检索结果-内蒙古大学图书馆

The Use of Spring-Orthosis to Enhance Performance of FES-assisted Indoor Rowing Exercise (FAIRE)

IFAC Proceedings Volumes 2009年第13期42卷 425-430页

作者： Z. Hussain M.O. Tokhi R. Jailani Department of Automatic Control and System Engineering The University of Sheffield United Kingdom Faculty of Electrical Engineering University Teknologi MARA 40450 Shah Alam Selangor Malaysia

Abstract This paper describes a new technique in assisting indoor rowing exercise for paraplegics. It combines functional electrical stimulation with an energy storage element. A spring is introduced as an energy storage element that stores energy during the driving phase and transfers energy during recovery phase of rowing stroke. The technique is implemented with a dynamic simulation model. Fuzzy logic control is used to control the knee and elbow trajectories for smooth rowing manoeuvre. The generated level of electrical stimulation for activation of quadriceps and hamstrings muscles are recorded and analysed. In view of good results obtained, it is concluded that the new technique of rowing exercise for paraplegics using spring orthosis with proper rowing manoeuvre significantly contributes to assisting paraplegic indoor rowing exercise.

关键词： Biomechanics Spring orthosis FES Indoor rowing machine Fuzzy logic control

来源：评论

学校读者我要写书评

暂无评论

Optimal path planning in the workspace for articulated robots using mixed integer programming

Optimal path planning in the workspace for articulated robot...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hao Ding Mingxiang Zhou Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Institute of Automatic Control Engineering Munchen Germany

This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to path planning in the configuration space, approaches in the workspace save the computationally expensive step of mapping obstacles from the workspace into the configuration space. The method presented here builds on a problem formulation as a mixed-integer program considering time-varying constraints resulting from moving obstacles, as well as state and input constraints depending on the region of the work space. The method is applied to a two-link robot with static and moving obstacles and is evaluated for different situations.

关键词： Path planning Linear programming Orbital robotics Intelligent robots Dynamic programming Trajectory Collision avoidance Motion planning Robotics and automation automatic control

来源：评论

学校读者我要写书评

暂无评论

New features of Easy Java simulations for 3D modeling

New features of Easy Java simulations for 3D modeling

引用

作者： Jara, Carlos A. Esquembre, Francisco Candelas, Francisco A. Torres, Fernando Dormido, Sebastián Department of Physics System Engineering and Signal Theory University of Alicante Alicante Spain Department of Mathematics University of Murcia Murcia Spain Department of Computer Science and Automatic Control UNED University Madrid Spain

ISBN: (纸本)9783902661562

This paper presents a new interface framework which has been added to Easy Java Simualtions' environment in order to improve its graphical features for 3D modeling. These new 3D capabilities provide users a set of new view elements which can be used to develop models with a high degree of reality. In this way, Easy Java Simulations becomes a powerful tool to easily and quickly create 3D realistic simulations.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

Sliding mode control strategy for variable speed wind turbine

Sliding mode control strategy for variable speed wind turbin...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Oscar Barambones Jose Maria Gonzalez de Durana Automatic Control and System Engineering Department EUI de Vitoria University of Basque Country (UPV-EHU) Spain

The efficiency of the wind power conversions systems can be greatly improved using an appropriate control algorithm. In this work, a robust control for variable speed wind power generation that incorporates a doubly feed induction generator is described. The electrical systems incorporates a wound rotor induction machine with back-to-back three phase power converter bridges between its rotor and the grid. In the presented design it is applied the so called vector control theory. The proposed control scheme uses stator flux-oriented control for the rotor side converter bridge control and grid voltage vector control. The proposed robust control law is based on a sliding mode control theory, that, as it is well known, presents a good performance under system uncertainties. The stability analysis of the proposed controller under disturbances and parameter uncertainties is provided using the Lyapunov stability theory. Finally simulated results show, on the one hand that the proposed controller provides high-performance dynamic characteristics, and on the other hand that this scheme is robust with respect to the uncertainties that usually appear in the real systems.

关键词： Sliding mode control Wind turbines Robust control Rotors Voltage control Bridge circuits Machine vector control Uncertainty Wind energy Electric variables control

来源：评论

学校读者我要写书评

暂无评论

A Sensorless Vector control of Induction Motor Drives based on Artificial Neural Networks

引用

IFAC Proceedings Volumes 2009年第8期42卷 185-190页

作者： Oscar Barambones Dept. of Automatic Control and System Engineering. University of the Basque Country. EUI. Nieves cano 12. Vitoria. Spain

This paper presents a speed control of an induction motor. The design uses an feedforward Artificial Neural Network (ANN) to implement a rotor speed estimator, and a robust control strategy based on the sliding-mode. The proposed control scheme also make use of the field oriented control theory to simplify the proposed control design. The stability analysis of the presented control scheme is provided using the Lyapunov stability theory. Finally simulated results show that the presented controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Safety Assessment of Driving Behavior in Multi-Lane Traffic for Autonomous Vehicles

Safety Assessment of Driving Behavior in Multi-Lane Traffic ...

引用

IEEE Intelligent Vehicles Symposium (IV)

作者： Matthias Althoff Olaf Stursberg Martin Buss Institute of Automatic Control Engineering (LSR) Technische Universitat Munchen Institute of Control and System Theory Dept. of Electrical Eng. University of Kassel

ISBN: (纸本)9781424435036

An approach for the safety assessment of planned trajectories of autonomous vehicles is presented. Due to the unsafe nature of road traffic, the proposed safety assessment is performed in a probabilistic setting, where the probability distributions of possible future positions of traffic participants are computed based on dynamic models. The underlying algorithms have to be efficient as they need to provide a safety level of the currently planned path while the vehicle is in operation. In order to achieve the necessary efficiency of computation, the dynamics of traffic participants is abstracted into Markov-chains. The approach considers vehicle dynamics, interaction between traffic participants, and lane changes in multi-lane traffic.

关键词： Safety assessment Autonomous Vehicles Driver Behavior Multilane Traffic Lane changing Probability distribution Road traffic

来源：评论

学校读者我要写书评

暂无评论

Optimal motion planning for robotic manipulators with dynamic obstacles using mixed-integer linear programming

Optimal motion planning for robotic manipulators with dynami...

引用

Mediterranean Conference on control and Automation (MED)

作者： Hao Ding Mingxiang Zhou Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany Institute of Automatic Control Engineering Technische Universität München Munich Germany

The task of motion planning for robotic manipulators means to drive an end-effector between designated points in the work area while obstacles are not hit. This contribution investigates the case of dynamic obstacles (like human operators) and the consideration of a performance criterion to be maximized for the motion. The proposed approach maps the dynamics of the manipulator and the obstacles into the C times T-space (spanned by the configuration C and the time T). Within this space, an (sub-)optimal sequence of configurations in the collision-free subspace is determined by mixed-integer linear programming. To achieve sufficient computational efficiency, the optimization task is approached by employing the principles of model predictive control. The paper describes the approach based on the example of a two-link robot interacting with a human operator.

关键词： Manipulator dynamics Motion planning Robots Dynamic programming Linear programming Orbital robotics Path planning Robotics and automation Trajectory automatic control

来源：评论

学校读者我要写书评

暂无评论

Subspace based nonlinear multichannel blind identification/equalization

Subspace based nonlinear multichannel blind identification/e...

引用

15th IFAC Symposium on system Identification, SYSID 2009

作者： Gómez, Juan C. Baeyens, Enrique Poolla, Kameshwar Laboratory for System Dynamics and Signal Processing FCEIA Universidad Nacional de Rosario Riobamba 245 Bis 2000 Rosario Argentina Department of Systems Engineering and Automatic Control ETSII Universidad de Valladolid Paseo del Cauce s/n 47011 Valladolid Spain Department of Mechanical Engineering University of California at Berkeley 5141 Etcheverry Hall Berkeley CA 94720-1740 United States

ISBN: (纸本)9783902661470

A subspace based approach for the blind identification/equalization of nonlinear Single Input Multiple Output (SIMO) time-invariant channels is presented in this paper. The considered models include, but are not limited to, polynomial approximations of nonlinear channels (i.e., Volterra models), which have been used to represent satellite communications, magnetic recording channels, and physiological processes, among other applications. The channel parameters are estimated in closed form, up to a scalar factor, by computing the column space of the output Hankel matrix, via a Singular Value Decomposition (SVD), and then solving a Least Squares (LS) estimation problem also resorting to an SVD. Numerical simulations are used to illustrate the performance of the proposed algorithms. © 2009 IFAC.

关键词： Singular value decomposition

来源：评论

学校读者我要写书评

暂无评论

Multi-source signals guiding swarm robots search

Multi-source signals guiding swarm robots search

引用

22nd International Conference on Industrial, engineering and Other Applications of Applied Intelligent systems, IEA/AIE 2009

作者： Xue, Songdong Zeng, Jianchao Du, Jing Yang, Xiaomei College of Electrical and Information Engineering Lanzhou University of Technology 85 Langongping Lanzhou Gansu 730050 China Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology 66 Waliu Road Taiyuan Shanxi 030024 China North Automatic Control Technology Institute China North Industries Group Corporation 351 South Sports Road Taiyuan Shanxi 030006 China

ISBN: (纸本)3642025676

Victim search with swarm robots on gas outburst spot in coal mines is investigated. Upon modeling swarm robotic system with extended particle swarm optimization, heterogeneous signals are fused by each robot independently as fitness evaluate. To fuse signals of intermittent sound of call for help, periodic radio frequency waves and continuous gas, concepts of detection-success binary logic and perceptual event are introduced into describing detection process. Based on statistical properties, detectable range, localization type and accuracy, priority is determined with information entropy-based criteria. Then the best-found position is decided in a distributed fashion through election operation. Simulation conducted in closed signal propagation environment indicates the approximate relation between fusion value and distance, i.e., the nearer the robot is far away from target, the higher the fusion of signals. © 2009 Springer Berlin Heidelberg.

关键词： Swarm intelligence

来源：评论

学校读者我要写书评

暂无评论

Subspace based Nonlinear Multichannel Blind Identification/Equalization

引用

IFAC Proceedings Volumes 2009年第10期42卷 1692-1697页

作者： Juan C. Gómez Enrique Baeyens Kameshwar Poolla Laboratory for System Dynamics and Signal Processing FCEIA Universidad Nacional de Rosario CIFASIS CONICET Riobamba 245 Bis 2000 Rosario Argentina Department of Systems Engineering and Automatic Control ETSII Universidad de Valladolid Paseo del Cauce s/n 47011 Valladolid Spain Department of Mechanical Engineering University of California at Berkeley 5141 Etcheverry Hall Berkeley CA 94720-1740 USA

关键词： Identification Subspace Methods Nonlinear system Communication Channels

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：