6th IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops (SASO)

作者： Sobe, Anita Fehervari, Istvan Elmenreich, Wilfried Alpen Adria Univ Klagenfurt Lakeside Labs Inst Networked & Embedded Syst Klagenfurt Austria

ISBN: (纸本)9780769548951;9781467351539

Typically, self-organizing systems comprise of a large number of individual agents whose behavior needs to be controlled by a set of parameters so that their interactions lead to the creation of the desired system. To be selforganizing, the system must mimic the evolutionary process. One way to do this is by use of an evolutionary algorithm. This mimics naturally-occurring genetic variation (mutation and recombination of genes). To fulfill this purpose, we have created a tool named FREVO (FRamework for EVOlutionary design), which separates the input needed into the following components: target problem evaluation, controller representation and the optimization method. FREVO provides well-defined interfaces for these components and supports a graphical user interface to simulate the evolutionary process. After obtaining the outcome for a simulation, it is possible to validate and evaluate the results within FREVO. FREVO has been successfully applied to various problems, from cooperative robotics to economics, pattern generation and wireless sensor networks. In this paper, we give an overview of the architecture of FREVO and introduce a case study involving smart grid networks.

关键词： control engineering computing control system synthesis genetic algorithms graphical user interfaces multi-robot systems neurocontrollers self-adjusting systems

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4D Simulation and control System for Life Science Automation

4D Simulation and Control System for Life Science Automation

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Li, Yanfei Junginger, Steffen Stoll, Norbert Thurow, Kerstin Ctr Life Sci Automat Celisca D-18119 Rostock Germany

ISBN: (纸本)9781467321273;9781467321259

Experiments in Life Science Automation laboratories with complex multi robot systems are complicated and expensive. To decrease the cost and improve the flexibility of different kinds of experiments in these laboratories, the paper presents a 4D Simulation and control System to realize an advanced virtual dynamic simulation, which synthesizes technologies including Process Management System (PMS), database, TCP/IP, CAD modeling technology, Visual C# programming and 3D dynamic simulation technology, etc. The system blends the scheduling functions of PMS, the high quality simulation advantage of 3DCreate and time factor to 3D simulation, realizes a real-time and visual dynamic simulation for new design ideas with robotic driven automation lines. It makes PMS in Life Science Automation more flexible, and releases designers from heavy and boring assays.

关键词： control engineering computing environmental science computing laboratory techniques multi-robot systems scheduling virtual reality

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Development of a Teleoperation System With a New Workspace Spanning Technique

Development of a Teleoperation System With a New Workspace S...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Mamdouh, Mohamed Ramadan, Ahmed A. Egypt Japan Univ Sci & Technol Alexandria Egypt Egypt Japan Univ Sci & Technol Fac Engn Alexandria Egypt

ISBN: (纸本)9781467321273;9781467321259

The task of accurate teleoperation of a large workspace industrial manipulator using a small haptic device having a physically limited workspace still a challenge. This task should be handled carefully without disturbing the user perception of continuously teleoperating the manipulator movement in a natural and precise way. This paper presents the development of a master/slave teleoperation system based on a new workspace spanning technique that integrate position control and a modified rate control methods to solve the problem of workspace mapping of two kinematically dissimilar robots. The proposed technique referred to as Positioning with Modified Rate control is simple yet efficient and overcomes most of the drawbacks of other techniques. It depends on switching between rate control with constant speed for coarse motion and position control for accurate movements. The developed system consists of a phantom premium haptic device as a master and RV-2AJ Mitsubishi robot arm as a slave. Experimental results demonstrate that the operator can easily navigate through the whole workspace of an industrial robot using a small haptic device while achieving accurate positioning. The developed system proved experimentally to have good tracing characteristics in the fine manipulation mode. Besides, a 6 DOF force/torque sensor is attached to the end effector and tested for contact with different stiffness materials.

关键词： control engineering computing end effectors force sensors haptic interfaces industrial manipulators interactive devices manipulator kinematics motion control position control production engineering computing telerobotics

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