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IEEE International Conference on Robotics and Biomimetics

作者： SangWon Lee JinYoung Kim OHung Kwon KwanYoung Joung DaeHee Won KyungHwa Rim Korea Inst. of Ind. Technol.(KITECH) Incheon South Korea

ISBN: (纸本)9781457721366

The purpose of this paper is to realize a stable and natural walking pattern for quadruped giant puppets. The entertainment industry has proven to be an extensive market for quadruped animals. A life-size dinosaur that was manufactured for a show has been the subject of this paper. 3D graphic animation capture method has been introduced for data acquisition and was exercised for lifelike motion through control algorithm and dynamic simulation. The data will play a major role in enabling natural motion. Puppets will be an aggressive application in the robot technology.

关键词： Robotic Technology Puppets Three-Dimensional Images Animation computer algorithms Entertainment industry Data Collection Methods giant stars Gigantism

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A Hardware-In-the-Loop Setup for Rapid Control Prototyping of Mechatronic Systems

A Hardware-In-the-Loop Setup for Rapid Control Prototyping o...

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IEEE Conference on Emerging Technologies and Factory Automation

作者： Luca Simoni Manuel Beschi Davide Colombo Antonio Visioli Riccardo Adamini Dipartimento di Ingegneria Meccanica e Industriale University of Brescia Istituto di Tecnologie Industriali e Automazione National Research Council Gefran SpA

ISBN: (纸本)9781467379304

In this paper we present a Hardware-In-the-Loop setup for the simulation of complex mechatronic systems. The setup consists of two coupled brushless motors. One of them is the motor under test, which is used to design the control algorithm and to test the control software, while the other one simulates the device to be controlled. Libraries of mechanical and hydraulic components have been implemented in an IEC61131-3 language so that a complex system can be simulated in a relatively easy way and this allows for a rapid control prototyping. Practical issues are discussed and an illustrative example is shown to confirm the effectiveness of the setup.

关键词： HARDWARE IN THE LOOP computer algorithms Microelectromechanical devices hydraulic cells Complex systems PROTOTYPE simulating computer hardware Brushless motors Motor Standing Orders

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Vector Control of Multiple-module Transverse Flux PM Generator for Large-scale Direct-drive Wind Turbines

Vector Control of Multiple-module Transverse Flux PM Generat...

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2011 IEEE Energy Conversion Congress and Exposition (ECCE 2011)

作者： Seon-Hwan Hwang Hui Li Je-Wook Park Jang-Mok Kim Deok-Je Bang Electrical and Computer Engineering Florida State University Tallahassee USA School of Electrical Engineering Pusan National University Busan Korea Electrical Power Processing Delft University of Technology Delft The Netherlands

ISBN: (纸本)9781457705427;9781457705410

This paper proposes an efficient current control algorithm and a suitable power conversion system of a multiple-module transverse flux permanent magnet generator (MM-TFPMG) for large-scale direct-drive wind turbines. The MM-TFPMG is composed of multiple-module structures based on an independent three-phase configuration. In this paper, the single-phase current control applying the d-q transformation and the independent three-phase dqn-axes current control are proposed for the generator-side control of the MM-TFPMG. The control performance and characteristics of the single-phase dq-axes current control with a variable cutoff frequency and the independent three-phase dqn-axes current control using a concept of vector control are analyzed. As a result, the independent three-phase dqn-axes current control by using the vector control is an appropriate method to efficiently control the generator-side of the MM-TFPMG. The proposed algorithm is easily implemented and has less computation resource. Moreover, the control performance is better than the independent single-phase dq-axes current control despite the change of wind speed. The validity and usefulness of the proposed independent three-phase dqn-axes current control algorithm are verified and compared through several experimental results.

关键词： Current control Pest Control Vector control control performance Cutoff frequency large sizes DIRECT DRIVE Wind Energy Conversion Systems computer algorithms POWER CONVERSION SYSTEM

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Novel Power Control Algorithm by Decomposed Geometric Programming Method for CDMA Cognitive Radio Networks

Novel Power Control Algorithm by Decomposed Geometric Progra...

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IEEE International Conference on Communications

作者： Mohamed Elalem Electrical and Computer Engineering Department Ryerson University

ISBN: (纸本)9781457720529

Traditionally, the frequency spectrum is licensed to users in a rigid manner where the licensee has the exclusive right to access the allocated band. However, an unlicensed (cognitive) user may share a frequency band with a licensed (primary) owner as long as the interference is below a certain threshold. This makes power control a critical important issue in these networks. In this paper, we consider a decentralized power control algorithm that satisfies the most two significant metrics in cognitive radio network, capacity of cognitive network and total interference to primary users. The problem might be formulated as a power optimization problem, where rate allocation and power control are modeled through the objective function in which each user utility depends not only on its variables but also on the variables of other user utilities. Geometric Programming (GP) Problem is used to convert nonconvex optimization problem to convex optimization problem by introducing auxiliary variables and adding extra equality constraints, thus transferring the coupling in the objective to coupling in the constraints, which can be decoupled by primal-dual decomposition method, then can be efficiently solved even with a large number of users. The benefits of the method are illustrated through numerical results.

关键词： Power control computer algorithms GEOMETRIC PROGRAMMING Cognitive radio Frequency bands Consumers Frequency spectra Radio networks Code division multiple access

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Utility Functionals Associated With Available Congestion Control algorithms

Utility Functionals Associated With Available Congestion Con...

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2010 Proceedings IEEE INFOCOM

作者： Javad Lavaei John C. Doyle Steven H. Low Department of Control and Dynamical Systems California Institute of Technology Computer Science and Electrical Engineering Departments California Institute of Technology

ISBN: (纸本)9781424458363

This paper is concerned with understanding the connection between the existing Internet congestion control algorithms and the optimal control theory. The available resource allocation controllers are mainly devised to derive the state of the system to a desired equilibrium point and, therefore, they are oblivious to the transient behavior of the closed-loop system. To take into account the real-time performance of the system, rather than merely its steady-state performance, the congestion control problem should be solved by maximizing a proper utility functional as opposed to a utility function. For this reason, this work aims to investigate what utility functionals the existing congestion control algorithms maximize. In particular, it is shown that there exist meaningful utility functionals whose maximization leads to the celebrated primal, dual and primal/dual algorithms. An implication of this result is that a real network problem may be solved by regarding it as an optimal control problem on which some practical constraints, such as a real-time link capacity constraint, are imposed.

关键词： computer algorithms FUNCTIONALS System performance equilibrium point Utility functions Transient performance real-time link

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Finite Control Set MPC of an AFE Rectifier with Dynamic References

Finite Control Set MPC of an AFE Rectifier with Dynamic Refe...

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2010 IEEE International Conference on Industrial Technology (ICIT 2010)

作者： Daniel E. Quevedo Ricardo P. Aguilera Marcelo A. Perez Patricio Cortes School of Electrical Engineering and Computer Science The University of Newcastle Callaghan NSW 2308 Australia Departamento de Electronica Universidad Tecnica Federico Santa Maria Valparaiso Chile

ISBN: (纸本)9781424456956

We present a model predictive controller for closed loop control of an active front-end rectifier. Our method operates in discrete-time and does not require additional modulators or external control loops. The key novelty of the control algorithm presented lies in the way dynamic references are handled. Simulation studies illustrate that fast and accurate tracking of dynamic dc-voltage and reactive power references can be achieved, while respecting restrictions on maximum power levels of the rectifier.

关键词： Rectifiers computer algorithms Predictive controllers control ring control set Reactive power discrete-time Maximum Allowable Concentration power level CLOSED LOOP CONTROL

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Development of Shear Sensing System for a Three-Finger Robot Hand

Development of Shear Sensing System for a Three-Finger Robot...

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IEEE International Conference on Robotics and Biomimetics

作者： Yu-Tse Lai Yung-Ming Chen Chun-Ting Chen Yao-Joe Yang Nat. Taiwan Univ. (NTU) Taipei Taiwan

ISBN: (纸本)9781457721366

In this work, we design and implement a control and sensing system for a three-finger robot hand. The system effectively controls the joint angles and forces of the hand. Then, the grasping capability of the hand is demonstrated using the system. The MSP430 is employed as the microcontroller for the position and force feedback control circuit. For the position control, the adaptive PD controller is employed, while the traditional PID controller is used for the force control. In addition, using the force/position hybrid control method, the aforementioned two controllers are integrated. We adapt the commercially-available pressure sensor elements to build a multi-axis sensing system. The required platform for the demonstration of the control and sensing system are also developed. We use an x-y table to emulate the arm of a robot hand. The developed control/driving/sensing circuit boards are attached on the x-y table. Labview is employed as the software platform for the high-level control commands. Furthermore, the codes developed in Labview are connected with Matlab for computing with other control algorithms, such as the force closure. Moreover, with the measured force data collected by sensing system, it is demonstrated that the hand can be real-time controlled to steadily grasping an object.

关键词： Sensor systems Hand X-Yworktable computer algorithms Proportional Integral Derivative Control Laboratory Virtual Instrumentation Engineering Workbenc Force control Robot Standing Orders Circuit Board Device Component Microcontrollers

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Electric Vehicle Robot-based TestBed for Future Grid's Evaluation

Electric Vehicle Robot-based TestBed for Future Grid's Evalu...

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IEEE Conference on Energy Internet and Energy System Integration

作者： Yang Weng Yuanjiang Liao Marija Ilic Dipti Srinivasan Dept. of Electric Computer and Energy Engineering Arizona State University Institute for Data Systems and Society Massachusetts Institute of Tech. Department. of Electrical and Computer Engineering National University of Singapore

ISBN: (纸本)9781538614280

The recent penetration of distributed green energy, distribution intelligence, and plug-in electric vehicles (EVs) calls for a better information organization in an Energy Internet. Such an information system usually considers mostly the static grids. In this paper, we propose a test-bed not only for the static grid but also for the dynamic devices such as electric vehicles. To reduce the physical size of such a test-bed, we design the robot to have two wheels. To avoid human interruption to the test, we replace the manual charging procedure with wireless charging. To enable the EV robot for self-balancing with its two wheels, we implanted the EV robot with a control algorithm based on a neural network. To provide the EV robots with charging instructions, a joint optimization is carried out by considering both the economic factor on the customer side and the grid security constraint on the utility side. Numerical results demonstrate the testbed's capability of handling many EV robots.