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检索条件"机构=Center for Robotics and Advanced Automation Department of Electrical and Computer Engineering"
286 条 记 录,以下是241-250 订阅
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Attitude control without angular velocity measurement: a passivity approach
Attitude control without angular velocity measurement: a pas...
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IEEE International Conference on robotics and automation (ICRA)
作者: F. Lizarralde J.T. Wen Department of Electrical Engineering COPPE UFRJ Rio de Janeiro Brazil Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA
It is well known that the linear feedback of the quarternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be... 详细信息
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Task-based servoing in quaternion space
Task-based servoing in quaternion space
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IEEE International Conference on robotics and automation (ICRA)
作者: L. Singh H. Stephanou New York State Center for Advanced Technology in Robotics Automation and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA
This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the... 详细信息
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Preisach modeling of piezoceramic and shape memory alloy hysteresis
Preisach modeling of piezoceramic and shape memory alloy hys...
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IEEE Conference on Control Technology and Applications (CCTA)
作者: D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA
Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candida... 详细信息
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Synthesized passive feedback control of sensor-rich smart structures-experimental results
Synthesized passive feedback control of sensor-rich smart st...
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IEEE Conference on Control Technology and Applications (CCTA)
作者: P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA
Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring ... 详细信息
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Robust neural network control of rigid-link electrically-driven robots
Robust neural network control of rigid-link electrically-dri...
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IEEE International Symposium on Intelligent Control (ISIC)
作者: C.M. Kwan F.L. Lewis D.M. Dawson Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA
A robust neural network (NN) controller is proposed for the motion control of rigid-link electrically-driven (RLED) robots. The NNs are used to approximate two very complicated nonlinear functions. The main advantage ... 详细信息
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Tetrobot: A Modular System for Hyper-Redundant Parallel robotics
Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...
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IEEE International Conference on robotics and automation (ICRA)
作者: G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA
A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint whi... 详细信息
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Robust adaptive control of robots using neural network: global tracking stability
Robust adaptive control of robots using neural network: glob...
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IEEE Conference on Decision and Control
作者: C.M. Kwan D.M. Dawson F.L. Lewis Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA
A desired compensation adaptive law-based neural network (DCAL-NN) controller is proposed for the robust position control of rigid-link robots. The NN is used to approximate a highly nonlinear function. The controller... 详细信息
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Multiresolution GMRF models for texture segmentation
Multiresolution GMRF models for texture segmentation
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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)
作者: S. Krishnamachari R. Chellappa Department of Electrical Engineering Center for Automation Research and Institute for Advanced Computer Studies University of Maryland College Park MD USA
A multiresolution model for Gauss Markov random fields (GMRF) is presented. Coarser resolution sample fields are obtained by either subsampling or local averaging the sample field at the fine resolution. Although Mark... 详细信息
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Model development of MIMO nets: a H-EPN based approach
Model development of MIMO nets: a H-EPN based approach
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IEEE Conference on Decision and Control
作者: S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA
The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the... 详细信息
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Process monitoring and control for robotic resistive welding
Process monitoring and control for robotic resistive welding
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IEEE Conference on Control Technology and Applications (CCTA)
作者: D. Mintz J.T. Wen Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute New York State Center for Advanced Technology in Automation Troy NY USA
Spot welding is a commonly used process for joining metals. Under nominal operating conditions, existing weld controllers can produce high quality welds. In practice, however, the process can significantly deviate fro... 详细信息
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