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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Cooperative and Active Sensing in Mobile Sensor Networks for Scalar Field Mapping

Cooperative and Active Sensing in Mobile Sensor Networks for...

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IEEE International Conference on Automation Science and engineering

作者： Hung Manh La Weihua Sheng Jiming Chen Center for Advanced Infrastructure and Transportation (CAIT) Rutgers University Piscataway NJ 08854 USA School of Electrical and Computer Engineering Oklahoma State University Stillwater OK 74078 USA State Key Lab. of Industrial Control Technology Department of Control Zhejiang University Hangzhou P.R.China 310027

ISBN: (纸本)9781479915132

Scalar field mapping has many applications including environmental monitoring, search and rescue, etc. In such applications there is a need to achieve a certain level of confidence regarding the estimates at each location. In this paper, a cooperative and active sensing framework is developed to enable scalar field mapping using multiple mobile sensor nodes. The cooperative and active controller is designed via the real-time feedback of the sensing performance to steer the mobile sensors to new locations in order to improve the sensing quality. During the movement of the mobile sensors, the measurements from each sensor node and its neighbors are taken and fused with the corresponding confidences using distributed consensus filters. As a result an online map of the scalar field is built with a certain level of confidence of the estimates. We conducted computer simulations to validate and evaluate our proposed algorithms

关键词： Active sensing Sensor fusion Sensor networks

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Experimental Quantum Computing to Solve Systems of Linear Equations

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Physical Review Letters 2013年第23期110卷 230501-230501页

作者： X.-D. Cai C. Weedbrook Z.-E. Su M.-C. Chen Mile Gu M.-J. Zhu Li Li Nai-Le Liu Chao-Yang Lu Jian-Wei Pan Hefei National Laboratory for Physical Sciences at Microscale and Department of Modern Physics University of Science and Technology of China Hefei Anhui 230026 China Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto M5S 3G4 Canada Centre for Quantum Technologies National University of Singapore Singapore 117543 Center for Quantum Information Institute for Interdisciplinary Information Sciences Tsinghua University Beijing 100084 China

Solving linear systems of equations is ubiquitous in all areas of science and engineering. With rapidly growing data sets, such a task can be intractable for classical computers, as the best known classical algorithms require a time proportional to the number of variables N. A recently proposed quantum algorithm shows that quantum computers could solve linear systems in a time scale of order log (N), giving an exponential speedup over classical computers. Here we realize the simplest instance of this algorithm, solving 2×2 linear equations for various input vectors on a quantum computer. We use four quantum bits and four controlled logic gates to implement every subroutine required, demonstrating the working principle of this algorithm.

关键词： Quantum computers

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Ship tracking control based on linear active disturbance rejection control

Ship tracking control based on linear active disturbance rej...

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2012 3rd International Conference on Intelligent control and Information Processing, ICICIP 2012

作者： Li, Ronghui Li, Tieshan Zheng, Qinling Li, Qiang Navigaion College Dalian Maritime University Dalian China Center for Advanced Control Technologies Department of Electrical Computer Engineering Cleveland State University Cleveland OH United States

ISBN: (纸本)9781457721427

Owing to ship's high inertia, strong time lag, non-linearity and under-actuated characteristics, as well as sustaining external disturbances frequently, designing a high performance ship tracking controller is still one of the most important research topics of ship motion control. Active Disturbance Rejection control (ADRC) is proved to be very effective control method because it is independent of mathematical model of the plant and can compensate the internal and external disturbances dynamically. This paper investigates the applications of ADRC in ship motion tracking control and presents the design method of ADRC controller appropriate for ship tracking control. Firstly, ship motion mathematical model is introduced briefly and the linear ADRC (LADRC) is analyzed. Then considering the nonlinear ship track design model as a third order plant after utilizing variable substitution, a LADRC controller is designed by using fourth order linear extended state observer (LESO). At last, the simulation is performed. Simulation results show that the controller has a good tracking performance and disturbance rejection ability and is robust to the ship motion nonlinear characteristic and the external disturbances. The tracking process is fast, smooth and minor energy consumption. © 2012 IEEE.

关键词： controllers

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Access to multimodal articles for individuals with sight impairments

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ACM Transactions on Interactive Intelligent Systems 2012年第4期2卷 1–49页

作者： Carberry, Sandra Schwartz, Stephanie Elzer McCoy, Kathleen Demir, Seniz Wu, Peng Greenbacker, Charles Chester, Daniel Schwartz, Edward Oliver, David Moraes, Priscilla Computer Science Department University of Delaware United States Computer Science Department Millersville University United States Center of Research for Advanced Technologies of Informatics and Information Security Scientific and Technological Research Council of Turkey Turkey Electrical and Computer Engineering Department Carnegie Mellon University United States

Although intelligent interactive systems have been the focus of many research efforts, very few have addressed systems for individuals with disabilities. This article presents our methodology for an intelligent interactive system that provides individuals with sight impairments with access to the content of information graphics (such as bar charts and line graphs) in popular media. The article describes the methodology underlying the systems intelligent behavior, its interface for interacting with users, examples processed by the implemented system, and evaluation studies both of the methodology and the effectiveness of the overall system. This research advances universal access to electronic documents. © 2012 ACM.

关键词： Intelligent systems

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Three-phase AC System Impedance Measurement Unit (IMU) using Chirp Signal Injection

Three-phase AC System Impedance Measurement Unit (IMU) using...

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Annual IEEE Applied Power Electronics Conference and Exposition

作者： Zhiyu Shen Marko Jaksic Paolo Mattavelli Dushan Boroyevich Jacob Verhulst Mohamed Belkhayat Center for Power Electronics Systems The Bradley Department of Electrical and Computer Engineering Virginia Tech Blacksburg VA 24061 USA Huntington Ingalls Industries Newport News Shipbuilding Advanced Technologies Group Newport News VA 23601 USA

ISBN: (纸本)9781467343541

Impedance defined in synchronous coordinates is a useful tool to predict and evaluate stability of three-phase AC systems. For online impedance measurement in AC systems, the widely used frequency sweep method takes a long time and may not be practical in systems where the operating point cannot be maintained for a long time. A wide bandwidth signal could be used to significantly reduce the measurement time. This paper suggests a chirp signal and describes its advantages over other signals. Experimental results demonstrate the effectiveness of this approach.

关键词： AC IMU Injection

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Design and Implementation of Three-phase AC Impedance Measurement Unit (IMU) with Series and Shunt Injection

Design and Implementation of Three-phase AC Impedance Measur...

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Annual IEEE Applied Power Electronics Conference and Exposition

ISBN: (纸本)9781467343541

Electric power systems based on power electronics technology are prone to instability due to the constant power nature of power electronics converters. The impedances defined in synchronous coordinates are useful tools to predict and evaluate three-phase small-signal system stability. This paper presents the design and implementation of an impedance measurement unit used in three-phase systems up to 100kW. It extracts the system impedance online at any specific operating point. The unit utilizes both series and shunt injection modes to perform impedance identification for any load and source conditions, even if the source is very stiff. Experimental results demonstrate the effectiveness of the designed unit with both linear and nonlinear loads.

关键词： Design AC IMU

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Analysis of Phase Locked Loop (PLL) Influence on DQ Impedance Measurement in Three-phase AC Systems

Analysis of Phase Locked Loop (PLL) Influence on DQ Impedanc...

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Annual IEEE Applied Power Electronics Conference and Exposition

作者： Zhiyu Shen Marko Jaksic Bo Zhou Paolo Mattavelli Dushan Boroyevich Jacob Verhulst Mohamed Belkhayat Center for Power Electronics Systems The Bradley Department of Electrical and Computer Engineering Virginia Tech Blacksburg VA 24061 USA Huntington Ingalls Industries Newport News Shipbuilding Advanced Technologies Group Newport News VA 23601 USA

ISBN: (纸本)9781467343541

AC small signal stability of three-phase systems can be analyzed using the load and source impedances in the d-q synchronous reference frame and many solutions have been recently proposed to measure d-q impedances. One fundamental part of the measurement system is the Phase-Looked Loop (PLL), which tracks the supply voltage phase in order to transform voltage and current terms from abc to dq coordinates. This paper analyzes the influence of PLL dynamics on the accuracy of the impedance measurement results, focusing on two errors: 1) on the generation of voltage/current perturbation, 2) on the measured voltage and current components used for impedance extraction. The analysis shows that PLL has a small influence on the voltage/current injection and a more relevant one on the voltage and current measurements. For this reason, the PLL bandwidth in existing systems is much smaller than the lowest frequency of the measured impedance, strongly increasing the measurement time. However, PLL's effect can be compensated off-line with the use of derived analytical expressions, enabling a higher PLL bandwidth and a significantly faster measurement system. The proposed approach is verified by simulation.

关键词： AC PLL DQ

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Nonlinear Sideband Effects in Small-Signal Input dq Admittance of Six-Pulse Diode Rectifiers

Nonlinear Sideband Effects in Small-Signal Input dq Admittan...

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Annual IEEE Applied Power Electronics Conference and Exposition

作者： Marko Jaksic Zhiyu Shen Igor Cvetkovic Dushan Boroyevich Paolo Mattavelli Mohamed Belkhayat Jacob Verhulst Center for Power Electronics Systems The Bradley Department of Electrical and Computer Engineering Virginia Tech 652 Whittemore Hall Blacksburg VA 24061 USA Huntington Ingalls Industries Newport News Shipbuilding Advanced Technologies Group Newport News VA 23601 USA

ISBN: (纸本)9781467343541

This paper focuses on the modeling of small-signal input dq admittance of six-pulse diode rectifiers, providing comparison between well-known averaged value models (AVMs), the switching simulation model and hardware measurements. The analytical AVM (AAVM) is a widely used solution for modeling a six-pulse diode rectifier, but it is shown that it has to be modified in order to model the input dq admittance more accurately. Analytical expressions for all four admittances present in the dq matrix are derived and compared to switching model small-signal dq admittances. Furthermore, a parametric AVM (PAVM) is included into analysis, "slightly modified" and analytical expressions for all four dq admittances are derived in this case also. However, it is concluded that both AVMs predicts two admittances, Y_(dd)(s) and Y_(qd)(s), very precisely even beyond the switching frequency. On the other hand, the prediction of other two admittances, Y_(dq)(s) and Y_(qq)(s), is accurate only up to one fourth and one half of the switching frequency, respectively. The main sources of differences are found to be sideband resonant points that are mainly present in the response to q-channel injection. The main reason is that q-channel injection modulates commutation angle and yields significant sideband admittances around multiples of the switching frequency, which is typical behavior for nonlinear systems. Furthermore, a hardware set-up is built, measured and modeled, showing that the switching simulation model captures nonlinear sideband effects accurately. In the end, a six-pulse diode rectifier feeding a constant power load is analyzed with the modified AAVM and through the detailed simulations of switching model, proving effectiveness of the proposed modifications. The nonlinear sidebands are inevitable phenomenon in a six-pulse diode rectifier as sidebands are found in all the presented test-cases.

关键词： AVM Sideband Rectifiers

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Ship tracking control based on linear active disturbance rejection control

Ship tracking control based on linear active disturbance rej...

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International Conference on Intelligent control and Information Processing (ICICIP)

作者： Ronghui Li Tieshan Li Qinling Zheng Qiang Li Navigaion College of Dalian Maritime University Dalian China Center for Advanced Control Technologies Department of Electrical Computer Engineering Cleveland State University Cleveland OH USA

关键词： Marine vehicles Mathematical model Observers Tracking Equations Educational institutions Robustness

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