检索结果-内蒙古大学图书馆

Design of embedded systems able to adapt both scheduling and control parameters

UPB Scientific Bulletin, Series C: Electrical engineering 2011年第4期73卷 11-24页

作者： Niculae, Daniel Dumitrache, Ioan SC IPA SA Bucharest Romania Automatic Control and System Engineering Department Automatic Control and Computers Faculty University POLITEHNICA of Bucharest Romania

The paper will present the implementation of numeric systems for process control and it will explain the problems that arise from the independent way of development of the actual control tasks - oriented to control theory away from the real time system- oriented to operating system theory. It will then be described the effects o running such control on an on-the-shelf resources deprived hardware environment, and the way these can be surpassed using co-designed control theory.

关键词： control theory

来源：评论

学校读者我要写书评

暂无评论

Monocular visual self-localization for humanoid soccer robots

Monocular visual self-localization for humanoid soccer robot...

引用

21st International Conference on Electronics Communications and computers, CONIELECOMP 2011

作者： Ibarra Zannatha, J.M. Cisneros Limon, R. Gomez Sanchez, A.D. Hernandez Castillo, E. Figueroa Medina, L.E. Lara Leyva, F.J.K. Department of Automatic Control Cinvestav Mexico Department of Computer Systems Cinvestav Mexico Engineering Faculty La Salle University United States

ISBN: (纸本)9781424495573

In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x;y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented. © 2011 IEEE.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

An anti-slip predictive controller for a V-PRA vehicle

An anti-slip predictive controller for a V-PRA vehicle

引用

作者： Cochior, Carmen De Keyser, Robin Lazar, Corneliu Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

ISBN: (纸本)9783902661937

In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller. © 2011 IFAC.

关键词： Vehicles

来源：评论

学校读者我要写书评

暂无评论

Linear Quadratic Regulator (LQR) approach for lifting and stabilizing of two-wheeled wheelchair

Linear Quadratic Regulator (LQR) approach for lifting and st...

引用

IEEE International Conference on Mechatronics

作者： Ahmad, Salmiah Tokhi, M.O. Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Dept. of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612844350

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations. © 2011 IEEE.

关键词： Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

Electric wheelchair control for people with locomotor disabilities using eye movements

Electric wheelchair control for people with locomotor disabi...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： George Constantin Rascanu Razvan Solea Faculty of Automatic Control Computers Electric and Electronic Engineering Dunarea de Jos University of Galati Romania Faculty of Automatic Control Computers Electric and Electronic Engineering Dunarea de Jos University Galati Romania

The paper describes a control method of a robot, by means of an electric wheelchair, dedicated to severely disabled persons, equipped with a low-cost web camera, using only eye movements and gaze direction. The camera is positioned in front of the user's right eye so that the iris is captured as it moves. This movement is interpreted to obtain the command which is send to the wheelchairs actuators. This command can be “FORWARD”, “LEFT” or “RIGHT”, when the eye (the iris) is detected on center, left and right respectively. For safety reasons, emergency stop, with the command “STOP”, is caused by failure to detect the iris. This command is generated when the user encounters a close obstacle or when he wishes to shut down the system.

关键词： Wheelchairs Mobile robots Iris Graphical user interfaces Robot sensing systems MATLAB

来源：评论

学校读者我要写书评

暂无评论

Mobile robot control using face recognition algorithms

Mobile robot control using face recognition algorithms

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Alexandru Ionut Pustianu Adriana Serbencu Daniela Cristina Cernega Faculty of Automatic Control Computers Electric and Electronic Engineering Dunarea de Jos University of Galati Romania Faculty of Automatic Control Computers Electric and Electronic Engineering Dunarea de Jos University Galati Romania

In this paper is presented an algorithm to detect human faces using the orthogonal projection principle PCA (Principal Component Analysis) and a neural network classifier trained offline with a set of training images acquired from a webcam as well as from the CBLC and Manchester databases. The algorithm for the detection and tracking of faces will be implemented in a Visual C + + application, which will be tested on the mobile robot. The purpose of this paper is to implement an image processing algorithm in robotics thus making a human-robot interaction. The experimental results have been achieved on the PeopleBot, a two-wheeled differently driven mobile robot with a castor wheel for stability.

关键词： Face Vectors Mobile robots Principal component analysis Face detection Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Active vibration control on flexible plate structure using bio-inspired algorithm

Active vibration control on flexible plate structure using b...

引用

2nd International Conference on Computational Intelligence, Modelling and Simulation 2011, CIMSim 2011

作者： Salleh, Salihatun Md Tokhi, Osman Department of Engineering Mechanics Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Batu Pahat Malaysia Department of Automatic Control and Systems Engineering Faculty of Engineering University of Sheffield United Kingdom

ISBN: (纸本)9780769545622

This article presents the active vibration control with bio-inspired algorithms model based system utilising genetic algorithm (GA), particle swarm intelligence (PSO) and artificial immune system (AIS). The parameter of the model is estimated and the transfer function of the active vibration controller is characterized implementing GA with real coded execution, PSO with spreading factor and AIS implemented AiNet type of algorithms. The comparisons of AVC based bio-inspired algorithms arc validated using time- and frequency- domain response, mean squares of error and correlation tests. The performances of the algorithm are assessed through determination of dominant vibration modes using spectral density of the response. © 2011 IEEE.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Robust Hinfin filtering for uncertain 2-D continuous systems, based on a polynomially parameter-dependent Lyapunov function

Robust Hinfin filtering for uncertain 2-D continuous systems...

引用

2011 7th International Workshop on Multidimensional (nD) systems, nDS 2011

作者： El-Kasri, Chakir Hmamed, Abdelaziz Alvarez, Teresa Tadeo, Fernando Department of Physics Faculty of Sciences University of Dhar El Mehraz BP 1796 Fes-Atlas Morocco Department of Systems Engineering and Automatic Control University of Valladolid 47005 Valladolid Spain

ISBN: (纸本)9781612848167

The problem of robust Hinfin filtering for uncertain two-dimensional (2-D) continuous systems described by the Roesser state-space model is investigated when the parameter uncertainties are polytopic. A sufficient linear matrix inequality (LMI) condition for the existence of a 2-D continuous filter such that, for all admissible uncertainties, the error system is asymptotically stable, and the Hinfin norm of the transfer function from the noise signal to the estimation error is below a prespecified level. A sequence of standard LMI conditions that ensure the existence of homogeneous polynomially parameter-dependent (HPPD) matrices of arbitrary degree, that are solutions to the parameter-dependent LMIs is provided in terms of the vertices of the polytope. The proposed method includes results in the quadratic framework and the linearly parameter-dependent framework as special cases. Finally, an example is provided to demonstrate the effectiveness and advantages of the proposed filter design methodology. © 2011 IEEE.

关键词： Linear matrix inequalities

来源：评论

学校读者我要写书评

暂无评论

Multi-objective PSO based augmented control of a twin rotor system

Multi-objective PSO based augmented control of a twin rotor ...

引用

IEEE International Conference on Mechatronics

作者： Toha, S.F. Tokhi, M.O. Department of Mechatronics Faculty of Engineering International Islamic University Malaysia P.O. Box 10 50728 Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781612844350

control of vibration suppressions is crucial for applications in engineering particularly in the area of aircraft system. An augmented control approach encompasses of using a feedforward intelligent command shaping technique with combination of intelligent PID feedback control is presented in this paper. The advantage of using command shaping is to reduce system vibration. However, it can cause delay in system response resulting to a conflict between vibration suppression and rise time response. Multi-objective particle swarm optimization with spread factor (MOPSO-SF) is employ in this paper to determine a set of solutions for the amplitudes and corresponding time locations of impulses on an extra sensitive (El) command shaping as well as gain parameters for the PID controller. The effectiveness of the proposed technique is assessed both in the time domain and the frequency domain. Moreover, a comparative assessment of the performance of the technique with the system response and unshaped finite step input is presented. © 2011 IEEE.

关键词： Particle swarm optimization (PSO)

来源：评论

学校读者我要写书评

暂无评论

Sliding-mode control of coordinated nonholonomic mobile manipulators

Sliding-mode control of coordinated nonholonomic mobile mani...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Razvan Solea Daniela Cristina Cernega Faculty of Automatic Control Computers Electrical and Electronics Engineering Dunarea de Jos University of Galati Romania

Coordinated systems of multiple mobile manipulators can be much more flexible than single mobile manipulator in order to accomplish complex and changeable tasks. In this paper, sliding-mode control strategies are used to control the coordinated multiple mobile manipulators which carry a common object. The control ensures that the output tracking errors of the system converge to zero. Simulation studies show the effectiveness of the proposed scheme.

关键词： Manipulators Mobile communication Trajectory Mobile robots Kinematics Robot kinematics

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：