检索结果-内蒙古大学图书馆

AIAA Guidance, Navigation, and control Conference

作者： Paulino, Nuno Di Sotto, Emanuele Salehi, Sohrab Kron, Aymeric Hamel, Jean-François Wang, Wenfei Menon, Prathyush P. Bates, Declan G. Papachristodoulou, Antonis Maier, Christoph GMV Tres Cantos Madrid Spain Rhea System at ESA-ESTEC Noordwijk Netherlands NGC Aerospace Mouans Sartoux France NGC Aerospace Sherbrooke Canada Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester United Kingdom Department of Engineering Science University of Oxford Oxford United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781600869624

The traditional verification and validation (V&V) process can produce sufficiently safe and reliable systems in the demanding aerospace field. But this comes at great cost and effort, with the necessary simulation of all possible operational conditions for increasingly complex control systems involving substantial autonomy. It is of interest to go beyond the statistical confidence of traditional Monte Carlo methods. New V&V methods need to cope with a large number of mission parameters and mode transitions. They must identify the worst combinations of perturbations, uncertainties and failures. Two classes of frameworks are investigated in the VVAF project: integrated V&V frameworks (IVVF) supported by simulation based analysis techniques, either integrated or with local analysis techniques to establish the global system properties;and enhanced V&V frameworks (EVVF), based on mathematical proof. Two EVVF techniques are explored: Barrier-construction and Reachability-set analysis. These guarantee fulfillment of globally exact safe operation, by the construction of barrier certificates considering nonlinearities, uncertainties and constraints. In addition, two IVVF techniques are developed: Analytical-based (AIVV) and Optimization-based (OIVV). AIVV consists of integrating and embedding frequency domain LFT-based mu-analysis techniques to exclude regions with guaranteed performance and/or identify the most critical areas, within a Monte Carlo simulation based V&V. With as few runs as possible of the non linear time simulator, local analyses can steer the global search towards the worst case. OIVV uses optimization techniques, also linked to the simulator, to identify and characterize the system worst case. Several heuristic techniques are evaluated for global parameters search, which is then refined using local optimization techniques to locate and characterize the worst case. The AIVV can also aid the OIVV by identifying search regions and promising initialization poi

关键词： Monte Carlo methods

来源：评论

学校读者我要写书评

暂无评论

Real-time vehicle detection based on quasi-shot segmentation

Real-time vehicle detection based on quasi-shot segmentation

引用

Congress on Image and Signal Processing, CISP

作者： Yan Liu Yaping Dai Meng Wang Zhongjian Dai Zubair Ahmed Memon BIT Beijing Key Laboratory of Automatic Control System Beijing China Department of Electrical Engineering Mehran University of Engineering & Technology Jamshoro Sindh Pakistan

In this paper, a Quasi-shot Segmentation Vehicle Detection (QSVD) method is proposed to improve the accuracy and robustness of traffic flow detection. The QSVD method is based on histogram intersection method to find the biggest difference between successive frames. Adjacent frames are considered in when vehicle is detected in current frame. Relying on the QSVD method, vehicle can be detected by signal peak and valley search and gradual transition shot detection problem can be resolved. The initial video is used to accomplish detection directly without image preprocessing. Experiments show that vehicles can be detected effectively by the QSVD method. The detection accuracy is remained at 93% or more.

关键词： Vehicles Vehicle detection Visualization Histograms Image segmentation Accuracy Real time systems

来源：评论

学校读者我要写书评

暂无评论

Development of Dynamic Muscle Model with Functional Electrical Stimulation

Development of Dynamic Muscle Model with Functional Electric...

引用

Complexity in engineering (COMPENG)

作者： R. Jailani M.O. Tokhi S. Gharooni Z. Hussain Department of Automatic Control and System Engineering University of Sheffield UK Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Selangor Darul Ehsan Malaysia

ISBN: (纸本)9781424459827;9780769539744

This paper presents the development of paraplegic muscle model with Adaptive Neuro-Fuzzy Inference system (ANFIS). A series of experiments using Functional Electrical Stimulation (FES) with different stimulation frequencies, pulse width and pulse duration to investigate the impact on muscle output torque are conducted. The data that is obtained is used to develop the paraplegic muscle model. 500 training data and 300 testing data set are used in the development of muscle model. The muscle model thus developed is validated with clinical data from one paraplegic subject and in comparison with two other muscle models from previous researchers. The ANFIS muscle model is found to be the most accurate muscle model representing paraplegic muscle model. The established model is then used to predict the behaviour of the underlying system and will be used in the future for the design and evaluation of various control strategies.

关键词： Muscles Neuromuscular stimulation Mathematical model Space vector pulse width modulation Chemical elements Thigh Frequency Torque Training data Fatigue

来源：评论

学校读者我要写书评

暂无评论

State of the art of hybrid excitation permanent magnet synchronous machines

State of the art of hybrid excitation permanent magnet synch...

引用

作者： Wang, Shanming Xia, Yonghong Wang, Xiangheng Su, Pengsheng Huang, Shaogang Zhang, Anming State Key Laboratory of Control and Simulation of Power System and Generation Equipments Department of Electrical Engineering Tsinghua University Beijing 100084 China Department of Electrical and Automatic Engineering Nanchang University Nanchang Jiangxi 330031 China Military Deputy Department Dalian 426 Factory No.1 Yanhai Jie Xigang Qu Dalian Liaoning 116005 China

ISBN: (纸本)9788986510119

The hybrid excitation permanent magnet machine (HEPMM) combines two kinds of excitation: permanent magnet (PM) and electrical excitation, so it possesses the advantages of PM machines and overcomes the incapability of regulating the excitation field. By now many HEPMM schemes have been presented. In this paper the operation principle, structure, advantages and disadvantages of these HEPMMs have been reviewed and compared in detail. These HEPMMs are classified into three types by new classification method - placement of PM and iron poles. At last novel harmonic excitation HEPMM is proposed and discussed.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Hao Ding Georg Schnattinger Benjamin Passenberg Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering University of Kassel Germany High-Frequency Engineering Technische Universität München Munchen Germany Institute of Automatic Control Engineering Technische Universität München Munchen Germany

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs) in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario.

关键词： Planning Joints Optimization Trajectory Service robots Dynamics

来源：评论

学校读者我要写书评

暂无评论

Modeling, control and robustness analysis for a road sector

引用

IFAC Proceedings Volumes 2010年第17期43卷 307-312页

作者： Catalin Dimon Genevieve Dauphin-Tanguy Dumitru Popescu Department of Automatic Control and System Engineering University Politehnica of Bucharest 313 Splaiul Independentei 060042 Bucharest Romania LAGIS Ecole Centrale de Lille Cité Scientifique - BP 48 - 59651 Villeneuve d'Ascq Cedex

When modeling a real process the effects of nonlinearities must be taken into account, especially when designing a control algorithm. Such is the case of a road traffic sector, which will be considered from a macroscopic point of view. An input-output model is proposed, based on experimental data, and then a control algorithm is used to obtain imposed performances for the closed loop system. The robustness of control is taken into account, by assessing the modulus margin. Based on this indicator the robustness of the control law is analyzed in order to find what nonlinearities it can cope with. Following, we try to prove that the system can be controlled using the same algorithm, when different types of perturbations affect the system.

关键词： modeling control robustness sampling time traffic

来源：评论

学校读者我要写书评

暂无评论

State of the art of hybrid excitation permanent magnet synchronous machines

State of the art of hybrid excitation permanent magnet synch...

引用

2010 International Conference on Electrical Machines and systems, ICEMS2010

关键词： Iron Magnetic fields Windings Stator cores Rotors Stator windings Magnetic circuits

来源：评论

学校读者我要写书评

暂无评论

An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid systems with Partitioned State Space

An Algorithm for Discrete State Sequence and Trajectory Opti...

引用

2010 49th IEEE Conference on Decision and control

作者： Benjamin Passenberg Marion Sobotka Olaf Stursberg Martin Buss Peter E. Caines Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany Department of Electrical and Computer Engineering and the Center for Intelligent Machines McGill University Montreal Canada

ISBN: (纸本)9781424477456

An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.

关键词： Switches Manifolds Trajectory Complexity theory Partitioning algorithms Convergence Aerospace electronics

来源：评论

学校读者我要写书评

暂无评论

The Minimum Principle for Hybrid systems with Partitioned State Space and Unspecified Discrete State Sequence

The Minimum Principle for Hybrid Systems with Partitioned St...

引用

2010 49th IEEE Conference on Decision and control

作者： Benjamin Passenberg Peter E. Caines Marion Sobotka Olaf Stursberg Martin Buss Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Department of Electrical and Computer Engineering and the Center for Intelligent Machines McGill University Montreal Canada Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

ISBN: (纸本)9781424477456

The hybrid minimum principle (HMP) gives necessary conditions to be satisfied for optimal solutions of a hybrid dynamical system. In particular, the HMP accounts for autonomous switching between discrete states that occurs whenever the trajectory hits switching manifolds. In this paper, the existing HMP is extended for hybrid systems with partitioned state space to provide necessary conditions for optimal trajectories that pass through an intersection of switching manifolds. This extension is especially useful for the numerical solution of hybrid optimal control problems as it allows for algorithms with significant reduction of computational complexity. Algorithms based on previous versions of the HMP solve separate optimal control problems for each possible sequence of discrete states. The extension enables us to consider the optimal sequence as subject of optimal control that is varied and finally determined during a single optimization run. A first numerical result illustrates the effectiveness of an algorithm based on the extended HMP.

关键词： state space minimum principle hybrid systems Manifolds Optimal control DYNAMICAL systemS discrete element

来源：评论

学校读者我要写书评

暂无评论

Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode

Modular fuzzy control with input shaping technique for trans...

引用

IEEE Symposium on Industrial Electronics & Applications (ISIEA)

作者： Salmiah Ahmad M. O. Tokhi N. H. Siddique Department of Mechatronics International Islamic University Malaysia Kuala Lumpur Malaysia Automatic Control & Systems Engineering University of Sheffield Sheffield UK School of Computing & Intelligent System University of Ulster UK

This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to four-wheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in four-wheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy logic control configuration is designed and implemented on the wheelchair model. To improve the system performance, an input shaping technique is augmented inside the feedback loop. It is shown that the shaped signals have improved the system performance with promising results.

关键词： Wheelchairs Niobium Wheels Mathematical model Torque Fuzzy control Conferences

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：