检索结果-内蒙古大学图书馆

Takagi-Sugeno fuzzy model-based controller for a lower limb rehabilitation robot actuated by pneumatic muscle actuators

引用

ICIC Express Letters, Part B: Applications 2011年第2期2卷 427-433页

作者： Chang, Ming-Kun Chen, Ming-Lun Department of Mechanical and Computer-Aided Engineering St. John's University No. 499 Tamking Rd. Tamsui Taipei 25135 Taiwan Institute of Automation and Mechatronics St. John's University No. 499 Tamking Rd. Tamsui Taipei 25135 Taiwan

Pneumatic artificial muscle (PAM) has highly nonlinear and time-varying behavior due to gas compression and nonlinear elasticity of bladder containers. Hence, it is difficult to achieve excellent tracking performance when using classical control methods. This study proposes a Takagi-Sugeno (T-S) fuzzy model-based control for improving control performance. The proposed approach decomposes the model of a nonlinear system into a set of linear subsystems. Therefore, the controller design of T-S fuzzy model can use simple linear control techniques to provide a systematic framework for the design of a state feedback controller. The stability analysis is carried out using Lyapunov direct method. The powerful LMI Toolbox of MATLAB is employed for solving linear matrix inequalities (LMIs) to obtain the controller gains. Experimental results verified that the proposed controller can achieve excellent tracking performance under different disturbances. © 2011 ISSN 2185-2766.

关键词： Linear matrix inequalities

来源：评论

学校读者我要写书评

暂无评论

Asymptotic Solution for Coupled Heat and Mass Transfer During the Solidification of High Water Content Materials

引用

Transactions of Tianjin University 2010年第4期16卷 239-243页

作者：齐德瑄何凯杜如虚张义同 School of Mechanical Engineering Tianjin University Institute of Advanced Integration Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong

This paper focuses on obtaining an asymptotic solution for coupled heat and mass transfer problem during the solidification of high water content materials. It is found that a complicated function involved in governing equations can be approached by Taylor polynomials unlimitedly, which leads to the simplification of governing equations. The unknown functions involved in governing equations can then be approximated by Chebyshev polynomials. The coefficients of Chebyshev polynomials are determined and an asymptotic solution is obtained. With the asymptotic solution, the dehydration and freezing fronts of materials are evaluated easily, and are consistent with numerical results obtained by using an explicit finite difference method.

关键词： heat transfer mass transfer solidification asymptotic analysis

来源：评论

学校读者我要写书评

暂无评论

Fuzzy-based simulation of real color blindness

Fuzzy-based simulation of real color blindness

引用

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

作者： Jinmi Lee Wellington P. dos Santos Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Shatin N.T Hong Kong China

About 8% of men are affected by color blindness. That population is at a disadvantage since they cannot perceive a substantial amount of the visual information. This work presents two computational tools developed to assist color blind people. The first one tests color blindness and assess its severity. The second tool is based on Fuzzy Logic, and implements a method proposed to simulate real red and green color blindness in order to generate synthetic cases of color vision disturbance in a statistically significant amount. Our purpose is to develop correction tools and obtain a deeper understanding of the accessibility problems faced by people with chromatic visual impairment.

关键词： Vision defects Image color analysis Mathematical model Color Visualization Photoreceptors Adaptation model

来源：评论

学校读者我要写书评

暂无评论

A space robotic system used for on-orbit servicing in the Geostationary Orbit

A space robotic system used for on-orbit servicing in the Ge...

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Wenfu Xu Bin Liang Dai Gao Yangsheng Xu Harbin Institute of Technology Academy of Fundamental and Interdisciplinary Sciences Harbin China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Chinese University of Hong Kong New Territories HK

The failures of GEO (Geostationary Orbit) spacecrafts will result in large economic cost and other bad impacts. In this paper, we propose a space robotic servicing concept, and present the design of the corresponding system. The system consists of a 7-DOF redundant manipulator, a 2-DOF docking mechanism, a set of stereo vision and general subsystems of a spacecraft platform. This system can serve most existing GEO satellites, not requiring specially designed objects for grappling and measuring on the target. The serving tasks include: (a) visual inspecting; (b) target tracking, approaching and docking; (c) ORUs (Orbital Replacement Units) replacement; (d) un-deployed mechanism deploying; (e) extending satellites lifespan by replacing its own controller. As an example, the servicing mission of a malfunctioned GEO satellite with three severe mechanical failures is presented and simulated. The results show the validity and flexibility of the proposed system.

关键词： Satellites Manipulators Orbits Joints Space vehicles Cameras

来源：评论

学校读者我要写书评

暂无评论

On the stereoscopic composition of wide baseline stereo pairss

On the stereoscopic composition of wide baseline stereo pair...

引用

ASME 2009 International Design engineering Technical Conferences and computers and Information in engineering Conference, IDETC/CIE2009

作者： Wang, Chensheng Wang, Xiaochun Vergeest, Joris S.M. Wiegers, Tjamme School of Automation Beijing University of Posts and Telecommunications No. 10 Xi Tu Cheng Lu Haidian Beijing 100876 China Department of Computer-Aided Design Engineering Delft University of Technology Landbergstraat 15 2628 CE Delft Netherlands

ISBN: (纸本)9780791848999

Wide baseline cameras are broadly utilized in binocular vision systems, delivering depth information and stereoscopic images of the scene that are crucial both in virtual reality and in computer vision applications. However, due to the large distance between the two cameras, the stereoscopic composition of stereo pairs with wide baseline is hardly to fit the human eye parallax. In this paper, techniques and algorithms for the stereoscopic composition of wide baseline stereo pairs in binocular vision will be investigated. By incorporating the human parallax limitation, a novel algorithm being capable of adjusting the wide baseline stereo pairs to compose a high quality stereoscopic image will be formulated. The main idea behind the proposed algorithm is, by simulating the eyeball rotation, to shift the wide baseline stereo pairs closer to each other to fit the human parallax limit. This makes it possible for the wide baseline stereo pairs to be composed into a recognizable stereoscopic image in terms of human parallax with a minor cost of variation in the depth cue. In addition, the depth variations before and after the shifting of the stereo pairs are evaluated by conducting an error estimation. Examples are provided for the evaluation of the proposed algorithm. And the quality of the composed stereoscopic images proves that the proposed algorithm is both valid and effective. © 2009 by ASME.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

Detection of moving targets with a moving camera

Detection of moving targets with a moving camera

引用

IEEE International Conference on Robotics and Biomimetics

作者： Dongxiang Zhou Liangfen Wang Xuanping Cai Yunhui Liu School of Electronic Science and Engineering National University of Defense Technology Changsha China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China

ISBN: (纸本)9781424447749

In this paper we propose a new method of detecting moving objects from a moving camera based on SIFT(The Scale Invariant Feature Transform) features matching and dynamic background modeling. Firstly, feature points are extracted by SIFT algorithm to compute the affine transformation parameters of camera motion, and guided by RANSAC to remove the outliers. We adopt background subtraction approach to detect moving objects, with shadow and ghost removing. The robustness of SIFT Features matching and the validity of picking out outliers by a RANSAC algorithm make the parameters of affine transform model to be computed accurately, and by the background subtraction approach with dynamically-updated background model, foreground objects can be detected perfectly. Experimental results demonstrate that our algorithm can detect moving objects accurately, and keep the integrity of foreground objects, comparing with optical flow method.

关键词： Cameras Object detection Image motion analysis Robot vision systems Image sequences Motion estimation Biomedical optical imaging Video surveillance Tracking Layout

来源：评论

学校读者我要写书评

暂无评论

Study on unified multi-domain modeling of space robot for target capturing

Study on unified multi-domain modeling of space robot for ta...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Wenfu Xu Yu Liu Bin Liang Yangsheng Xu Institute of Space Intelligent System Harbin Institute of Technology Harbin China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

The dynamical performances of space robotic system result from the multi-physics interactions between mechanical, electrical, electronic, control, et al. In this paper, we developed a unified multi-domain modeling and simulation platform. The platform is composed of the following modules: the mechanism of the multi-body system; the path planner, the joint axis (including electrical motor and its drive circuit) of the space manipulator; the GNC (guidance, navigation and control) system, and the actuators used for the attitude and orbit control. Based on this platform, the operation during different stages, including far range rendezvous, close range rendezvous (is usually divided into two sub-phases: closing and final approach) and target capturing can be studied from the view of multi-physics domains. The key algorithms, such as pose measurement, GNC of the base, path planning and control of the space manipulator, and so on, can be validated using the system. As an example, the capturing process of a moving target is simulated and the simulation results are given.

关键词： Orbital robotics Space technology Manipulators Intelligent robots Control systems Satellites Robot sensing systems Navigation Extraterrestrial measurements Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

Motion planning for deployment and reconfiguration of active sensor networks

Motion planning for deployment and reconfiguration of active...

引用

IEEE International Conference on Mechatronics and automation

作者： Weihong Fan Ling Wang Xuanping Cai Yunhui Liu Joint Center of Intelligent Sensing and Systems National University of Defense Technology Changsha Hunan China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

Generally self-organization of the active sensor networks is moving a collection of robots from an area to desired area. When the robots reach the designated area in a network with a topological structure different from the desired one, reconfiguration of the sensor network must be performed by changing the topological structure. During the reconfiguration process, we need to ensure that each robot maintains at least one wireless link to the network. By optimizing the preserved connectivity, a distributed motion planning method based on single-step location prediction and collective potential field is presented to deploy and reconfigure the network. Simulations with a group of more that 40 robots under two cases (with or without obstacles) testify that our algorithm is effective for large scale robot network, and has scalability.

关键词： Robot sensing systems Robot kinematics Network topology Motion planning Intelligent sensors Wireless sensor networks Robotics and automation Large-scale systems Sensor systems Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

A NEW METHOD FOR MONITORING AND TUNING PLASTIC INJECTION MOLDING MACHINES

引用

CONTROL AND INTELLIGENT SYSTEMS 2008年第2期36卷 129-136页

作者： Lau, H. Y. Li, X. Du, R. SML International Ltd. University of Brimingham Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong

This paper presents a new method for monitoring and tuning plastic injection molding machines. It consists of two parts: quality monitoring using the Radial Basis Function Neural Network (RBFNN), and operation parameter tuning using Support Vector Machine (SVM) and Virtual Search Method (VSM). The quality is measured by the part weight, which is estimated using hydraulic pressure signal and ram position signals through a RBFNN. The tuning is aimed at finding the optimal setting of the machine operation condition. It is done in two steps: first, a SVM model is established as the virtual model to track the part quality variations, and then the quality variation is minimized by tuning the machine operating conditions using VSM. The new method is validated by two sets of practical experiments, and the results are very promising.

关键词： plastic injection molding monitoring optimization Artificial Neural Network (ANN) Support Vector Machine (SVM) Virtual Search Method (VSM)

来源：评论

学校读者我要写书评

暂无评论

Experimental implementations of adaptive self-organizing fuzzy slide mode control to a 3-DOF rehabilitation robot

Experimental implementations of adaptive self-organizing fuz...

引用

3rd International Conference on Innovative Computing Information and Control, ICICIC'08

作者： Chang, Ming-Kun Yuan, Tsan-Hsiu Department of Mechanical and Computer-Aided Engineering St. John's University Institute of Automation and Mechatronics St. John's University

ISBN: (纸本)9780769531618

Pneumatic muscle actuator has many advantages such as high power/weight ratio, high power/volume ratio, low price, little maintenance needed, great compliance, and inherent safety. Therefore, it can be suitably applied to rehabilitation engineering for persons with neuromuscular or musculoskeletal pathologies affecting extremity functions. However, excellent control performance can hardly be achieved by classical control methods because gas compression and nonlinear elasticity of bladder containers cause parameter variations. An adaptive self-organizing fuzzy sliding mode control (ASOFSMC) is developed in this study to improve control performance. Experimental results show that this control strategy can achieve excellent control performance. © 2008 IEEE.

关键词： Sliding mode control

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：