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14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot

Extended State Observer Based Fault-Tolerant Predictive Cont...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Binghao Yang Dongliang Wang Ziling Wen Wu Wei Wenji Li Zhun Fan Key Lab of Digital Signal and Image Processing of Guangdong Province Shantou University Guangdong China School of Department of Electronic and Information Engineering Shantou University Guangdong China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou Guangdong China School of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

关键词： Fault tolerance Trajectory tracking Fault tolerant systems Wheels Transportation Kinematics Predictive models Safety State estimation Predictive control

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Computationally-efficient algorithm for applying motion-controlled kinematics in stepper motors

Computationally-efficient algorithm for applying motion-cont...

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IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

作者： Rigoberto Rafyani Torres-Camacho Hector Roman Frias-Fonseca Jesus Rooney Rivera-Guillen Mario Alberto Ibarra Manzano Mechatronics Instituto Tecnológico de Querétaro Santiago de Querétaro Querétaro CA Dynamic Systems and Control Universidad Autónoma de Querétaro San Juan del Río Querétaro Digital Signal Processing Laboratory Universidad de Guanajuato Salamanca Guanajuato

ISBN: (数字)9781728128986

ISBN: (纸本)9781728128993

The motion control of most industrial systems (such as Computer Numerical control (CNC) machines and robots) require to consider the physical limitations in position, speed and acceleration. A kinematic motion profile describes the desired movement considering such constraints. The profile generator is in charge of generating the motion controlled kinematics for being applied to the mechatronic system. Several works have been proposed for achieving this task; however, most of them use either complex algorithms or pre-calculated profiles. In this work a low-computational-cost algorithm for the generation of motion-controlled kinematics that can be implemented in low-cost microcontrollers is proposed. The effectiveness of the proposed algorithm is validates through simulation and experimentation.

关键词： Kinematics Servomotors Generators Microcontrollers Acceleration Brushless motors Mechatronics

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A system for acquiring, transmitting and distributed EEG data processing

A system for acquiring, transmitting and distributed EEG dat...

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12th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2010

作者： Kastaniotis, D. Maragos, G. Fragoulis, N. Ifantis, A. Electronics Laboratory Department of Physics University of Patras Patras Greece Control Systems/Digital Signal Processing Data Acquisition Laboratory/ Department of Electrical Engineering Technological Educational Institute of Patras Patras Greece

ISBN: (纸本)9783642130380

In this work a remote controlled system for acquiring and processing EEG signals is presented having also capabilities of distributed EEG data processing. The system consists of a PC running specialized software and a specialized data acquisition (DAQ) card. The software environment for contacting remote EEG signal acquisition, analysis and data access is based on the well known National Instrument's Lab- VIEW. EEG data can be transmitted over the internet and the associated software provides security in EEG and diagnostic analysis data sharing preventing access by unauthorized viewers. The EEG data processing is based on Independent Component Analysis technique (ICA). This technique allows good separation of signals arising from brain and non-brain sources (artifacts), as well as the distinction of the temporal discrete but spatial overlapping brain activities. The presented system is used for sharing confidential EEG data over the internet providing an automatic decision-making tool for a "second opinion" analysis in a clinical diagnosis procedure. © 2010 International Federation for Medical and Biological Engineering.

关键词： Brain

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Feature extraction for murmur detection based on support vector regression of time-frequency representations

Feature extraction for murmur detection based on support vec...

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

作者： J. Jaramillo-Garzon A. Quiceno-Manrique I. Godino-Llorente C.G. Castellanos-Dominguez Control and Digital Signal Processing Group Universidad Nacional de Colombia Manizales Colombia Circuits and Systems Engineering Department Universidad Politecnica de Madrid Spain

This paper presents a nonlinear approach for time-frequency representations (TFR) data analysis, based on a statistical learning methodology - support vector regression (SVR), that being a nonlinear framework, matches recent findings on the underlying dynamics of cardiac mechanic activity and phonocardiographic (PCG) recordings. The proposed methodology aims to model the estimated TFRs, and extract relevant features to perform classification between normal and pathologic PCG recordings (with murmur). Modeling of TFR is done by means of SVR, and the distance between regressions is calculated through dissimilarity measures based on dot product. Finally, a k-nn classifier is used for the classification stage, obtaining a validation performance of 97.85%.

关键词： Time-frequency analysis Kernel Phonocardiography Training Prototypes Support vector machines Feature extraction

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control SYSTEM DESIGN CONSIDERING A TRADEOFF BETWEEN EVALUATED UNCERTAINTY RANGES AND control PERFORMANCE

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Asian Journal of control 2008年第1期1卷

作者： Y. Wakasa Y. Yamamoto Dept. of Applied Analysis and Complex Dynamical Systems Graduate School of Informatics Kyoto University Kyoto Japan. Yuji Wakasa was born in Okayama Japan in 1968. He received the B.S. and M.S. degrees in engineering from Kyoto university Japan in 1992 and 1994 respectively. From 1994 to 1998 he was a Research Associate in the Department of Information Technology Okayama University. Since April 1998 he has been a Research Associate in the Graduate School of Informatics Kyoto University. His current research interests include robust control and control system design via mathematical programming. Yutaka Yamamoto received his B.S. and M.S. degrees in engineering from Kyoto University Kyoto Japan in 1972 and 1974 respectively and the M.S. and Ph.D. degree in mathematics from the University of Florida in 1976 and 1978 respectively. From 1978 to 1987 he was with Department of Applied Mathematics and Physics Kyoto University and from 1987 to 1997 with Department of Applied System Science. Since 1998 he is a professor at the current position. His current research interests include realization and robust control of distributed parameter systems learning control sampled-data systems and digital signal processing. Dr. Yamamoto is a receipient of the Sawaragi memorial paper award (1985) the Outstanding Paper Award of SICE (1987) Best Author Award of SICE (1990) the George Axelby Outstanding Paper Award of IEEE CSS in 1996 Takeda Paper Prize of SICE in 1997. He is a Fellow of IEEE. He was an associate editor of Automatica. He is currently an associate editor of IEEE Transactions on Automatic Control Systems and Control Letters and Mathematics of Control Signals and Systems. He is a member of the IEEE the Society of Instrument and Control Engineers (SICE) and the Institute of Systems Control and Information Engineers.

This paper presents a design method of control systems such that a designer can flexibly take account of tradeoffs between evaluated uncertainty ranges and the level of control performance. The problem is reduced to a BMI problem and approximately solved by LMIs. The convergence of the proposed approximation is proved in a modified sense. A numerical example shows the effectiveness of the proposed method in comparison with the standard robust control.

关键词： control system design LMI BMI tradeoff curves

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A NEURO-FUZZY SYSTEM DESIGN METHODOLOGY FOR VIBRATION control

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Asian Journal of control 2008年第4期7卷

作者： S. M. Yang Y. J. Tung Y. C. Liu Shih-Ming Yang:has been with the Institute of Aeronautics and Astronautics National Cheng Kung University Taiwan since 1989. He received Ph.D. degree from University of California at Berkeley U.S.A. His current interests are smart structure systems system identification and intelligent controller design in digital signal processor and digital watermarking. Yu-Ju Tung:received B.S. and M.S. in Aeronautics and Astronautics from the National Cheng Kung University Taiwan in 1999 and 2001. Her research interests have been in Digital Signal Processing of computer peripherals. She is currently a Firmware Engineer on wireless applications in Syntech Information Co. in Taiwan. Department of Information Management Tainan Woman's College of Arts and Technology Taiwan R.O.C. Yu-Chuan Liu:is an Assistant Professor in the Department of Information Management at Tainan Women's University. Dr. Liu received his Ph.D. in Aeronautics and Astronautics from the National Cheng Kung University of Taiwan in 1993 and served as the R&D manager and vice-president in mechanical and optoelectronics industries. Dr. Liu joined the faulty in 2002 and his research interests are in process control and management information system computer-integrated manufacturing (CIM) and e-Business. Dr. Liu has published more than 25 technical articles in this area.

Fuzzy system has been known to provide a framework for handling uncertainties and imprecision by taking linguistic information from human experts. However, difficulties arise in determining effectively the fuzzy system configuration, i.e. , the number of rules, input and output membership functions. A neuro-fuzzy system design methodology by combining neural network and fuzzy logic is developed in this paper to adaptively adjust the fuzzy membership functions and dynamically optimize the linguistic-fuzzy rules. The structure of a five-layer feedforward network is shown to determine systematically the correct fuzzy logic rules, tune optimally (in the sense of local region) the parameters of the membership functions, and perform accurately the fuzzy inference. It is shown both numerically and experimentally that engineering applications of the neuro-fuzzy system to vibration control have been very successful.

关键词： Neural network fuzzy logic vibration control.

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A reduced order Galerkin model for the reacting flameholder

A reduced order Galerkin model for the reacting flameholder

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3rd AIAA Flow control Conference

作者： Li, Fu Tadmor, Gilead Noack, Bernd R. Banaszuk, Andrzej Mehta, Prashant G. Communication and Digital Signal Processing Center Northeastern University 440 Dana Research Building Boston MA 02115 United States Institute of Fluid Dynamics and Technical Acoustics Sfb 557 Berlin University of Technology Strasse des 17. Juni 10623 Berlin Germany United Technologies Research Center MS 129-15 411 Silver Lane East Hartford CT 06108 United States Mechanical and Industrial Engineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States CDSP UTRC Control and Embedded Systems Group

ISBN: (纸本)1563478137

A low dimensional Galerkin model is developed for the near wake behind a flameholder. The model represents the interactions between the von Kaármaán vortex shedding instability and a dynamic mean field correction. The instability is captured by the two leading proper orthogonal decomposition (POD) modes of the nonreacting attractor. A shift mode represents dynamic mean field corrections in the cold flow, and an expansion mode represents the added dilatation effects, in the reacting now. The model is used to demonstrate the attenuating effect of heat release on the instability: Under combustion, the POD Fourier coefficients, representing vortex shedding, are suppressed and the shift mode coefficient becomes increasingly negative, representing movement towards the steady solution.

关键词： Galerkin methods

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PARALLEL-FORM REALIZATION OF 2-D ADAPTIVE SEPARABLE-DENOMINATOR STATE-SPACE FILTERS

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ELECTRONICS AND COMMUNICATIONS IN JAPAN PART III-FUNDAMENTAL ELECTRONIC SCIENCE 1995年第1期78卷 44-55页

作者： MUNEYASU, M HINAMOTO, T Faculty of Engineering Hiroshima University Higashi-Hiroshima Japan 724 Mitsqji Muneyasu received his B.E. and M.E. degrees in Systems Engineering from Kobe University in 1982 and 1984 respectively. In 1984 he joined Oki Electric Industry Co. Ltd. in Tokyo. From 1990 to 1992 he was on the Faculty of Engineering Tottori University. He is currently a Research Associate in the Department of Electrical Engineering Hiroshima University. His research interest includes multidimensional digital signal processing. He is a member of the Information Processing Society of Japan. Members TaKao Hinamoto received his B.E. M.E. and Dr. of Eng. degrees in Electrical Engineering from Okayama University Kobe University and Osaka University in 1969 1971 and 1977 respectively. From 1972 to 1988 he was on the Faculty of Engineering Kobe University from 1988 to 1991 he was a Professor on the Faculty of Engineering Totton University and is currently Professor of Control Electronics the Faculty of Engineering Hiroshima University. His research interests include digital signal processing and system theory. He is a member of IEEE CAS ASSP and CS Society.

This paper treats the parallel-form realization of two-dimensional (2-D) adaptive state-space filters whose transfer functions are separable in the denominator. The adaptive filters are described by the Roesser local state-space (LSS) model, and the least mean squares (LMS) method is used here to adjust the filter parameters. First, the Roesser LSS model with separable denominator is realized in a parallel form. Then the stability condition of the tilter is shown. Next, the LMS method is employed to adjust the filter parameters in the parallel form. In addition, the computational time and the number of processors required for the realization are investigated. Finally, the adaptive filter is applied in numerical examples to the 2-D spatial-domain filter design and to the noise reduction of an image.

关键词： ADAPTIVE FILTER PARALLEL-FORM REALIZATION 2-D digital FILTER ROESSERS MODEL IMAGE processing

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A MULTI-D-TRELLIS DECODER FOR A 155-MB/S CONCATENATED CODEC

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第6期12卷 539-553页

作者： PIETROBON, SS KASPARIAN, JJ GRAY, PK Australian Space Centre for Signal Processing University of South Australia Warrendi Road The Levels SA 5095 Australia Born in Naracoorte SA on 5 October 1963. He received the B. Eng. and M. Eng. degrees in electronic engineering from the South Australian Institute of Technology (SAIT now University of South Australia) Adelaide SA in 1986 and 1989 respectively and the Ph.D. degree in electrical engineering from the University of Notre Dame Notre Dame Indiana USA. in 1991. He received a SAIT Medal for outstanding academic achievement for his B. Eng. degree. n 1991 he joined the Australian Space Centre for Signal Processing University of South Australia as a Research Fellow. In 1993 he was awarded a three-year Australian Postdoctoral Research Fellowship at the University of South Australia. His research interests include convolutional coding trellis coded modulation satellite and deep space communications and implementation of Viterbi and trellis decoders. Dr. Pietrobon has been a member of the IEEE since 1986. He belongs to the Information Theory Society and Communications Society. Born in Mount Gambier SA on 30 January 1962. He received the B. Eng. degree in electronic engineering from the South Australian Institute of Technology (SAIT now University of South Australia) Adelaide SA in 1990. He received a SAIT medal for outstanding academic achievement for his degree. In 1991 he received an Australian Postgraduate Research Award with the Australian Space Centre for Signal Processing University of South Australia where he is carrying out research in the area of error control coding in satellite Systems. Particular interests are in the areas of Viterbi decoding and design and implementation of high speed codecs for satellite applications. Mr. Kasparian has been a student member of the IEEE since 1990. He belongs to the Information Theory Society and Communications Society. Born in Adelaide SA on 23 February 1965. He received the. B. Eng. and M. Eng. degrees in electronic engineering from th

An implementation of a 16 state, rate 8/9 six-dimensional (6-D) 8PSK rotationally invariant trellis decoder for use in a concatenated codec is described. The concatenated codec allows transmission of STM-1 signals (at the 155.52 Mb/s information rate) over a 72 MHz satellite transponder. The inner trellis decoder is used with an outer (255,239) RS block decoder. The trellis decoder operates at 165.93 Mb/s and currently has an implementation loss of only 0.2 dB. The concatenated codec achieves a bit error ratio of 10(-10) at an E(b)/N-0 of 8.2 dB (assuming an ideal modem and AWGN channel). Details are given of many Viterbi decoding 'tricks' that were used in order to implement the main functions of the decoder on two 10,000 gate equivalent CMOS programmable gate arrays.

关键词： MULTIDIMENSIONAL TRELLIS CODES TRELLIS DECODING 8PSK MODULATION BISDN

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