检索结果-内蒙古大学图书馆

Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Dong-Yun Lee Hyeong-Ju Noh Dong-Seok Hyun Ick Choy Department of Electrical Engineering Hanyang University Seoul South Korea Intelligent system control research center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780377680

An improved MPPT converter with current compensation method for small-scaled PV-applications is presented in this paper. The proposed method implements maximum power point tracking (MPPT) by variable reference current which is continuously changed during one sampling period. Therefore, the proposed MPPT converter with current compensation method increases the power transferred to the load above 9%. As a result, the utilization efficiency of photovoltaic (PV)-module can be increased. In addition, as it doesn't use a digital signal processor (DSP), this MPPT method has the merits of both a cost efficiency and a simple control circuit design. Therefore, it is considered that the proposed MPPT method is proper to low power, low cost PV-applications. The concept and control principles of this improved MPPT method are explained in detail and the validity of the proposed method is verified through several simulated results.

关键词： Digital signal processing Photovoltaic systems Costs Solar power generation Short circuit currents Voltage Digital signal processors Pollution Fossil fuels Signal processing algorithms

来源：评论

学校读者我要写书评

暂无评论

Auto-tuning PID controller for robotic manipulators

Auto-tuning PID controller for robotic manipulators

引用

American control Conference (ACC)

作者： Youngjin Choi Yonghwan Oh Sang Rok Oh Wan Kyun Chung Intelligent System Control Research Center Korea Institute of Science and Technology South Korea Department of Mechanical Engineering Pohang University of Science and Technology South Korea

ISBN: (纸本)0780378962

This paper suggests an auto-tuning method of PID trajectory tracking controller for robotic manipulators. In general, the PID trajectory tracking controller for mechanical systems shows the performance limitation. Since the control system including performance limitation can not have equilibrium points, we define newly the quasi-equilibrium region as an alternative for equilibrium point. Also, the quasi-equilibrium region is used as the target performance of the auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability. Finally, experimental results show that the control performance is enhanced by an auto-tuning method assisting the achievement of target performance.

关键词： Three-term control Robot control Manipulators control systems Trajectory Adaptive control Optimal control Target tracking Mechanical systems Stability

来源：评论

学校读者我要写书评

暂无评论

Design and implementation of a behavior-based control and learning architecture for mobile robots

Design and implementation of a behavior-based control and le...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Il Hong Suh Sanghoon Lee Bong Oh Kim Byung Ju Yi Sang Rok Oh Department of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780377362

A behavior-based control and learning architecture is proposed, where reinforcement learning is applied to learn proper associations between stimulus and response by using two types of memory called as short Term Memory and Long Term Memory. In particular, to cope with delayed-reward problem, a knowledge-propagation (KP) method is proposed, where well-designed or well-trained S-R(stimulus-response) associations for low-level sensors are utilized to learn new S-R associations for high-level sensors, in case that those S-R associations require same objective such as obstacle avoidance. To show the validity of our proposed KP method, comparative experiments are performed for the cases that:(1) only a delayed reward is used, (2) some of S-R pairs are preprogrammed, (3) immediate reward is possible, and (4) our KP method is applied.

关键词： Mobile robots intelligent robots Learning Delay Animals control systems Computer architecture intelligent systems Cognitive robotics Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

A biologically inspired homeostatic motion controller for autonomous mobile robots

A biologically inspired homeostatic motion controller for au...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Do-Young Yoon Sang-Rok Oh Gwi-Tae Park Bum-Jae You Department of Electrical Engineering Korea University and ISCRC Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea Department of Electrical Korea University Seoul South Korea

ISBN: (纸本)0780377362

This paper proposes an autonomous motion controller for mobile robots. It combines a biologically inspired motion planner and a nonlinear feedback controller in order to make a simple and practical motion controller in natural unknown environments. The motion planner part is designed in the frame of behavior-based scheme and adopts the biological concept "homeostasis". It plays the role of determining desired temporal target posture and modifying controller's gain parameters. The other nonlinear controller part drives the robot to the given target posture from the planner. As a result, the stable nonlinear feedback controller in ideal obstacle free space becomes practical one in natural environments constrained by obstacles. The proposed controller is simple mainly due to its behavior-based characteristics and stable due to the feedback controller considering robot's physical constraints. Simulated results and some experimental feature for autonomous navigation of the differential drive mobile robot, named "MARI", are shown for the present.

关键词： Motion control Biological control systems Mobile robots Automatic control Robot control control systems Orbital robotics Robotics and automation intelligent robots Adaptive control

来源：评论

学校读者我要写书评

暂无评论

Short-term traffic flow prediction based on fuzzy time series

Short-term traffic flow prediction based on fuzzy time serie...

引用

International Body engineering Conference and Exhibition and Automotive and Transportation Technology Conference

作者： Gao, Haijun Li, Lingxi Chen, Long Liu, Rui Center of Intelligent Control and System Engineering Institute of Automation Chinese Academy of Sciences China Beijing Post and Telecommunication University China

Short-term traffic flow prediction is more and more important in intelligent traffic systems. This paper proposes a new traffic prediction model and algorithms based on it, at last we use the data of the Zizhu bridge ... 详细信息

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Extended direct learning control for multi-input multi-output nonlinear systems 15th

Extended direct learning control for multi-input multi-outpu...

引用

15th World Congress of the International Federation of Automatic control, 2002

作者： Ahn, Hyun-Sik Park, Joong-Min Kim, Do-Hyun Choy, Ick Song, Joong-Ho Tomizuka, Masayoshi School of Electrical Engineering Kookmin University Korea Republic of Intelligent System Control Research Center KIST Korea Republic of Department of Mechanical Engineering University of California Berkeley United States

ISBN: (纸本)9783902661746

For a class of nonlinear systems which perform a given task repetitively, an extended type of a direct learning control (DLC) is proposed using the information on the (vector) relative degree of the a multi-input multi-output system. DLC method can generate the desired control input directly from prestored control input profiles with different time scales without any repetitive learning process. It is shown that existing DLC methods can be applied only to a certain limited class of nonlinear systems and the information on the relative degree of a nonlinear system is essential to find the desired control input if the system has higher relative degree. Copyright © 2002 IFAC.

关键词： Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

EXTENDED DIRECT LEARNING control FOR MULTI-INPUT MULTI-OUTPUT NONLINEAR systemS

引用

IFAC Proceedings Volumes 2002年第1期35卷 61-66页

作者： Hyun-Sik Ahn Joong-Min Park Do-Hyun Kim Ick Choy Joong-Ho Song Masayoshi Tomizuka School of Electrical Engineering Kookmin University Korea Intelligent System Control Research Center KIST Korea Department of Mechanical Engineering University of California at Berkeley USA

关键词： Learning control nonlinear systems relative degree iterative methods robot manipulators tracking systems

来源：评论

学校读者我要写书评

暂无评论

A new hybrid control scheme using active-clamped Class-E inverter with induction heating jar for high power applications

A new hybrid control scheme using active-clamped Class-E inv...

引用

Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Dong-Yun Lee Dong-Seok Hyun Ick Choy Department of Electrical Engineering Hanyang University Seoul South Korea KIST Intelligent System Control Research Center Seoul South Korea

ISBN: (纸本)0780374045

This paper presents a new hybrid control scheme using active-clamped Class-E (ACCE) inverter for induction heating (IH) jar. The proposed hybrid control scheme has characteristics, which act as Class-E inverter at lower switch voltage and ACCE inverter at higher switch voltage than reference voltage of the main switch by feeding back voltage of the switch as well as advantages of conventional ACCE inverter such as zero-voltage-switching (ZVS) of the main switch and the reduced switch voltage due to clamping circuit. Moreover, the proposed hybrid control method using ACCE inverter has higher output power than conventional control scheme since ACCE inverter is operated like Class-E inverter at low input voltage condition. The principles of the proposed control are explained in detail and the validity of the proposed control scheme is verified through the several interesting simulated and experimental results.

关键词： Temperature control Resonant inverters Switches Switching circuits Zero voltage switching Voltage control Power generation control systems Clamps Resonance

来源：评论

学校读者我要写书评

暂无评论

Impulse measure based performance analysis of sawing task by dual arm

Impulse measure based performance analysis of sawing task by...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Jae Hoon Lee Byung-Ju Yi Sang-Rok Oh Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control paramete. Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints. The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested. Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount of the internal impulse is minimized. It is demonstrated through simulation that the dual arm exhibits better sawing performance over a single arm in aspects of external and internal impulses.

关键词： Performance analysis Sawing Robot kinematics Arm Humans Manipulators Injuries Manufacturing Robot control Equations

来源：评论

学校读者我要写书评

暂无评论

Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots

Optimal design and actuator sizing of redundantly actuated o...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Tae Bum Park Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Burn Jae You Sang-Rok Oh School of Electrical Engineering and Computer Science Hanyang South Korea Department of Control & Instrumentation Engineering Korea University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.

关键词： Actuators Mobile robots Wheels Angular velocity Optimal control control systems Roads Computer science intelligent systems intelligent control

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：