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IEEE International Conference on robotics and Biomimetics

作者： Zhiyu Wang Lianqing Liu Zhidong Wang Zaili Dong Shuai Yuan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Advanced Robotics Chiba Institute of Technology Chiba Japan Chinese Academy of Sciences Beijing Beijing CN

ISBN: (纸本)9781424493197

One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities.

关键词： Creep Hysteresis Fitting Data models Adaptation model Robot sensing systems

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Feature selection and classification of breast cancer on dynamic Magnetic Resonance Imaging by using artificial neural networks

Feature selection and classification of breast cancer on dyn...

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Iranian Conference of Biomedical Engineering (ICBME)

作者： Farzaneh Keivanfard Mohammad Teshnehlab Mahdi Aliyari Shoorehdeli Ke Nie Min-Ying Su Electrical and Computer Engineering Department Khaje Nasir Toosi University of Technology Tehran Iran Electrical and Computer Engineering Department Advanced Process Automation and Control (APAC) Khaje Nasir Toosi University of Technology Tehran Iran Center for Functional Onco-Imaging and Department of Radiological Sciences University of California Irvine CA USA

In this paper, a new feature selection and classification methods based on artificial neural network are applied to classify breast cancer on dynamic Magnetic Resonance Imaging (MRI). The database including benign and malignant lesions is specified to select the features and classify with proposed methods. It is collected from 2004 to 2006. A forward selection method is applied to find the best features for classification. Moreover, artificial neural networks such as Multilayer Preceptron (MLP) neural network, Probabilistic Neural Network (PNN) and Generalized Regression Neural Network (GRNN) are applied to classify breast cancer into two groups; benign and malignant lesions. Training and recalling neural networks are obtained with considering four-fold cross validation.

关键词： Fires Entropy Correlation Artificial neural networks Lesions Jacobian matrices Kinetic theory

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Recent results with polarized deuterons and polarimetry at Nuclotron-NICA

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Journal of Physics: Conference Series 2011年第1期295卷

作者： V P Ladygin T Uesaka V V Glagolev Yu V Gurchin A Yu Isupov K Itoh M Janek J-T Karachuk T Kawabata A N Khrenov A S Kiselev V A Kizka A B Kurepin A K Kurilkin P K Kurilkin V A Krasnov N B Ladygina D Lipchinski A N Livanov Y Maeda A I Malakhov G Martinska S Nedev S M Piyadin E B Plekhanov J Popovichi S Rangelov S G Reznikov P A Rukoyatkin S Sakaguchi H Sakai K Sekiguchi M A Shikhalev K Suda A A Terekhin J Urban T A Vasiliev I E Vnukov H Witala Joint Institute for Nuclear Research Dubna Russia Moscow State Institute of Radio-engineering Electronics and Automation Moscow Russia Center for Nuclear Study University of Tokyo Tokyo Japan Department of Physics Saitama University UrawaJapan Physics Department University of Žilina Žilina Slovakia Advanced Research Institute for Electrical Engineering Bucharest Romania Institute for Nuclear Research Moscow Russia Kyushi University Hakozaki Japan P J Šafarik University Košice Slovakia University of Chemical Technology and Metallurgy Sofia Bulgaria RIKEN (the Institute for Physical and Chemical Research) Saitama Japan University of Tokyo Tokyo Japan Belgorod State University Belgorod Russia Institute of Physics Jagiellonian University Krakow Poland

Recent results on the deuteron analyzing powers obtained in collisions of polarized deuterons with protons and light nuclei at intermediate and high energies are reported. The obtained results are sensitive to the spin structure of the short range correlations. The prospects of the spin program for hadronic reactions at Nuclotron-NICA facility is discussed. The polarimetry developments are also presented.

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Feature extraction of light sleep state in polysomnogram by use of conditional probability

Feature extraction of light sleep state in polysomnogram by ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Yoshiyama, Hiroaki Sugi, Takenao Wang, Bei Shirakawa, Shuichiro Nakamura, Masatoshi Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Automation East China University of Science and Technology Shanghai China National Center of Neurology and Psychiatry Tokyo Japan Departmcnt of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

Human sleep stages during whole night are usually classified into six stages based on polysommnographic (PSG) record. Sleep state of human light sleep changes gradually and continuously. In this study, automatic judgment of light sleep state in PSG record was developed. Parameters for characterizing the PSG were calculated from the periodogram and the discriminant function was constructed by using conditional probability Estimated value of wake full level was gradually decreased according to the stage charged from W to S1. In contrast, changing the sleep state from S1 to S2 increased estimated value of sleep level accordingly. © 2009 SICE.

关键词： Sleep research

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Automated learning for parameter optimization of robotic assembly tasks utilizing genetic algorithms

Automated learning for parameter optimization of robotic ass...

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IEEE International Conference on robotics and Biomimetics

作者： Jeremy A. Marvel Wyatt S. Newman Dave P. Gravel George Zhang Jianjun Wang Tom Fuhlbrigge Electrical Engineering and Computer Science Department Case Western Reserve University Cleveland OH USA Ford Advanced Manufacturing Technology Development Center Detroit MI USA Mechatronics and Robotic Automation ABB Corporate Research Center Windsor CT USA

A challenge for automating mechanical assembly is that cumulative uncertainties typically exceed part clearances, which makes conventional position-based tactics unsuccessful. Force-based assembly strategies offer a potential solution, although such methods are still poorly understood and can be difficult to program. In this paper, we describe a force-based robotic assembly approach that uses fixed strategies with tunable parameters. A generic assembly strategy suitable for execution on an industrial robot is selected by the programmer. Parameters are then self-tuned empirically by the robot using a genetic-algorithm learning process that seeks to minimize assembly time subject to contact-force limits. Results are presented for two automotive part assembly examples using ABB robots with commercial force-control software, showing that the approach is highly effective and suitable for industrial use.

关键词： Robotic assembly Genetic algorithms robotics and automation Service robots Force control Orbital robotics Industrial control Robot control Automatic control Manufacturing automation

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Feature extraction of light sleep state in polysomnogram by use of conditional probability

Feature extraction of light sleep state in polysomnogram by ...

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SICE Annual Conference

作者： Hiroaki Yoshiyama Takenao Sugi Rei Wang Shuichiro Shirakawa Masatoshi Nakamura Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Automation East China University of Science and Technology Shanghai China Department of Advanced Systems Control Engineering Saga University Saga Japan National Center of Neurology and Psychiatry Tokyo Japan

Human sleep stages wring whole night are usually classified into six stages based on polysommnographic (PSG) record. Sleep state of human light sleep changes gradually and continuously. In this study, automatic judgment of light sleep state in PSG record was developed. Parameters for characterizing the PSG were calculated from the periodogram and the discriminant function was constructed by using conditional probability. Estimated value of wake full level was gradually decreased according to the stage charged from W to S1. In contrast, changing the sleep state from S1 to S2 increased estimated value of sleep level accordingly.

关键词： Feature extraction Sleep

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Comparison of rotary cement kiln identified models

Comparison of rotary cement kiln identified models

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International Conference on Control and automation (ICCA)

作者： G. Noshirvani A. Fatehi B. Araabi M. Shirvani M. Azizi ACER Markaz Branch Arak Iran Advanced Process Automation & Control Research group Electrical Engineering Department K.N. Toosi University of Technology Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Chemical Engineering Department and member of Cement Research Center University of Science and Technology Tehran Iran Saveh Cement Company Saveh Iran

Rotary cement kiln is the main part of a cement plant that clinker is produced in it. Clinker is the main ingredient of cement. Continual and prolonged operation of rotary cement kiln is vital in cement factories. However, prolonged operation of the kiln is not possible and periodic repairs of the refractory lining would become necessary, due to non-linear phenomena existing in the kiln, such as sudden falls of coatings in the burning zone and probability of damages to the refractory materials during production. This is the basic reason behind the needs for a comprehensive model which is severely necessary for better control of this process. Such a model can be derived based on the mathematic analysis with consultation of expert operator experiences. In this paper both linear and nonlinear model are identified for rotary kiln of Saveh white cement factory. The linear model is introduced using Box-Jenkins structure. The results of the obtained model were satisfactory compared to some other linear models and can be used for designing adaptive or robust controllers. Also, nonlinear system identification via Neural Network technique is performed and its result was compared to linear models.

关键词： Kilns Production facilities Coatings Building materials Process control Mathematical model Mathematics Programmable control Adaptive control Robust control

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Generating stationary entangled states in superconducting qubits

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Physical Review A 2009年第5期79卷 052308-052308页

作者： Jing Zhang Yu-xi Liu Chun-Wen Li Tzyh-Jong Tarn Franco Nori Advanced Science Institute The Institute of Physical and Chemical Research (RIKEN) Wako-shi Saitama 351-0198 Japan Department of Automation Tsinghua University Beijing 100084 People’s Republic of China CREST Japan Science and Technology Agency (JST) Kawaguchi Saitama 332-0012 Japan Department of Electrical and Systems Engineering Washington University St. Louis Missouri 63130 USA Department of Physics Center for Theoretical Physics Center for the Study of Complex Systems The University of Michigan Ann Arbor Michigan 48109-1040 USA

When a two-qubit system is initially maximally entangled, two independent decoherence channels, one per qubit, would greatly reduce the entanglement of the two-qubit system when it reaches its stationary state. We propose a method on how to minimize such a loss of entanglement in open quantum systems. We find that the quantum entanglement of general two-qubit systems with controllable parameters can be controlled by tuning both the single-qubit parameters and the two-qubit coupling strengths. Indeed, the maximum fidelity Fmax between the stationary entangled state, ρ∞, and the maximally entangled state, ρm, can be about 2/3≈max{tr(ρ∞ρm)}=Fmax, corresponding to a maximum stationary concurrence, Cmax, of about 1/3≈C(ρ∞)=Cmax. This is significant because the quantum entanglement of the two-qubit system can be produced and kept, even for a long time. We apply our proposal to several types of two-qubit superconducting circuits and show how the entanglement of these two-qubit circuits can be optimized by varying experimentally controllable parameters.

关键词： Quantum entanglement

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Inspection technology for F-theta lens: Practices and discussions

Inspection technology for F-theta lens: Practices and discus...

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作者： Li, Hua To, Suet Kong, Ling Bao Cheung, Chi-Fai Lee, Wing Bun Advanced Optics Manufacturing Center Department of Industrial and Systems Engineering Hong Kong Polytechnic University Hung Horn Kowloon Hong Kong School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

This paper presents the inspection technology for a freeform surface component which is named F-theta lens. F-theta lens is widely used in laser scanners, printers, etc. Freeform characterization is one of the main approaches to verify the manufacturing precision of freeform surface. At present, there is still a lack of techniques for the characterization of freeform surfaces. This study aimed to explore some approaches to inspect freeform surfaces. Two types of measurement methods, namely contact and non-contact measurement methods, are employed to measure the F-theta lens surface. The pros and cons, the existing problems, different applications and areas for improvement of the two methods are discussed. A series of advanced measuring instruments are used in the measurement process. A brief description of measurement mechanisms of these instruments is also presented. As a whole, this paper contributes to the development of the precision measurement technology for optical freeform surfaces.

关键词： Lenses

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Real-Time Level Plant Control Using Improved BELBIC

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IFAC Proceedings Volumes 2008年第2期41卷 4631-4635页

作者： M. Masoudinejad R. Khorsandi A. Fatehi C. Lucas S. Fakhimi Derakhshan M.R. Jamali Advanced Process Automation & Control (APAC) Research Group Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Center of Excellence for Control and Intelligent Processing Electrical and Computer engineering Department University of Tehran Iran

Brain emotional learning based intelligent controller (BELBIC) is based on computational model of limbic system in the mammalian brain. In recent years, this model was applied in many linear and nonlinear control applications. Previous studies show that this controller has fast response, simple implementation and robustness with respect to disturbances. It is also possible to define emotional signal based on control application objectives. But in the previous studies, internal instability of this controller was not considered and control task were done in limited time period. In this article mathematical description of BELBIC is investigated and improved to avoid internal instability. Simulation and implementation of improved model was done on level plant. The obtained results showed that instability of model has been solved in the new model without loss of performance by using Integral Anti Windup (IAW).

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