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Singular perturbation control for vibration rejection in HDDs with a PZT active suspension

Singular perturbation control for vibration rejection in HDD...

引用

45th IEEE Conference on Decision and Control 2006, CDC

作者： Pang, Chee Khiang Lewis, Frank L. Ge, Sam Shuzhi Guo, Xiao Chen, Ben M. Lee, Tong Heng IEEE Central Research Laboratory Research and Development Group Hitachi Ltd. 2880 Kozu Odawara Kanagawa 256-8510 Japan A STAR Data Storage Institute Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)1424401712

In this paper, the SPT (Singular Perturbation Theory) is applied to decompose the VCM's (Voice Coil Motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (Degrees-Of-Freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (Laser Doppler Vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3σ PES (Position Error Signal) during track following when compared to conventional notch-based servos. © 2006 IEEE.

关键词： Hard disk storage

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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

引用

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

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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Increasing pose estimation performance using multi-cue integration

Increasing pose estimation performance using multi-cue integ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： F. Viksten R. Soderberg K. Nordberg C. Perwass Computer Vision Laboratory Department of Electrical Engineering Linköping University Linkoping Sweden Cognitive Systems Group Computer Science Department Christian-Albrechts University Kiel Germany

We have developed a system which integrates the information output from several pose estimation algorithms and from several views of the scene. It is tested in a real setup with a robotic manipulator. It is shown that integrating pose estimates from several algorithms increases the overall performance of the pose estimation accuracy as well as the robustness as compared to using only a single algorithm. It is shown that increased robustness can be achieved by using pose estimation algorithms based on complementary features, so called algorithmic multi-cue integration (AMC). Furthermore it is also shown that increased accuracy can be achieved by integrating pose estimation results from different views of the scene, so-called temporal multi-cue integration (TMC). Temporal multi-cue integration is the most interesting aspect of this paper

关键词： Robustness State estimation computer vision Layout Cameras Voting Laboratories computer science Testing Cognitive robotics

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vision-based UAV flight control and obstacle avoidance

Vision-based UAV flight control and obstacle avoidance

引用

2006 American Control Conference

作者： He, Zhihai Iyer, Ram Venkataraman Chandler, Phillip R. Department of Electrical and Computer Engineering University of Missouri Columbia MO 65211 Department of Mathematics and Statistics Texas Tech University Lubbock TX 79409-1042 U.S. Air Force Research Laboratory Wright-Patterson AFB OH 45433-7531

ISBN: (纸本)1424402107

In this work, we explore various ideas and approaches to deal with the inherent uncertainty and image noise in motion analysis, and develop a low-complexity, accurate and reliable scheme to estimate the motion fields from UAV navigation videos. The motion field information allows us to accurately estimate ego-motion parameters of the UAV and refine (or correct) the motion measurements from other sensors. Based on the motion field information, we also compute the range map for objects in the scene. Once we have accurate knowledge about the vehicle motion and its navigation environment (range map), control and guidance laws can be designed to navigate the UAV between way points and avoid obstacles. © 2006 IEEE.

关键词： Flight control systems

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Computationally tractable inventory control for large-scale reverse supply chains

Computationally tractable inventory control for large-scale ...

引用

American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami D. Schoenwald Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Sandia National Laboratories Albuquerque NM USA

We propose a new inventory control technique for large-scale bidirectional (or closed-loop) supply chains including repairs. It is well-known that available optimization techniques are computationally intractable for bidirectional stochastic supply chains and also necessitate several simplifying assumptions. In contrast, the proposed approach is an adaptive scheme which scales well to practically interesting large-scale multi-item supply chains. Furthermore, practical issues such as stochastic transport delays, manufacturing times, and repair times and probabilistic characterization of part repair success are handled in a unified framework. The control scheme is based on a hierarchical two-level architecture comprised of an adaptive set-point generator and a lower-level order-up-to policy. An application to aircraft supply chains involving multiple OEMs, depots, bases, squadrons, and planes is also investigated

关键词： Inventory control Large-scale systems Supply chains Laboratories Manufacturing Stochastic processes Aircraft manufacture Programmable control Adaptive control Transportation

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Introducing Grammatical Evolution in Fetal Heart Rate Analysis and Classification

Introducing Grammatical Evolution in Fetal Heart Rate Analys...

引用

International IEEE Conference on Intelligent Systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate robotics and automation Signal processing Heart rate measurement computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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Single landmark based self-localization of mobile robots

Single landmark based self-localization of mobile robots

引用

Canadian Conference on computer and Robot vision, CRV

作者： A. Bais R. Sablatnig J. Gu Robotics Research Group Department of Electrical and Computer Engineering Dalhousie University Halifax Canada Institute of Computer Technology University of Technology Vienna Vienna Austria Pattern Recognition and Image Processing Group Institute of Computer Aided Automation University of Technology Vienna Vienna Austria

In this paper we discuss landmark based absolute localization of tiny autonomous mobile robots in a known environment. Landmark features are naturally occurring as it is not allowed to modify the environment with special navigational aids. These features are sparse in our application domain and are frequently occluded by other robots. This makes simultaneous acquisition of two or more landmarks difficult. Therefore, we propose a system that requires a single landmark feature. The algorithm is based on range measurement of a single landmark from two arbitrary points whose displacement can be measured using dead-reckoning sensors. Range estimation is done with a stereo vision system. Simulation results show that the robot can localize itself if it can estimates range of the same landmark from two different position and if the displacement between the two position is known.

关键词： Mobile robots Robot sensing systems Robot vision systems Cameras Navigation Position measurement robotics and automation Displacement measurement Educational robots Goniometers

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Incorporating spatial information into entropy estimates to improve multimodal image registration

Incorporating spatial information into entropy estimates to ...

引用

IEEE International Symposium on Biomedical Imaging

作者： N.D. Cahill C.M. Williams Shoupu Chen L.A. Ray M.M. Goodgame Research & Development Eastman Kodak (Japan) Limited Rochester NY USA Wolfson Medical Vision Laboratory University of Oxford Oxford UK Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

We propose an approach to incorporate spatial information into the estimate of the entropy of an image by partitioning a high-dimensional space into regions over which a one-dimensional histogram can be indexed. This approach obviates the need for the construction of high-dimensional histograms and makes no assumptions on the form of the high-dimensional probability mass function. We use this partitioned estimate of entropy to compute image similarity measures, useful in image registration, and we examine the convergence properties of the registration process

关键词： Entropy Image registration Histograms Mutual information Convergence Noise measurement Size measurement Biomedical imaging Laboratories State estimation

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Singular Perturbation Control for Vibration Rejection in HDDs with a PZT Active Suspension

Singular Perturbation Control for Vibration Rejection in HDD...

引用

IEEE Conference on Decision and Control

作者： Chee Khiang Pang Frank L. Lewis Sam Shuzhi Ge Guoxiao Guo Ben M. Chen Tong Heng Lee Research Laboratory Research & Development Group Hitachi and Limited Odawara Kanagawa Japan Department of Electrical and Computer Engineering National University of Singapore Singapore Data Storage Institute Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington USA

ISBN: (纸本)1424401704

In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos

关键词： Vibration control Control systems Vibration measurement Coils Frequency measurement Time measurement Laser modes Vibrometers Resonance Servomechanisms

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Computational Nanomechatronics: A Pathway for Control and Manufacturing Nanorobots

Computational Nanomechatronics: A Pathway for Control and Ma...

引用

International Conference on Computational Intelligence for Modelling, Control and Automation, and International Conference on Intelligent Agents, Web Technologies and Internet Commerce

作者： Adriano Cavalcanti Warren W. Wood Luiz C. Kretly Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne VIC Australia Department of Integrative Studies Michigan State University East Lansing MI USA Microwave and Optics Department Electrical and Computer Engineering School State University of Campinas-UNICAMP Sao Paulo Brazil

This paper describes an innovative work for nanorobot design and manufacturing, using a computer simulation and system on chip prototyping approach. The use of CMOS as integrated circuits, with the miniaturization from micro towards nanoelectronics, and the respective advances of nanowires are considered into the proposed model design and discussed as a practical pathway to enable embedded sensors for manufacturing nanorobots. The proposed nanorobot model is applied to hydrology monitoring. It can be useful for agriculture or environmental monitoring and management.

关键词： computer aided manufacturing Virtual manufacturing Integrated circuit modeling Semiconductor device modeling Monitoring Pulp manufacturing computer simulation System-on-a-chip Virtual prototyping CMOS integrated circuits

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