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IEEE International Conference on systems, Man and Cybernetics

作者： Wong-Gie Han Tae-Yong Kuc Agency for Defense Development Naval Weapon Systems Research and Development Center Chinhae Kyunggi South Korea Intelligent Control and Dynamic Simulation Laboratory School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Kyunggi South Korea

ISBN: (纸本)0780347781

Proposes a robust visual servoing scheme for robot manipulator with eye-in-hand camera configuration. To perform the tasks defined in the image plane, the velocity Jacobian matrix is used to transform the camera motion to the object position change. In addition, a dynamic learning controller is designed to improve the tracking performance of robotic system. The proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system without the dynamic control loop in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

关键词： Robustness Robot vision systems control systems Manipulator dynamics Cameras Visual servoing Jacobian matrices Tracking loops Servomechanisms Convergence

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Numerical Modelling of control Time-Delay System

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IFAC Proceedings Volumes 1998年第13期31卷 155-159页

作者： O.B. Kwon A.V. Kim V.G. Pimenov Kyung Sung College Computer Science Dept. Shitl Prong-Ri 131 Pochun-Gun Kyung-Kido Seoul Korea Control Information Systems Laboratory School of Electrical Engineering Seoul National University Seoul 151-742 Korea Ural State University Turgenev Str. 4 Ekaterinburg 620083 Russia

Discrete-time control schemes are often used for realization of positional control strategies for continuous time control problems (Krasovskii and Subbotin, 1974; Osipov, 1971) . However for general systems with delays (whicb are often called functional differential equations (FDE)) exact solutions in both continuous and discrete schemes can be found in exceptional cases. So, as rule, it is necessary to solve corresponding control problems using suitable numerical algorithms . In surveys (Cryer and Tavernini, 1972; Hall and watt, 1976; Bellen, 1985) different numerical methods for FDE are discussed. In this paper positional implicit Runge-Kutta-like numerical methods of solving general FDE are presented. The elaborated methods are direct analogs of the corresponding numerical methods of ODE case. Also we present new theorem (which generalizes the results of (Kim and Pimenov, 1997; Kim and Pimenov, 1998)) on convergence order. The obtained results are based on distinguishing of finite dimensional and infinite dimensional components in the structure of FDE, on interpolation and extrapolation of the discrete prehistory of the model, on application of constructions of i- smooth analysis (Kim, 1996) . The notion of an approximation order for an optimal strategy in the discrete scheme of realization is introduced. The conditions, which guarantee required approximation order of the optimal strategy, are presented.

关键词： Delay positional control discretization Runge-Kutta metbod implicit systems accuracity

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Royal Academy of Medicine in Ireland - Section of Bioengineering - Proceedings of meeting held in Dundalk, Co. Louth, in February 1998.

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IRISH JOURNAL OF MEDICAL SCIENCE 1998年第4期167卷 256-276页

作者： [Anonymous] Orthopaedic Research Unit The Queen’s University of Belfast School of Biomedical Sciences The Queen’s University of Belfast Howmedica International Ltd. Raheen Industrial Estate Limerick Department of Mechanical Engineering Trinity College Dublin 2 Mater Hospital Dublin 7 Orthopaedic Research Laboratory Århus University Hospital Denmark University of Limerick Limerick Limerick Regional Hospital Raheen Limerick Boston Scientific Ireland Ltd. Galway Department of Mechanical Engineering University College Dublin Dublin Department of Electrical and Electronic Engineering University College Dublin Dublin Bioengineering Research Centre Department of Mechanical Engineering University College Dublin Dublin Northern Ireland Bio-Engineering Centre (NIBEC) School of Electrical and Mechanical Engineering University of Ulster Newtownabbey Department of Mechanical & Manufacturing Engineering The Ashby Building The Queen’s University of Belfast Johnson and Johnson Professional Orthopaedic Division Queensway England Department of Cardiology and Department of Medical Physics & Bioengineering St. James’s Hospital Dublin 8 Burke House Ellison Street Castlebar Royal College of Surgeons in Ireland Department of Surgery Beaumont Hospital Dublin Department of Electronic and Electrical Engineering Trinity College Dublin 2 Department of Aeronautical Engineering The Queen’s University of Belfast Vascular Unit Belfast City Hospital Department of Medical Physics and Bioengineering St. James’s Hospital Dublin 8 Centre for Biomedical Electronics Department of Electronic and Computer Engineering University of Limerick Limerick Department of Mechanical and Aeronautical Engineering University of Limerick Limerick School of Health Sciences University of Ulster Ireland School of Physiotherapy University of Ulster Newtownabbey Clinical Engineering NI Medical Physics Agency Belfast and Radiology Royal Victoria Hospital Musgrave Park Hospital University of Limerick Biomedical Institute (ULBMI) Uni

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Fast implementation of the forward positional acceleration of robots via the distributed arithmetic technique

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CIRCUITS systems AND SIGNAL PROCESSING 1997年第2期16卷 165-195页

作者： Grigoriadis, GK Mertzios, BG Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Dimocritus University of Thrace Xanthi Greece

This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of the end effector is calculated by a cascade configuration of two pipelined arrays that calculate the Jacobian matrix and its time derivative, as well as the centrifugal-Coriolis and linear accelerations. These partial accelerations are then added in the adder tree. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the positional forward acceleration of the end effector is described. The serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic (DA) implementation of the positional forward acceleration may be applied, after appropriate modifications, to the general case of robots having either revolute or prismatic joints, with any type of wrist.

关键词： End effectors

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Locally distinguishing inputs for systems on Lie groups and parallelism

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PROCEEDINGS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND engineering SCIENCES 1997年第1966期453卷 2391-2395页

作者： Apostolou, N Kazakos, D Control Systems Laboratory Department of Electrical and Computer Engineering University of Patras 26500 Patras Greece

This paper is concerned with invariant systems on Lie groups. A sufficient condition for a piecewise constant input to distinguish between any two distinct initial states contained in some open neighbourhood of the state space is given. This condition involves the parallel translation of vectors along curves thus relating observability to parallelism.

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Calibrating a multi-manipulator robotic system (vol 4, pg 20, 1997)

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IEEE ROBOTICS & AUTOMATION MAGAZINE 1997年第2期4卷 44-44页

作者： Bonitz, RG Hsia, TC Jet Propulation Laboratory Pasadena CA USA Systems.Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process

关键词： Calibration Robot kinematics Manipulators Robotics and automation Force control End effectors Acoustic measurements Testing Coordinate measuring machines Position measurement

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Reduction of loading effect in reactive ion etching using real-time closed-loop control

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JOURNAL OF THE ELECTROCHEMICAL SOCIETY 1997年第8期144卷 2865-2871页

作者： Patterson, OD Khargonekar, PP Electronics Manufacturing and Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor Michigan 48109‐2122

Real-time, in situ control of reactive ion etching is shown to reduce loading disturbance in an Applied 8300 reactive ion etch system. The etch process vehicle is CF4 etching of polysilicon. A real-time, multivariable feedback control strategy where key plasma parameters are fed back has been developed. This strategy is experimentally compared with standard industry practice and is shown to reduce the loading effect by 80%. This quantification of improvement is carried out in terms of a model from the literature which is reviewed and experimentally validated for the etch equipment and process used.

关键词： Reactive ion etching

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A fast skeleton algorithm on block represented binary images

A fast skeleton algorithm on block represented binary images

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International Conference on Digital Signal Processing (DSP)

作者： I.M. Spiliotis B.G. Mertzios Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace Greece

This paper describes a binary image representation scheme, which is called image block representation and presents a new skeletonization algorithm, which is implemented on block represented binary images. The main purpose of the image block representation is to provide an efficient binary image representation that permits the execution of operations on image areas instead of image points. The skeletonization algorithm operates in four subiterations: each subiteration deletes the north, the south, the west and the east boundary points, respectively. Due to the substitution of the boundary points by the block's boundary points the relevant operations are performed fast, while preserving the end points and the object connectivity.

关键词： Skeleton Image representation Pixel Image coding Automatic control Laboratories Two dimensional displays Computational efficiency Digital signal processing Digital images

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Image feature extraction using coordinate logic filters

Image feature extraction using coordinate logic filters

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International Conference on Digital Signal Processing (DSP)

作者： K. Tsirikolias B.G. Mertzios Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace Greece

In this paper we present a method for image feature extraction using coordinate logic filters. Coordinate logic filters constitute a new kind of nonlinear filter, which are closely related to morphological fillers. The key issue to the coordinate logic analysis of images is the methodology of fast successive filtering and managing of the residues. The desired processing is succeeded by executing only direct logic operations among the pixels of the given image. The coordinate logic filters can be easily implemented using logic circuits or cellular automata.

关键词： Feature extraction Filters Binary sequences Filtering Pixel Logic circuits Shape Image analysis Image processing Automatic control

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Constrained control of Linear Discrete-Time Uncertain systems

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IFAC Proceedings Volumes 1997年第6期30卷 319-324页

作者： Georges Bitsoris Marina Vassilaki Control Systems Laboratory Electrical and Computer Engineering Department University of Patras 26500 Patras Greece Tel. +30-61-997292 Fax. +30-61-997310

In this paper the regulation problem of linear discrete-time systems with uncertain parameters under state and control constraints is studied. In the frrst part of the paper, two theorems concerning necessary and sufficient conditions for the existence of a solution to this problem are presented. Due to the constructive form of the proof of these theorems, these results can be used for the derivation of a control law transferring to the origin any state belonging to a given set of initial states while respecting the state and controI constraints. So, a design technique is developed. By this technique the initial problem. is reduced to simple mathematical programming problems. Dans cet article, on étudie le problème de regulation des systémes linéaires discrets avec des parametres imprécis et contraintes sur la commande et l'état. Dans la première partie de l'article, on présente deux théorèmes concemant les conditions nécessaires et suffisantes pour l'existence d'une solution a ce problème. Grace au caraètere constructive de la démonstration de ces théoremes, ces resultats peuvent etre utilises pour la dérivation d'une lois de commande permettant le transf ère a l'origine de tous les états appartennant à un ensemble donne des états initiaux, sans violer les contraintes sur la commande et l'état.

关键词： Discrete-time linear systems stabilization constrained control uncertain

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