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control System of an Automated Nanohandling Robot Cell

Control System of an Automated Nanohandling Robot Cell

引用

IEEE International Symposium on Intelligent control (ISIC)

作者： Christian Stolle Sergej Fatikow Division Microrobotics and Control Engineering Department of Computing Science University of Oldenburg Germany

Current research work on the development of a nanohandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two microrobots operate in the vacuum chamber of an SEM. In order to enable automatic nanohandling, a modular control system architecture is proposed. Different microrobots can be integrated in a flexible manner using a common control interface. The system easily scales up for more complex robot and sensor setups. Parallel execution of open and closed-loop control tasks can be performed. The functionality of the robot cell is exemplified by handling and mechanical characterization of carbon nanotubes (CNT).

关键词： Automatic control control systems Robotics and automation Scanning electron microscopy Open loop systems Actuators Robot sensing systems Micromanipulators Nanopositioning Sensor systems

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Flecs, a flexible coupling shell application to fluid-structure interaction

Flecs, a flexible coupling shell application to fluid-struct...

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8th International Workshop on Applied Parallel computing, PARA 2006

作者： Nool, Margreet Lirigen, Erik Jan De Boer, Aukje Bijl, Hester CWI Department of Computing and Control P.O. Box 94079 1090 GB Amsterdam Netherlands Habanera Software Company Delft Netherlands TU Delft Faculty of Aerospace Engineering Delft Netherlands

ISBN: (纸本)9783540757542

Numerical simulations involving multiple, physically different domains can be solved effectively by coupling simulation programs, or solvers. The coordination of the different solvers is commonly handled by a coupling shell. A coupling shell synchronizes the execution of the solvers and handles the transfer of data from one physical domain to another. In this paper, we introduce FLECS, a flexible coupling shell, designed for implementing and applying an interface for multidisciplinary simulations with superior accuracy. The aim is not to achieve the best possible efficiency or to support a large feature set, but to provide a flexible platform for developing new data transfer algorithms and coupling schemes. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Parallel processing systems

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A QAM blind equalization algorithm based on fuzzy neural network

A QAM blind equalization algorithm based on fuzzy neural net...

引用

2007 IEEE International Conference on control and Automation, ICCA

作者： Yunstian, Sun Liyi, Ztiang Yanqin, Li He, Li Junwei, Yan College of Information Engineering Tianjin University of Commerce Tianjin China Computing Center of Science Taiyuan University of Technology Taiyuan China College of Industrial and Control South China University of Technology Guanzhou China

ISBN: (纸本)1424408180

As a key technology of digital broadcast and TV, blind equalization overcomes inter-symbol interference to improve the effect of receiving signals. A new QAM blind equalization algorithm based on fuzzy neural network classifier is proposed. Channel estimation and fuzzy neural network classifier are combined to carry out equalization. The primary signal is attained by de-convolution. Judgment range of fuzzy neural network is adjusted dynamically by competition study algorithm, and then blind equalization is realized. Simulation shows that the new algorithm improves convergence speed and reduces residual error and BER (Bit Error Ratio). © 2007 IEEE.

关键词： Blind equalization

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Variable step size blind multi-user detection algorithm based on fuzzy control

Variable step size blind multi-user detection algorithm base...

引用

2007 IEEE International Conference on control and Automation, ICCA

作者： Yunshan, Sun Liyi, Zhang He, Li Yanqin, Li Junwei, Yan College of Information Engineering Tianjin University of Commerce Tianjin China Computing Center of Science Taiyuan University of Technology Taiyuan China College of Industrial and Control South China University of Technology Guanzhou China

ISBN: (纸本)1424408180

A variable step size blind multi-user detection algorithm based on fuzzy control was proposed. It overcame the shortcoming of slow convergence rate in the fixed step algorithm. Step size of new algorithm could dynamically be adjusted by error and erroneous change, and it improves algorithm performance. The validity of new algorithm has been verified by computer simulation. © 2007 IEEE.

关键词： Face recognition

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Multi-Dimensional Biomedical Image De-Noising using Haar Transform

Multi-Dimensional Biomedical Image De-Noising using Haar Tra...

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International Conference on Digital Signal Processing (DSP)

作者： Eva Hostalkova Oldrich Vysata Ales Prochazka Department of Computing and Control Engineering Institute of Chemical Technology in Prague Prague Czech Republic

Image de-noising and enhancement form two fundamental problems in many engineering and biomedical applications. The paper is devoted to the study of the multi-resolution approach to this topic employing the Haar wavelet transform and its application to processing of volumetric magnetic resonance image sets corrupted with additional noise. The resulting coefficients are thresholded and exploited for subsequent reconstruction. The Haar transform is evaluated using both the two-dimensional approach applied individually to each image layer, and the three-dimensional technique performed on the image volume as a whole. In noise reduction, the latter approach profits from similarities between the neighbouring image layers and shows a considerable improvement over the former method. Results are presented in numerical and graphical forms using three-dimensional visualization tools.

关键词： Biomedical imaging Noise reduction Image denoising Biomedical engineering Wavelet transforms Magnetic resonance Magnetic noise Image reconstruction Performance evaluation Visualization

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Towards reliable OSGi operating framework and applications

Towards reliable OSGi operating framework and applications

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作者： Heejune, Ahn Hyukjun, Oh Jiman, Hong Department of Control and Instrumentation Engineering Seoul National University of Technology Seoul 139-743 Korea Republic of School of Electrical Engineering Kwangwoon University Seoul 139-701 Korea Republic of School of Computing Soongsil University Seoul 156-743 Korea Republic of

Upcoming ubiquitous computing systems are required to operate in dynamic, diverse, unverified, and unpredictable operating environment. The OSGi (Open Service Gateway initiative) framework employs the service-oriented approach and the Java ClassLoader architecture for the runtime service deployment, that are well suited to the dynamic environment envisioned for home networking and ubiquitous computing. However, the current OSGi framework does not provide full reliability measures, especially for failure conditions, such as network, device, and application failures. This paper analyzes software reliability issues in OSGi framework and proposes a proxy-based reliable extensions. The design concept was implemented and partly tested on an open source OSGi platform, Oscar, for the smart home residential gateway test-bed.

关键词： Gateways (computer networks)

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Kinematic simulative analysis of virtual potential field method for AUV trajectory planning

Kinematic simulative analysis of virtual potential field met...

引用

Mediterranean Conference on control and Automation (MED)

作者： M Barisic Z. Vukic N. Miskovic Department of Computer and Control Engineering Laboratory for Underwater Systems and TechnologiesFaculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.

关键词： Kinematics Analytical models Trajectory Computational modeling Computer simulation Electric variables measurement Feature extraction Stability Underwater vehicles Communication system control

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

引用

Mediterranean Conference on control and Automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Underwater Systems and Technologies Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Laboratory for Underwater Systems and Technologies Zagreb Croatia

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system).

关键词： Transfer functions Relays Frequency control systems control engineering computing Delay systems Vehicle dynamics Open loop systems Delay effects Feedback

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Obtaining ship trajectories of an autonomous in-scale fast-ferry by identifying a heading model

Obtaining ship trajectories of an autonomous in-scale fast-f...

引用

IEEE International Symposium on Intelligent Signal Processing

作者： Velasco, F. J. Revestido, E. Lopez, E. Moyano, E. Dept. Electronics Technology and Systems Engineering and Automatic Control Univ. Cantabria Dept. Sciences and Navigation Technics Engines and Naval Architecture Univ. País Vasco (UPV/EHU) Dept. Applied Mathematics and Computing Sciences Univ. Cantabria

ISBN: (纸本)9781424408290

The aim of this paper is to obtain a model for an in-scale fast-ferry model TF-120 including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is autonomous and is controlled remotely from a PC using Wi-Fi communications. The identification and validation of the dynamical model is obtained with turning circle maneuverings. In this model are included the kinematical equations. The tests with the autonomous in-scale physical model of the high-speed ship were carried out in the surroundings of the Bay of Santander. With this model. simulations with several turbojets angles are made.

关键词： parametric identification ship physical model manoeuvring heading idemification

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