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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Exploring the Synergism of a Multiple Auction-Based Task Allocation Scheme for Power-Aware Intrusion Detection in Wireless Ad-Hoc Networks

Exploring the Synergism of a Multiple Auction-Based Task All...

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International Conference on Communication Systems

作者： T. Srinivasan R. Chandrasekar Vivek Vijaykumar V. Mahadevan A. Meyyappan M. Nivedita Department of Computer Science and Engineering Assistant Professor Department of Information Technology Department of Information Technology Sri Venkateswara College of Engineering Sriperumbudur India Department of Computer Science and Engineering Sri Venkateswara College of Engineering Sriperumbudur

In this paper we propose a multiple auction-based task allocation scheme for identifying and distributing network-monitoring and decision-making tasks amongst the various nodes in a wireless ad-hoc network for performing power-aware intrusion detection. By iteratively performing this scheme we show that a power-optimal solution can be reached in a bandwidth constrained and energy-preserving network with only the nodes capable of supporting the various tasks chosen. We also demonstrate that simultaneous localized auctions have a lesser overhead than a single auction based scheme that was a subject of our previous work. Our scheme also serves to distribute the intrusion detection tasks according to the needs and constraints of a large and dynamic network. We have compared the performance of our scheme with the existing power-aware intrusion detection approaches in terms of various performance metrics and have demonstrated its associated low overhead

关键词： Intrusion detection Ad hoc networks Peer to peer computing Monitoring Bandwidth Batteries Power engineering and energy Power system modeling computer science Wireless application protocol

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Optical Networking Testbeds: Experiences, challenges, and future directions: Part II

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IEEE COMMUNICATIONS MAGAZINE 2005年第8期43卷 S2-S3页

作者： Gurusamy, M Ghani, N Saradhi, CV Stavdas, AS Assistant professor in the Department of Electrical and Computer Engineering. Faculty member in the Electrical and Computer Engineering Department at Tennessee Technological University. Senior research engineer at Institute for Infocomm Research (12R) formerly known as Kent Ridge Digital Labs Singapore. Associate professor of optical networks in the Department of Telecommunications Science and Technology University of Peloponnese Tripolis Greece

Presents an introduction to the articles published in the August 2005 issue of the journal 'IEEE Optical Communications.'

关键词： Digital communications Telecommunication

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Adaptive robust attitude tracking control of spacecraft

Adaptive robust attitude tracking control of spacecraft

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IEEE Conference on Control Technology and Applications (CCTA)

作者： R.B. Motlagh M.R.J. Motlagh Electrical Engineering Department Iran University of Science and Technology Iran Assistant Professor of controls in Computer Engineering Department Iran University of Science and Technology Tehran Iran

A nonlinear adaptive-robust scheme is presented to control a class of nonlinear systems. It effectively combines the design techniques of adaptive and robust control to improve performance by retaining the advantages of both techniques. It enhances transient performance and eliminates robustness problems compared to a parameter adaptive control. It also improves tracking performance by reducing modeling uncertainty and optimizes control effort by estimating bound uncertainty compared to a deterministic robust control. The controller is applied to a spacecraft making the body frame track a reference orientation, when there are parametric uncertainty, modeling errors, and external disturbances

关键词： Programmable control Adaptive control Robust control Attitude control Space vehicles Uncertainty Nonlinear control systems Control systems Nonlinear systems Error correction

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A High Performance IP Lookup for IPv6 using Parallel Computation Models

A High Performance IP Lookup for IPv6 using Parallel Computa...

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The 19th International Teletraffic Congress-ITC19

作者： D.Diwakar Srinivasan.T Department of Computer Science and Engineering Sri Venkateswara College of Engineering Sriperumbudur India.M.E.Final Year Department of Computer Science and Engineering Sri Venkateswara College of Engineering Sriperumbudur India.Assistant Professor

One of the key design issues for the next generation routers is the IP Lookup mechanism. IP address lookup is the challenging because it requires a longest matching prefix lookup. It is compounded by increasing routing table size, increased traffic and migration to IPv6 addresses. Existing solutions like BSD radix Tries, scale poorly when traffic in router increases or when employed for the IPv6 addresses. In our paper we describe a parallel computation models based lookup for the routing table. This mechanism provides lookup for a maximum of n*16 IPv6 addresses simultaneously, where n represents the number of processors. We propose a parallel binary trie search technique for the lookup to facilitate concurrent insertions and searching on the routing table. Using the proposed technique a router can achieve a much higher packet forwarding rate and throughput.

关键词： IPv6, Parallel Computation, IP Lookup

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AFOPT algorithm for multilevel databases

AFOPT algorithm for multilevel databases

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International Symposium on Symbolic and Numeric Algorithms for Scientific Computing (SYNASC)

作者： R. Gyorodi C. Gyorodi M. Pater O. Boc Z. David Assistant professor Phd. Engineering Department of Computer Science Faculty of Electrotehnics and Informatics University of Oradea Oradea Romania Lecturer Engineering Phd. Student Department of Computer Science Faculty of Electrotehnics and Informatics University of Oradea Oradea Romania MSc student Department of Computer Science Faculty of Electrotehnics and Informatics University of Oradea Oradea Romania

With the widespread computerization in business, government, and science, the efficient and effective discovery of interesting information from large databases becomes essential. Previous studies on data mining have been focused on the discovery of knowledge at single conceptual level, either at the primitive level or at a rather high conceptual level. This paper presents an algorithm based on the AFOPT algorithm for multilevel databases that uses the benefits of multileveled databases, by using the information gained by studying items from one concept level for the study of the items from the following concept levels.

关键词： Itemsets Data mining Transaction databases computer science Informatics Government Machine learning Association rules Performance gain Pattern matching

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Damage Detection and Correlation-Based Localization Using Wireless Mote Sensors

Damage Detection and Correlation-Based Localization Using Wi...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： E.H. Clayton Bong-Hwan Koh Guoliang Xing Chien-Liang Fok S.J. Dyke Chenyang Lu Graduate Research Assistant in the Department of Civil Engineering Washington University of Saint Louis Saint Louis MO USA Postdoctoral Research Associate in the Department of Civil Engineering Washington University of Saint Louis Saint Louis MO USA Edward C. Dicke Professor of Civil Engineering Washington University of Saint Louis Saint Louis MO USA Computer Science and Engineering Washington University of Saint Louis Saint Louis MO USA

This study focuses on an experimental damage detection and correlation-based localization demonstration using wireless sensors. A simple cantilever beam has been constructed in the laboratory to serve as a test bed for measuring acceleration responses with these devices. The goal of this preliminary investigation is to test the feasibility and functionality of a wireless sensor network (WSN) to detect and localize damage utilizing current wireless mote technology

关键词： Wireless sensor networks Testing Civil engineering Accelerometers Sensor arrays Sensor systems computer science Micromechanical devices Power engineering computing Power engineering and energy

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Increasing of DGPS Accuracy Using Recurrent Neural Networks

Increasing of DGPS Accuracy Using Recurrent Neural Networks

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第七届国际信号处理会议

作者： M.R.Mosavi Z.Habibi F.Hosseini Assistant Professor Department of Electrical Engineering Behshahr University of Science and Technology Behshahr 48518-78413 Iran BSc. St udents Department of Computer Engineering Behshahr University of Science and Technology Behshahr Iran BSc. St udents Department of Computer Engineering Behshahr University of Science and Technology Behshahr Iran

Differential GPS (DGPS) is used for improving of accuracy in GPS position and velocity estimations. Measurements in DGPS can be obtained as real time with a high level of accuracy. This paper pres

关键词： Differential GPS, Error Prediction, Recurrent Neural Network

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Resolving Structural Transfer Ambiguity in Chinese-to-Korean Machine Translation

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International Journal of computer Processing of Languages 2003年第2期16卷 119-142页

作者： DONG-IL KIM CUI ZHENG JINJI LI JONG-HYEOK LEE Department of Computer Science and Engineering Pohang University of Science and Technology San31 Hyoja-dong Nam-gu Pohang 790–784 Korea Also an assistant professor at Yanbian University of Science and Technology Yanji Jilin China. Also a lecturer at Yanbian University of Science and Technology Yanji Jilin China.

We propose a new prototype Chinese-to-Korean machine translation system called TOTAL-CK, a prototype transfer based MT system designed for the large-scale practical domain. TOTAL-CK consists of the components of analysis, transfer, and generation. In this paper, we mainly discuss the transfer issues resulting from stylistic structural differences between Chinese and Korean. The dependency grammar formalism is employed for Chinese parsed trees and their equivalent Korean parsed trees. We deal with structural transfer ambiguities that arise when a given source language syntactic pattern is potentially translated by a number of different target language syntactic patterns. Also, structural transfer ambiguities are the major complex transfer problem appearing during dependency transferring, in an SVO pattern that most frequently occurs in Chinese sentences. There are three types of structural transfer ambiguity: transitive transfer, subject-governing transfer and verb-governing transfer. They are discovered by analyzing the ambiguity and the related formalism. Finally, we present a thesaurus-based disambiguation approach for dependency structural transfer, which is adopted in TOTAL-CK. Our approach achieves 94.6% in precision for SVO sentences and 93.5% for overall sentences.

关键词： Machine Translation Structural Transfer Ambiguity Transitive Transfer Subject-governing Transfer Verb-governing Transfer

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Strategic planning for knowledge management implementation in engineering firms

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Work Study 2003年第4期52卷 190-200页

作者： Ravi Shankar Singh Amol Gupta Rakesh Narain Ravi Shankar is an Assistant Professor in the Department of Management Studies IIT Delhi New Delhi India. M.D. Singh is a Senior Lecturer in the Department of Mechanical Engineering Motilal Nehru National Institute of Technology Allahabad India. Amol Gupta is a Student in the Department of Computer Science TIT&S Bhiwani Haryana India. Rakesh Narain is a Senior Lecturer in the Department of Mechanical Engineering Motilal Nehru National Institute of Technology Allahabad India.

Knowledge management (KM) is the process of leveraging organizational knowledge to deliver long‐term advantage to a business and is based on a business strategy that involves engineering various knowledge‐centric business processes and developing organization structures to support these. These, in turn, require technology to capture, codify, store, disseminate and reuse the knowledge. Successful deployment of KM is not a simple process. This paper suggests that a major reason for the failure of many KM projects is the absence of a well‐defined strategic plan to guide implementation. This paper discusses the strategic planning needs of the KM deployment process, and develops a framework that could be used specifically by engineering firms to guide the KM implementation process.

关键词： Knowledge management engineering Business strategy Strategic planning

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