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Distributed controller architecture for advanced robot control

Distributed controller architecture for advanced robot contr...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Lorinc Marton Department of Electrical Engineering Sapientia Hungarian University of Transylvania Targu-Mures Romania Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The study presents a microcontroller based distributed system for robot control. Each controller calculates control signal for one robot joint. The controllers in the distributed system communicate to each other through SPI bus on which the information (joint positions and velocities) is interchanged. After the communication phase, the controllers can perform the parallel calculation of the control signals for the joint sof the robot. The proposed control system has low development and production cost and it can be applied for the implementation of advanced control algorithms. Experimental measurements are presented to demonstrate the efficiency of the introduced controller architecture.

关键词： Distributed control Robot control Control systems Communication system control Velocity control Robot kinematics Signal processing algorithms Pulse width modulation Robot sensing systems Mobile robots

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Upper bounding the variations of the best linear approximation of a nonlinear system in a power sweep measurement

Upper bounding the variations of the best linear approximati...

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IEEE Instrumentation and Measurement technology Conference

作者： J. Schoukens T. Dobrowiecki Y. Rolain R. Pintelon ELEC Department Vrije Universiteit Brussel Brussels Belgium Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Hungary

In many engineering applications, linear models are preferred, even if it is known that the system is nonlinear. A large class of nonlinear systems, excited with random excitations, can be represented as Y = G BLA U + Y S , with G BLA the best linear approximation, and Y S a nonlinear noise source that represents that part of the output that is not captured by the linear approximation. Because G BLA not only depends upon the linear dynamics, but also on the nonlinear distortions, it will vary if the input power is changed. In this paper, we study under what conditions (class of excitations, class of nonlinear systems) these variations of G BLA can be bounded, starting from the knowledge of the power spectrum S YS . Since S YS can be easily measured using well designed measurement procedures, it becomes possible to provide the designer with an upper bound for the variations of G BLA , leading to more robust design procedures.

关键词： Linear approximation Nonlinear systems Power measurement Power engineering and energy Gaussian noise Instrumentation and measurement Linear systems US Government Noise robustness Information systems

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Object Categorization Using VFA-generated Nodemaps and Hierarchical Temporal Memories

Object Categorization Using VFA-generated Nodemaps and Hiera...

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International Conference on Computational Cybernetics (ICCC)

作者： Adam B. Csapo Peter Baranyi Domonkos Tikk Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Telecommunication & Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Object categorization and recognition have proved to be difficult tasks in artificial intelligence for several decades. With the recent emergence of biologically inspired soft-computing methods, promising results in specialized application domains are more and more common. In this paper, we propose a novel object categorization method based on statistical properties of nodes -derived from the VFA model -and hierarchical temporal memories. A referential categorization method, obtained by feeding grayscale pixel levels to hierarchical temporal memories, is used to evaluate the model's performance. Results show that categorization based on the statistics of nodes seems to yield higher success rates. This is in correspondence with Biederman's conjecture in his theory of recognition by components (RBC), according to which the statistics of nodes, end points and corners carry essential and sufficient information for object recognition [1]. The first section of this paper consists of a brief introduction, in which we restate the formal definition of the VFA model, as well as present its node-filtering applications. This will be followed by a presentation of the HTM theory for size-and orientation-invariant object representation. Finally, we give a detailed case study in which a hierarchical temporal memory is used to distinguish between two, as well as several object categories.

关键词： Statistics Object recognition Biological system modeling Gray-scale Telecommunication computing Automation Informatics Artificial intelligence Brain modeling Data structures

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Recovering refined surface normals for relighting clothing in dynamic scenes

Recovering refined surface normals for relighting clothing i...

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4th European Conference on Visual Media Production

作者： P. Csakany F. Vajda A. Hilton Centre for Vision speech and Signal Processing University of Surrey Guildford UK Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In this paper we present a method to relight captured 3D video sequences of non-rigid, dynamic scenes, such as clothing of real actors, reconstructed from multiple view video. A view-dependent approach is introduced to refine an initial coarse surface reconstruction using shape-from-shading to estimate detailed surface normals. The prior surface approximation is used to constrain the simultaneous estimation of surface normals and scene illumination, under the assumption of Lambertian surface reflectance. This approach enables detailed surface normals of a moving non-rigid object to be estimated from a single image frame. Refined normal estimates from multiple views are integrated into a single surface normal map. This approach allows highly non-rigid surfaces, such as creases in clothing, to be relit whilst preserving the detailed dynamics observed in video.

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Iterative Feedback Tuning Approach to Development of PI-Fuzzy Controllers

Iterative Feedback Tuning Approach to Development of PI-Fuzz...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Radu-Emil Precup Zsuzsa Preitl Stefan Preitl Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The paper proposes an original development method of Pi-fuzzy controllers. Accepting the controlled plants being described with simplified linear mathematical models, the method starts with linear PI controller development in terms of Iterative Feedback Tuning expressed in discrete-time. It is accompanied by a linear development method applied in delta domain. Next, the results of the linear development are transferred to the development of the fuzzy blocks in PI-fuzzy controllers by the modal equivalence principle, resulting in new two-degree-of-freedom Mamdani Pi-fuzzy controllers. Realtime experimental results in controlling a nonlinear servo-system validate the development method, where the linear development is performed using the Extended Symmetrical Optimum method.

关键词： Iterative methods Feedback Fuzzy control Control systems Automatic control Three-term control Automation Cascading style sheets Informatics Sampling methods

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Optimizing sampling time in single photon counting experiments

Optimizing sampling time in single photon counting experimen...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： L. Nadai L.T. Koczy P. Varlaki Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The so-called "point fractal" concept is applied in the paper for analyzing the time-scale variability of point processes that are recorded in photon counting experiments. A new algorithm (based on a fuzzy controller) for estimating the fractal dimension is applied to eliminate systematic as well as stochastic errors. It is shown that there exists a scale-invariant region in time, and clustering decreases in accordance with the increase of threshold that corresponds to the inverse sensitivity of the detector. Under threshold variation it is confirmed that the maxima of homogenous scale-invariant intervals are just the same. In addition, taking the probability scale law on different levels of threshold, a relationship is established between the saturation scale (return period) and the threshold value (design experiment variable).

关键词： Sampling methods Detectors Fractals Time measurement Optical recording Signal detection Pulse measurements Control systems Stochastic systems Optical saturation

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The development of ultrasonic drilling device

The development of ultrasonic drilling device

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International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Shingo Takahasi Peter Korondi Barna Resko Yasuharu Kunii Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Faculty of Electrical and Electronic Engineering Chuo University Kasugai Tokyo Japan

For a planetary surface exploration, grinding and drilling equipment is one of the mo st important devices in geological observation of sampled rocks. However, the equipment can't be directly applied for works in the space. More specifically, the weight of drilling and grinding machines generally used on the Earth is so heavy, an d they need lubricant. Therefore it is difficult to use them in the space. In this paper, we analyze transient process of destroyed surface of rocks. Especially, we focus on contact points between sampled rocks and the top of a horn. Through the analysis, we can suggest that a ultra sonic based device is effective to implement drilling and grinding of rocks in the space. The analysis suggests that a ultra sonic based device is effective to realize drilling and grinding of rocks in the space.

关键词： Drilling Vehicles Soil Geology Probes Moon Informatics Planets Heating Automation

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TP model transformation based stabilization of a 3-DOF RC helicopter

TP model transformation based stabilization of a 3-DOF RC he...

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International Conference on Control and Automation (ICCA)

作者： P. Baranyi K. Tanaka P. Korondi Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Department Telecommunication and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

This paper investigates the effectiveness of a recently proposed numerical control design methodology in the stabilization control design of a 3-DOF RC helicopter. This control methodology is the combination of the TP (tensor product) model transformation and the PDC (parallel distributed compensation) framework. First we recall the nonlinear model of the RC helicopter, then we execute the TP model transformation on the simplified model to yield its TP model (or Takagi-Sugeno fuzzy model) representation, with specific characteristic, whereupon the PDC framework can immediately be applied. Beyond the stabilization we take into account practical performance considerations in terms of good speed of response and small control effort to avoid actuator saturations. Simulation results are included to validate the control design. It is pointed out that the resulting controller is equivalent with the one successfully applied in the real control experiment of the helicopter presented in a recent paper.

关键词： Helicopters Control design Automatic control Mathematical model Tensile stress Takagi-Sugeno model Actuators Intelligent systems Computer numerical control Design methodology

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Protection of MV covered conductor lines against overvoltages and fault arcs

Protection of MV covered conductor lines against overvoltage...

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Power Tech Conference

作者： G. Ban L. Prikler I. Fogarasi I. Hajos Budapest University슠of슠Technology슠and슠Economics Budapest Hungary VEIKI-VNL Electric Large Laboratories Limited Budapest Hungary E. ON-DEDASZ Limited Pecs Hungary

Reduction of the line and tower dimensions is a common tool to insert overhead lines into the environment. Recently such trends occurred in the field of MV networks, as well. When applying covered conductors shorter phase-to-phase distances can be allowed than with bare conductors. Important application areas of covered conductor system are the lines passing through forests (allowing narrow corridor), inhabited areas or line crossing. This paper analyses the processes resulting in damaging the cover and conductor, reports on the laboratory studies aiming at selecting the suitable arc protecting devices, establishing their pros and cons. Authors report on the laboratory tests for understanding the complex flashover mechanism of the insulator-covered conductor arrangement. Follow current tests were carried on by thin wire arc initiation and in a synthetic circuit.

关键词： Conductors Surge protection Arc discharges Insulation Conducting materials Poles and towers Circuit testing Lightning Flashover Power system protection

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Curved holographic optical elements for diffuse light collimation and concentration

Curved holographic optical elements for diffuse light collim...

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International Conference on Advanced Optoelectronics and Lasers (CAOL)

作者： N. Bokor N. Davidson Department of Physics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Physics of Complex Systems Weizmann Institute of Science Rehovot Israel

A new type of optical instrument, the carved hologram, is introduced that allows us the unique opportunity to independently control its spatial phase function and its shape (whereas in reflecting or refracting optical elements the shape uniquely determines the spatial phase function). We show how proper design of the 2D hologram shape for a given light source intensity distribution (using a simple analytic procedure) yields perfect uniform collimation. We then demonstrate how the same hologram shape leads, for the same light source shape now used as a target, to concentration of diffuse (monochromatic) light at the thermodynamic limit of brightness conservation. Specific practical examples of flat and cylindrical Labertian targets are considered. The procedure is then extended for finite source-target distances, possibly applicable for efficient and uniform side-pumping of laser rods. Finally, extension possibilities for 3D geometries are investigated.

关键词： Holographic optical components Holography Optical collimators Optical refraction Shape control Light sources Instruments Optical control Thermodynamics Brightness

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