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114th Annual ASEE Conference and Exposition, 2007

作者： Kongar, Elif Sobh, Tarek University of Bridgeport United States Northeastern University United States Center for Industrial Ecology Yale University United States Scientific Research Society United States Sigma Xi United States Industrial Engineering Honor Society United States Alpha Pi Mu Phi Beta Delta Honor Society United States Phi Kappa Phi Honor Society United States School of Engineering Dept. of Computer Science Computer Engineering Mechanical Engineering and Electrical Engineering Laboratory University of Bridgeport CT United States Computer Society Robotics and Automation Society United States United States School of Engineering University of Bridgeport Bridgeport CT 06604 United States

In this paper, we present a DEA approach to measure the relative efficiency of applicants to the graduate programs in engineering. The proposed performance criteria are determined depending on the current evaluation criteria in the school of engineering at the University of Bridgeport. The steps and implementation of the proposed methodology are explained with the help of a numerical example for the Fall 2004 semester. © American Society for engineering Education, 2007.

关键词： engineering education

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Using the Waseda Bioinstrumentation System WB-1R to analyze Surgeon’s performance during laparoscopy - towards the development of a global performance index -

Using the Waseda Bioinstrumentation System WB-1R to analyze ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Massimiliano Zecca Filippo Cavallo Minoru Saito Nobutsuna Endo Yu Mizoguchi Stefano Sinigaglia Kazuko Itoh Hideaki Takanobu Giuseppe Megali Oliver Tonet Paolo Dario Andrea Pietrabissa Atsuo Takanishi Institute for Biomedical Engineering ASMeW Waseda University Shinjuku Tokyo Japan Scuola Superiore Sant'Anna CRIM Pisa Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Center for Computer Assisted Surgery EndoCAS Pisa Italy Department of Modern Mechanical Engineering Humanoid Robotics Institute (HRI) Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Minimally invasive surgery (MIS) has become very common in recent years, thanks to the many advantages it provides for patients. Since it is difficult for surgeons to learn and master this technique, several training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess his/her skills. This paper presents the use of the WB-1R (Waseda bioinstrumentation system no.1 refined), which was developed at Waseda University, Tokyo, to investigate and analyze a surgeon's movements and performance. Specifically, the system can measure the movements of the head, the arms, and the hands, as well as several physiological parameters. In this paper we present our experiment to evaluate a surgeon's ability to handle surgical instruments and his/her depth perception using a laparoscopic view. Our preliminary analysis of a subset of the acquired data (i.e. comfort of the subjects; the amount of time it took o complete each exercise; and respiration) clearly shows that the expert surgeon and the group of medical students perform very differently. Therefore, WB-1R (or, better, a newer version tailored specifically for use in the operating room) could provide important additional information to help assess the experience and performance of surgeons, thus leading to the development of a global performance index for surgeons during MIS. These analyses and modeling, moreover, are an important step towards the automatization and the robotic assistance of the surgical gesture.

关键词： Performance analysis Surges Laparoscopes robotics and automation Humanoid robots Management training Minimally invasive surgery Intelligent robots USA Councils

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Kim, Jong-Hae Okuma, Shigeru Kim, Young-Woo Hwang, Don-Ha Kim, Min-Huei Kim, Dong-Hee Dept. of Electrical Engineering and Computer Science Graduate School of Engineering Nagoya University Japan Space Robotics Research Center Toyota Technological Institute Nagoya City Japan Changwon Korea Republic of Dept. of Electrical and Automation Eng. Yeungnam College of Sci. and Tech. Daegu Korea Republic of Dept. of Electrical Engineering Yeungnam University Kyongsan Kyungbuk Korea Republic of

ISBN: (纸本)0780387384

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver's stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver's sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the 'control low' according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's stopping maneuver. © 2005 IEEE.

关键词： Behavioral research

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making computer science Space technology robotics and automation Switches Automatic control Service robots

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Outlier detection by weighted mercer-kernel based fuzzy clustering algorithm

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Iranian Journal of Electrical and computer engineering 2005年第2期4卷 129-136页

作者： Shen, Hongbin Yang, Jie Dong, Yifei Wang, Shitong College of Computer and Information Engineering Hohai University Changzhou Jiangsu China Department of Image Processing and Pattern Recognition Jiaotong University Shanghai China School of Computer Science and Engineering University of New South Wales Australia School of Information Southern Yantze University Wuxi Jiangsu China Institute of Image Processing and Pattern Recognition Shanghai Jiaotong University China IEEE Institute of National Automation Department of Information Southern Yangtse University Polytechnic University of Hongkong Advanced Computing Research Center Bristol University United Kingdom

Outliers are data values that lie away from the general cluster of other data values. Detecting the outliers of a dataset is an important research topic for data cleaning and finding new useful knowledge in many research areas, i.e. data mining, pattern recognition, etc. In the past decades, many useful algorithms were proposed in the literature. In this paper, a new fuzzy kernel-clustering algorithm with outliers (FKCO) is presented to locate critical areas that are often represented by only a few outliers. Theoretic analysis also shows that FKCO can converge to a local minimum of the objective function. Finally, based on the information theory, a new criterion for finding outliers is also proposed. Simulations of different types of datasets demonstrate the feasibility of this new method. © 2005 JD.

关键词： Fuzzy control

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A new vision-sensorless anti-sway control system for container cranes

A new vision-sensorless anti-sway control system for contain...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Yong-Seok Kim H. Yoshihara N. Fujioka H. Kasahara Hyungbo Shim Seung-Ki Sul Advanced Technology Center Research & Development Division for Hyundai Motor Co. Kia Motors Corporation Gyeonggi South Korea Yaskawa Siemens Automation and Drives Corporation Fukuoka Japan ECE Division Hanyang University Seoul South Korea School of Electrical Engineering & Computer Science Seoul National University Seoul South Korea

Most of conventional anti-sway control systems focus on control schemes with a vision system. Because it has many drawbacks such as difficult maintenance and high cost, a new vision-sensorless anti-sway control system for container cranes is proposed in this paper. The proposed system includes a multivariable state feedback anti-sway controller with an integrator, a sway velocity observer, and a sway angle detection method in which an inclinometer is used instead of the vision system. While conventional researches have used a simple pendulum model (single wire rope), the hoist wire rope structure of a real container crane is considered and the motion of the head block (spreader) is analyzed. An elaborate pilot crane is constructed to verify the performance of the proposed system. It is a 1/4-scaled model of a real rail mounted quayside crane. The feasibility and the performance of the proposed system are synthetically verified on the pilot crane. Also, experiments are carried out on the real container crane (rubber tyred gantry crane) in the commercial site to verify the performance of the proposed control system.

关键词： Control systems Containers Cranes Machine vision Wire Costs State feedback Velocity control Motion analysis Rails

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A biomimetic compliance control of robot hand by considering structures of human finger

A biomimetic compliance control of robot hand by considering...

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IEEE International Conference on robotics and automation (ICRA)

作者： Byoung-Ho Kim Byung-Ju Yi Il Hong Suh Sang-Rok Oh Yeh-Sun Hong School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center KIST Seoul South Korea Advanced Robotics Research Center KIST Seoul South Korea

For an object grasped by a robot hand to work in the compliance control domain, we first analyze a necessary condition for successful stiffness modulation in the operational space. Next, we propose a compliance control method for robot hands which consist of two steps: the RIFDS (resolved inter-finger decoupling solver) decomposes the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without inter-finger coupling; and the RIJDS (resolved inter-joint decoupling solver) decomposes the compliance characteristic in the fingertip space into the compliance characteristic in the joint space without inter-joint coupling. According to the analysis results, the finger structure should be biomimetic in the sense that either kinematic redundancy or force redundancy are required to implement the proposed compliance control scheme. Five-bar fingered robot hands are treated as illustrative examples to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method, simulations are performed for two-fingered and three-fingered robot hands.

关键词： Biomimetics Robot control Humans Fingers Robot kinematics Orbital robotics Force control Manipulator dynamics Intelligent robots Robot sensing systems

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