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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Oyama Nak Young Chong A. Agah T. Maeda Intelligent Systems Laboratory National Institute of Advanced Industrial Science and Technology Ibaraki Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA School of Engineering University of Tokyo Tokyo Japan

ISBN: (纸本)0780365763

Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, the inverse kinematics system of typical robot arms with joint limits is a multivalued and discontinuous function. Since it is difficult for a well-known multilayer neural network to approximate such a function, a correct inverse kinematics model cannot be obtained by using a single neural network. In order to overcome the discontinuity of the inverse kinematics function, we proposed a novel modular neural network system that consists of a number of expert neural networks. Each expert approximates the continuous part of the inverse kinematics function. The proposed system uses the forward kinematics model for selection of experts. When the number of the experts increases, the computation time for calculating the inverse kinematics solution also increases without using the parallel computing system. In order to reduce the computation time, we propose a novel expert selection by using the performance prediction networks which directly calculate the performances of the experts.

关键词： Kinematics Neural networks Artificial neural networks Multi-layer neural network computer networks Robots computer architecture Manipulators Concurrent computing Parallel processing

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Multi-converter power electronic systems: definition and applications

Multi-converter power electronic systems: definition and app...

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Annual IEEE Conference on Power Electronics Specialists (PESC)

作者： A. Emadi M. Ehsani Power Electronics and Motor Drives Laboratory Electrical and Computer Engineering Department Illinois Institute of Technology Chicago IL USA Department of Electrical Engineering Advanced Vehicle Systems Research Program Texas A and M University College Station TX USA

In multi-converter power electronic systems, different converters such as DC/DC choppers, DC/AC inverters, and AC/DC rectifiers are used in source, load, and distribution subsystems to provide power at different voltage levels and forms. Most of the loads are also in the form of power electronic converters and motor drives. The most popular examples of these systems are automotive systems and more electric/hybrid electric vehicles. These systems have unique characteristics, dynamics, and stability problems that are just beginning to be appreciated. In this paper, we take a closer look at multiconverter power electronic systems and address the fundamental problems faced in these systems.

关键词： Power electronics Analog-digital conversion Choppers Inverters Rectifiers Voltage Motor drives Automotive engineering Hybrid electric vehicles Vehicle dynamics

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Dynamics and control of multi-converter DC power electronic systems

Dynamics and control of multi-converter DC power electronic ...

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Annual IEEE Conference on Power Electronics Specialists (PESC)

作者： A. Emadi A. Ehsani Power Electronics and Motor Drives Laboratory Electrical and Computer Engineering Department Illinois Institute of Technology Chicago IL USA Advanced Vehicle Systems Research Program Department of Electrical Engineering Texas A and M University College Station TX USA

In multi-converter power electronic systems, different power electronic converters are integrated together to form a complex and extensively interconnected system. In general, there are two kinds of loads in these systems. One group is conventional loads, which have positive incremental impedance characteristics. They are mainly considered as constant voltage loads that require regulated voltage for their operation. The other group is tightly regulated power electronic converters and motor drives sinking constant power from their input buses. The purpose of this paper is to present an assessment of the dynamic interactions between these loads in the multi-converter DC power electronic systems. Furthermore, a nonlinear robust stabilizing controller based on the feedback linearization technique for DC/DC PWM converters is presented.

关键词： Control systems Power electronics Voltage Interconnected systems Impedance Motor drives Robust control Linear feedback control systems Linearization techniques Pulse width modulation converters

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Design of a multi-rate controller and its application to galvanometer servo systems

Design of a multi-rate controller and its application to gal...

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American Control Conference (ACC)

作者： Hee Choul Hwang Chung Choo Chung Seung-Hi Lee Digital Media Research Lab LG Electronics Inc. South Korea Division of Electrical and Computer Engineering Hanyang University Seoul South Korea Nan0 Systems Laboratory Samsung Advanced Institute of Technology South Korea

This paper presents a new multi-rate estimator design for multi-rate output feedback control (MROFC) using the current state estimator. It is shown that the principle of separation works in the design of MROFC. The MROFC system is shown to be less sensitive to noise disturbances than the single-rate control system. The proposed MROFC is applied to a galvanometer servo system. Simulation and experimental results show improved settling and tracking performance over the conventional single-rate control.

关键词： Control systems Servomechanisms Sampling methods State estimation Digital control Noise measurement Application software Output feedback Filters Bandwidth

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Preface

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2001年 2037卷 V-VI页

作者： Boers, Egbert J. W. Cagnoni, Stefano Gottlieb, Jens Hart, Emma Lanzi, Pier Luca Raidl, Günther R. Smith, Robert E. Tijink, Harald Leiden Institute of Advanced Computer Science Leiden University Niels Bohrweg 1 Leiden Netherlands Dept. of Computer Engineering University of Parma Parco Area delle Scienze 181/a Parma Italy SAP AG Neurottstrasse 16 Walldorf Germany Napier University School of Computing 219 Colinton Road Edinburgh United Kingdom Polytechnic of Milan Piazza Leonardo da Vinci 32 Milan Italy Algorithms and Data Structur es Group Institute of Computer Graphics Vienna University of Technology Favoritenstrasse 9-11/186 Vienna Austria The Intelligent Computer Systems Centre The University of The West of England Coldharbour Lane Frenchay Bristol United Kingdom Data and Knowledge Systems Department National Aerospace Laboratory NLR P.O. Box 153 Emmeloord Netherlands

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Texture analysis and classification using bottom-up tree-structured wavelet transform 6th

Texture analysis and classification using bottom-up tree-str...

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6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000

作者： Miyamoto, Yukinobu Shirazi, Mahdad Nouri Uehara, Kuniaki Department of Computer and Systems Engineering Kobe University Japan Kansai Advanced Research Center Communications Research Laboratory Japan Research Center for Urban Safety and Security Kobe University Japan

ISBN: (纸本)3540679251

One difficulty in texture analysis was the lack of adequate tools for characterizing textures. Recent developments in multiresolution analysis, such as the wavelet transform, attempt to overcome this difficulty. The tree-structured wavelet transform (TSWT), which affords for an analysis in terms of the texture’s decomposition structure and the corresponding spectrum in the space-frequency domain, has received a lot of attention. Recently, Chang [1] proposed a texture classification algorithm based on a top-down TSWT (TSWT_TD). Although high classification rates were reported, its performance is highly dependent on a set of parameters which have to be determined through elaborate tuning. We propose a texture classification algorithm based on a bottom-up TSWT (TSWT_BU), which is not dependent on ad-hoc parameters and shows also superior performance. We also provide an analysis of the structural stability of TSWT.

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Torque compensation in permanent magnet synchronous motor drives for constant torque, varying flux operation

Torque compensation in permanent magnet synchronous motor dr...

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Annual IEEE Conference on Power Electronics Specialists (PESC)

作者： S. Vaez-Zadeh Advanced Motion Systems Research Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Current vector control of AC motor drives controls the motor torque at constant flux. However, in some applications, e.g. online loss minimization control and power factor control, it is required to vary the motor flux at constant torque. In these applications, vector control is not sufficient since the changes of flux vary the torque. In this paper, different torque compensation schemes are discussed and a torque compensation controller is proposed for permanent magnet synchronous motor drives to overcome the effect of flux variation on torque. This provides constant torque, varying flux operation of motor drives. Simulation results confirmed by experimental evaluation prove the validity of the proposed controller.

关键词： Permanent magnet motors Torque control Synchronous motors Machine vector control AC motors Motor drives Reactive power Stators Power system modeling Power generation

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High average-low pulsating torque operation of single phase induction motors

High average-low pulsating torque operation of single phase ...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： S. Vaez-Zadeh H. Langari Advanced motion Systems Laboratory Department of Electrical and Computer Eng Faculty of Engineering University of Tehran Tehran Iran

In this paper maximum average torque operation and minimum pulsating torque operation of single phase induction motors are analyzed. An optimal method is then proposed to achieve a desirable motor performance including both a high average torque and a low pulsating torque over the entire motor speed range. A single adjustable capacitor and a switching power electronic device are used to realize the optimum value of the capacitor at every speed. Extensive simulation results show the superior performance of the motor under the proposed method over the maximum average torque, minimum pulsating torque and two-capacitor methods.

关键词： Torque Induction motors Capacitors Equations Switches Stator windings Capacitance Frequency Motion analysis Optical computing

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Analysis of MPLS traffic engineering

Analysis of MPLS traffic engineering

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： Jong-Moon Chung Director of the Advanced Communication Systems Engineering Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

The upper limit of transmittable bandwidth doubles and sometimes quadruples every nine to twelve months. Already transmission of tens of tera bits-per-second over a single optical fiber is possible and matching data transferring topologies as well as improved system reliability are currently needed. Multiprotocol label switching (MPLS) has been emerging as the protocol of the future due to it's true "multiprotocol architecture" where it utilizes a simple label switching mechanism and provides quality of service (QoS) features through traffic engineering. Additionally, MPLS provides a solution to scalability and enables significant flexibility in routing. It can easily enable high quality end-to-end service features that are necessary in applications such as virtual private networks (VPN). These benefits of MPLS networking are made possible through traffic engineering. Currently, the constraint-based routing label distribution protocol (CR-LDP) and the resource reservation protocol (RSVP) are the signaling algorithms used for traffic engineering. In this paper, we investigate the signaling procedures of the CR-LDP and RSVP algorithms and discuss the appropriateness of the applications in MPLS traffic engineering networks. Based on network reliability and QoS reservation capabilities, CR-LDP was determined to be superior to RSVP signaling.

关键词： Multiprotocol label switching Reliability engineering Telecommunication traffic Quality of service Virtual private networks Routing protocols Bandwidth Optical fibers Topology Scalability

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A new adaptive routing scheme based on the traffic characteristics in mobile ad hoc networks

A new adaptive routing scheme based on the traffic character...

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IEEE Conference on Vehicular Technology (VTC)

作者： Sun-Ho Lee Dong-Ho Cho Communication and Information Systems Laboratory Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

We consider an ad hoc network that can form a flat or a hierarchical architecture. Basically all the mobile nodes form a flat network and some mobile nodes are able to be cluster heads, making mobility management easy. We define routing path establishment cost from a source node to a destination node and show the numerical results as the total number of mobile nodes increase in each ad hoc architecture. Through simulation we propose a new adaptive routing scheme based on the traffic characteristics in mobile ad hoc networks.

关键词： Telecommunication traffic Intelligent networks Mobile ad hoc networks Ad hoc networks Costs Routing protocols Mobile radio mobility management Mobile communication Information systems computer architecture

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