Analysis of complex systems such as hierarchically structured network systems that are employed in modelling and analysis various aspects and issues of control and management in telecommunications is investigated. The...
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In this paper, the authors present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object,...
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ISBN:
(纸本)0780370902
In this paper, the authors present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables one to calculate an exact image Jacobian not only at around a desired location, but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object, even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for an assembling robot.
Computation of an ARMA covariance function is a common ingredient in analysis and synthesis of various problems in stochastic control, estimation and signal processing. In this paper, we present an algorithm based on ...
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This work considers recent theoretical results for dynamical systems distributed in one spatial dimension. An application is presented for an industrial papermaking control system that had been experiencing frequent c...
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This work considers recent theoretical results for dynamical systems distributed in one spatial dimension. An application is presented for an industrial papermaking control system that had been experiencing frequent closed-loop instability problems. Two-dimensional frequency domain analysis uncovered a very small robust stability margin in the region corresponding to qualitative observations of the instability. A two-dimensional loop shaping technique was then used to redesign the feedback controller to obtain a closed-loop system with an acceptable stability margin. The system was observed to remain stable over the course of four days of closed-loop operation.
On-line nuclear meters have been in use in the coal industry for many years. They have been utilised for coal quality monitoring, in the control systems for coal blending, or for separating coals in the heavy media se...
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On-line nuclear meters have been in use in the coal industry for many years. They have been utilised for coal quality monitoring, in the control systems for coal blending, or for separating coals in the heavy media separation process. Their operation is based on the scattering or the absorption of incident gamma radiation, and the derived density or ash value is the result of a time-averaged measurement. In this paper, dynamic models of ash monitors have been presented and discussed. The analysis of monitors with constant measurement time shows that it is possible to determine optimal time for which the dynamic error is the smallest. The analysis also shows that the best results are given by the monitors in which the measurement time is variable and adap to changes of the input signal. The fuzzy logic has been applied to control ash monitor operation. An example of a coal blending control system which stabilises coal quality of the blend with the use of the fuzzy ash monitor has been analysed.
A characteristic feature of the neural network models is the large number of parameters. A model offering many parameters usually gives rise to problems, and the variance contribution to the modeling error might be ve...
A characteristic feature of the neural network models is the large number of parameters. A model offering many parameters usually gives rise to problems, and the variance contribution to the modeling error might be very high. Therefore, it is crucial to find the model with the optimal number of parameters. In this paper two techniques of selection of the optimal number of model parameters are described and compared: explicit and implicit regularization techniques. Model validation forms the final stage of an identification procedure with the aim of assessing objectively whether the identified model agrees sufficiently well with the observed data. In this paper the reliability of the correlation-based validation tests and the χ2-test is analyzed.
A neuro controller for high precision manoeuvring of underwater vehicles require special attention to a number of factors including thruster and vehicle’s nonlinearities, couplings which exist between various degrees...
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A neuro controller for high precision manoeuvring of underwater vehicles require special attention to a number of factors including thruster and vehicle’s nonlinearities, couplings which exist between various degrees of freedom as well as effects of the sea currents. The neuro control system for underwater vehicle maneouvring described here is based on the conventional controller supported with the so called adaptive neural network.
At present, intelligent control comprises the application of systems like fuzzy controllers or neural networks. However, such systems are only a first step towards really intelligent and autonomous control systems and...
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At present, intelligent control comprises the application of systems like fuzzy controllers or neural networks. However, such systems are only a first step towards really intelligent and autonomous control systems and, therefore, more sophisticated theories and methods have to be developed. The term "intelligent agent" is intensively discussed in the field of computer science at present. First applications of agents or multiagent systems are promising and open new dimensions also for the control and supervision of complex dynamic systems and plants. However, some open questions still remain. A clear definition of an intelligent control agent does not exist and there are no straightforward design and engineering methods. Therefore, we try to define the term control agent and the property "autonomy". In addition. We give a perspective of the application of such agents in wastewater treatment.
An explicit self-tuning controller based on the Takagi-Sugeno fuzzy model of the process is proposed. The fuzzy model is represented as a linear regression model whose parameters are functions of some of the process v...
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An explicit self-tuning controller based on the Takagi-Sugeno fuzzy model of the process is proposed. The fuzzy model is represented as a linear regression model whose parameters are functions of some of the process variables. Such a model can be considered as a linear time-varying model whose parameter values are known at every moment. The pole placement design procedure modified for time-varying systems is applied to obtain the polynomial controller parameters that provide the desired closed-loop poles. The proposed algorithm is very simple, and thus suitable for on-line controller design in adaptive control systems.
This paper presents a modification to the Kandadai and Tien’s learning algorithm for tuning a fuzzy-neural controller that is able to automatically generate a knowledge base. Tuning is based on reinforcements from a ...
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This paper presents a modification to the Kandadai and Tien’s learning algorithm for tuning a fuzzy-neural controller that is able to automatically generate a knowledge base. Tuning is based on reinforcements from a dynamical system, thus giving a pseudosupervised learning scheme using error backpropagation. Originally, a weak reinforcement in the form of a binary failure signal was assumed which proved to be insufficient in terms of steady-state error. Therefore, a continuous reinforcement signal is applied enabling the system to correct the error as well as decreasing the overall control effort in the learning phase.
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