检索结果-内蒙古大学图书馆

IEEE International Conference on Mechatronics and Automation

作者： Dong Xu Dongbin Zhao Jianqiang Yi Xuyue Deng Guosheng Yang Key Lab of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Information Engineering Henan University Kaifeng China

Omnidirectional mobile manipulator, which is composed by a three DOF omnidirectional mobile platform and a mounted manipulator, can move in any direction at any time. By reason of the redundantly actuated mechanism, the omnidirectional motion property of the mobile platform is similar to the parallel manipulator cooperatively manipulating objects, which admits internal force doing none contribution to the motion of the platform. Thus, the internal force should be controlled to reduce energy waste. Therefore, a stable PD controller is developed first for motion control of the integrated mobile manipulator system. Then, by treating the motion induced force as disturbance, a feed forward plus PI type force controller is addressed to regulate the internal force to zero. Finally, simulation results demonstrate the validity of the proposed approach.

关键词： Force control Motion control Wheels Kinematics Manipulator dynamics Automation control systems Intelligent actuators Centralized control Mechatronics

来源：评论

学校读者我要写书评

暂无评论

Design and Simulation of Ultrasonic Linear Motor using Multilayer Ceramic Actuator

Design and Simulation of Ultrasonic Linear Motor using Multi...

引用

IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Juhyun Yoo Sangho Lee Jaeil Hong Hyunsun Song Durkwon Park Eunsang Hwang Department of Electrical Engineering Semyung University Chungbuk South Korea Department of Computer Science Semyung University Chungbuk South Korea Dept. of Electrical Information Control Dongseoul College Seongnam Gyeonggi 461-714 Korea Semyung University Department of Computer Science Jechon Chungbuk 390-711 Korea

In comparison with conventional electromagnetic motors, ultrasonic motors have many advantages such as a large torque at the low velocity, good controllability, rapid response, quiet operation, simple structure and non electromagnetic field induction, etc. These features have led to the development of various ultrasonic motors in many industrial fields. Hence, in this study, ultrasonic linear motor using multilayer structured ceramic actuator was designed and simulated using ANSYS of finite element method(FEM) simulator for investigating the optimum conditions of it. The ultrasonic linear motor studied in this paper was designed using the 1st longitudinal (L 1 ) and 4th bending (B 4 ) vibration. The size of ceramic actuator is 15 mm long and 5 mm wide. And one-layer thickness of actuator is 60 mu m. The dimension of linear motor is 61 times 5 times 3 mm. The sectional size of projection is 1.5 times 5 mm. The driving voltage of the motor was very low as 5 Vrms. With the increase of the number of piezoelectric ceramic layers, displacement of node was increased up to 21 layered ceramic actuator and then decreased. Maximum z displacement of node was about 7.02 mum at the 21 layered ultrasonic motor.

关键词： Nonhomogeneous media Ceramics Hydraulic actuators Electromagnetic fields Induction motors Electromagnetic induction controllability Finite element methods Voltage Piezoelectric actuators

来源：评论

学校读者我要写书评

暂无评论

Depth of Anesthesia Index using Cumulative Power Spectrum

Depth of Anesthesia Index using Cumulative Power Spectrum

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Mathieu Jospin Pere Caminal Erik W. Jensen Montserrat Vallverdu Michel M.R.F. Struys Hugo E.M. Vereecke Daniel T. Kaplan Department of Automatic Control Biomedical Engineering Research Center Technical University of Catalonia Barcelona Spain Department of Anesthesia Ghent University Hospital Ghent Belgium Department of Mathematics and Computer Science Macalester College Saint Paul MN USA

Over the last ten years, monitors of depth of anesthesia have progressively been integrated in the clinical practice. Based on the analysis of the electroencephalogram (EEG), these monitors deliver an index that helps the anesthesiologist to determine the state of the patient during the surgery. Although they employ different kind of algorithms, spectral parameters are always taken into account to achieve the final indexes. In this work, a new spectral parameter based on the cumulative power spectrum is proposed. When compared to the Spectral Edge Frequency (SEF), a classic spectral parameter, the Cumulative Power Spectrum Index (CPSI) presents a higher correlation with reference indexes (AAI, BIS and CePROP) and a higher prediction probability of the state of the patient. Furthermore, when compared to the reference indexes, the CPSI shows similar performances in terms of correlation and presents a higher prediction probability than two of them (BIS and CePROP).

关键词： Anesthesia Electroencephalography Frequency Patient monitoring Databases Hospitals Drugs Biomedical monitoring Entropy Surgery

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

A new task duplication based multitask scheduling method

A new task duplication based multitask scheduling method

引用

5th International Conference on Grid and Cooperative Computing, GCC 2006

作者： Kun, He Yong, Zhao College of Computer Science Huazhong University of Science and Technology Wuhan 430074 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)0769526942

The paper addresses the problem of scheduling tasks represented by a directed acyclic graph (DAG) on distributed environments. Due to the task, communication and resource constraints, the resource matching and task scheduling is NP-hard, even though the number of resources is abounded and task duplication is allowed. A new method named interpersonal relationships evolution algorithm (IREA) is given. The priority rules used are new, relationship number, potentiality, weight and merge degree are defined for cluster's priority, and task potentiality for tasks ' priority. The experimental results reveal IREA beats other five algorithms in terms of average performance, and it produces another optimal solution for the classic MJD benchmark © 2006 IEEE.

关键词： Distributed computer systems

来源：评论

学校读者我要写书评

暂无评论

Study and Application Techniques on Web System Security Based on B/S Mode

引用

通讯和计算机（中英文版） 2006年第5期3卷 82-85,102页

作者： Xinbo Qi Qingliang Li Xueguang Chen Department of Control and Science Engineering Huazhong University of Science and Technology Wuhan 430074 China Department of Computer Science Henan Mechanical and Electrical Engineering College Xinxiang 453002 China

来源：评论

学校读者我要写书评

暂无评论

Trajectory planning of space robot system for target berthing and reorientation after capturing

Trajectory planning of space robot system for target berthin...

引用

6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Wenfu, Xu Bin, Liang Wenyi, Qiang Panfeng, Huang Yangsheng, Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China College of Astronautics Northwestern Polytechnical University Xi'An China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)1424403324

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, Genetic Algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation. © 2006 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Modified Smith Predictor and controller for time-delay process with uncertainty

Modified Smith Predictor and controller for time-delay proce...

引用

6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Wang, Shihua Xu, Bugong Wang, Qingyang Liu, Yun-Hui Lab. of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China Univ. of Technology Guangzhou 510640 China Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong

ISBN: (纸本)1424403324

Smith Predictor is very sensitive to uncertain system with variable time-delay. Using dual-locus diagram method, we first analyse the essence of Smith Predictor's sensitivity and present a proposition to illustrate the system stability criteria with relation to system gain and time-delay variation. Then a new modified Smith Predictor is proposed to compensate the variable time-delay system with uncertain model for set-point tracking. After that, we discuss the system internal stability and give two-degree freedom controller self-adaptive to eliminate the impact of system uncertainty with varying time-delay. Examples show the improved performance compared to previous Modified Smith Predictor structures. © 2006 IEEE.

关键词： Uncertain systems

来源：评论

学校读者我要写书评

暂无评论

Electrical stimuli capsule for control moving direction at the small intestine

Electrical stimuli capsule for control moving direction at t...

引用

4th IASTED International Conference on Biomedical engineering

作者： Woo, S.H. Jang, J.Y. Jung, E.S. Lee, J.H. Moon, Y.K. Kim, T.W. Won, C.H. Choi, H.C. Cho, J.H. School of Electronic Engineering and Computer Science Kyungpook National University College of Veterinary Medicine Dept. of Physiology Kynugpook National University Department of Computer Control and Electrical Engineering Kyungil University Advanced Research Center for Recovery of Human Sensibility Kyungpook National University Engineering Building 10 Kyungpook National University 1370 Sankyuk-dong Buk-gu Daegu 702-701 Korea Republic of

ISBN: (纸本)0889865787

Recently, a capsule endoscope has been developed to observe images from the inside of intestine. Such a capsule endoscope does not have locomotion or hold method. To get proper diagnosis and medication, it is necessary to control the capsule from outside to guide locomotion. The designed and implemented capsule has feasibility to contract the small intestine by electrical stimuli through the electrodes. When the small intestine is contracted by electrical stimuli, the capsule can move to opposite direction, which means the capsule can go up and down in the small intestine. The implemented stimuli capsule always monitors excessive energy transmission and automatically shuts down the electrical stimuli to make it more secure. Additionally, the stimuli capsule goes on standby mode to save the battery, and it can be reset by comparator circuit which is connected to stimulus electrodes. To verify the design and implement the stimuli capsule, in-vitro experiments were performed with pig's small intestine.

关键词： Biomedical engineering

来源：评论

学校读者我要写书评

暂无评论

Design and implementation of the telemetry capsule for measuring of electrogastrography

Design and implementation of the telemetry capsule for measu...

引用

4th IASTED International Conference on Biomedical engineering

作者： Jung, E.S. Lee, J.H. Woo, S.H. Yoon, K.W. Jang, J.H. Kim, M.K. Moon, Y.K. Kim, T.W. Won, C.H. Choi, H.C. Cho, J.H. School of Electronic Engineering and Computer Science Kyungpook National University College of Veterinary Medicine Dept. of Physiology Kynugpook National University Department of Computer Control and Electrical Engineering Kyungil University Advanced Research Center for Recovery of Human Sensibility Kyungpook National University Engineering Building 10 Kyungpook National University 1370 Sankyuk-dong Buk-gu Daegu 702-701 Korea Republic of

ISBN: (纸本)0889865787

Electrogastrography (EGG) is a significant reference of the myoelectric activity of the gastrointestinal tract and indicates whether it has a disease or not. There have been numerous studies of the myoelectric activity in a stomach, but only a few studies of the intestines because of the difficulty of measurement in the intestines. Recently, the technology of the biotelemetry capsule for measurement of internal information in the human digestive tract has been developed. In the current study, an EGG telemetry system using the developed biotelemetry technology was designed and implemented for measuring EGG in intestines. The EGG capsule converts the acquired EGG value to digital data, which is transmitted from the capsule to the external receiver. The performance of the telemetry capsule for the EGG monitoring in the gastrointestinal tract was verified by in-vitro animal experiments. From the experiment, it was verified that the EGG telemetry capsule can measures a slow wave in intestines.

关键词： Biomedical engineering

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：