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IEEE Transactions on Haptics: Editorial

IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Robust LPV-[image omitted]∞ control for active suspensions with performance adaptation in view of global chassis control

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Vehicle System Dynamics 2008年第10期46卷 889-912页

作者： Zin, A. Sename, O. olivier.sename@inpg.fr Gaspar, P. Dugard, L. Bokor, J. GIPSA-Lab Department of Control Systems UMR CNRS-INPG-UJF 5216 ENSIEG-BP 46 Saint Martin d''Hères France. Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents a new methodology for suspension control in view of global chassis control, developed in particular to guarantee greater driving safety and comfort. The control of the suspension subsystem allows the vehicle road holding (safety) and passenger comfort to be improved, but not at the same time. In order to reach them for every driving situation, an 'adaptive' two-degrees-of-freedom controller for active suspensions is proposed. This control architecture is 'open' and could be linked and aggregated to many other controllers of vehicle dynamics. This control strategy ensures, on the one hand, the robustness in performances with respect to parameter uncertainties and, on the other hand, the trade-off between road holding and comfort. The proposed design is based on the LPV/[image omitted] ∞ theory. Robust stability and performances are analysed within the μ-analysis framework. [ABSTRACT FROM AUTHOR]

关键词： control H∞ H∞ control linear parameter varying system performance adaptation robustness suspension

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control of an experimental mini quad-rotor UAV

Control of an experimental mini quad-rotor UAV

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Mediterranean Conference on control and automation (MED)

作者： Alexandros Soumelidis Peter Gaspar Gergely Regula Bela Lantos Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded model-based control scheme that is built upon the concept of back-stepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities that make it suitable to be involved in an in-door positioning system, and wireless digital communication network. This realization forms an important step in the development process of a more advanced realization of an UAV suitable for practical applications; it aims clarification of the control principles, acquiring experience in solving control tasks, and getting skills for the development of further realizations.

关键词： automation Conferences

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New results on connecting the Lorenz and Chen Systems

New results on connecting the Lorenz and Chen Systems

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World Congress on Intelligent control and automation (WCICA)

作者： Dequan Li Lili Cui Zhixiang Yin Department of Mathematics and Physics Anhui University of Science and Technology Huainan China Laboratory of Complex Networks and Control Department of Automation Shanghai Jiaotong University Shanghai China School of Computer and Information Shanghai Second Polytechnic University Shanghai China

The Lu system is a newly coined chaotic system, which connects the Lorenz system and the Chen system and represents the transition from one to the other. In this letter, a simple nonlinear term is added to the Lu system, and its role as a joint function is revisited. With the gradual tuning the parameter of the nonlinear controller, the transition from the canonical Lorenz attractor to the Chen attractor through the Lu attractor is revived. The scheme herein goes beyond the traditional framework for studying the Lorenz-like systems, which can be very helpful in generating and analyzing of all similar and closely related chaotic systems.

关键词： Chaos Bifurcation Nonlinear dynamical systems control systems Chaotic communication Differential equations Numerical simulation

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Conflict resolution for collaborative design based on rough set theory

Conflict resolution for collaborative design based on rough ...

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International Conference on computer Supported Cooperative Work in Design

作者： Jun Ma Tian-Yuan Xiao Jian-Chao Zeng Ma Hao Department of Automation National CIMS Engineering Research Center Tsinghua University Beijing China School of Computer Science and Technology Taiyuan University of Science and Technology Taiyuan China North Automatic Control Technology Institute Taiyuan China

ISBN: (纸本)9781424416509

Due to the design knowledge discrepancy during collaborative design, conflicts can be revealed from the process of collaborative design decision. A critical element of collaborative design would be conflict resolution. The conflict resolution is correlative with both of the knowledge granulation and specific method provided. In this paper, granularity is used to describe rules acquainted based on the concept of rough degree. In this condition, A feasible distance formula between different rules is constructed according to the requirement of describing the distance between different rules and the definition of attribute significance in information system with rough theory, in which the operator of attribute importance is introduced, and then traditional conflict resolutions are analyzed. As a result, the concept of rule set evolution is put forward, and the instance is introduced to explain the efficiency of new method.

关键词： Collaboration Set theory Collaborative work Process design Design methodology Product design Phase detection Knowledge management Space technology Design automation

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Model-based nonlinear optimal blood glucose control of Type I diabetes patients

Model-based nonlinear optimal blood glucose control of Type ...

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

作者： Levente Kovacs Balazs Kulcsar Jozsef Bokor Zoltan Benyo Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University Delft Netherlands Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

Using induced L 2 -norm minimization, a robust controller was developed for insulin delivery in Type I diabetic patients. The high-complexity nonlinear diabetic patient Sorensen-model [1] was considered. LPV (Linear Parameter Varying) methodology was used to develop open loop model and robust controller. Considering the normoglycemic set point (81.1 mg/dL), a polytopic set was created over the physiologic boundaries of the glucose-insulin interaction of the Sorensen-model. In this way, LPV model formalism was defined. The robust control was developed considering input and output multiplicative uncertainties with other weighting functions.

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Attitude and Handling Improvements Through Gain-scheduled Suspensions and Brakes control

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IFAC Proceedings Volumes 2008年第2期41卷 2075-2080页

作者： C. Poussot-Vassal O. Sename L. Dugard P. Gáspár Z. Szabó J. Bokor GIPSA-lab Control Systems Department (former LAG) INPG-CNRS-ENSIEG - Domaine Universitaire BP46 38402 Saint Martin d'Hères - Cedex FRANCE Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest HUNGARY

In this paper, the problem of comfort and handling improvements of a ground vehicle is treated through the control of the suspension and braking systems. Two gain-scheduled controllers are synthesized (in the H ∞ framework) to achieve, in the frequency domain, comfort and yaw performances according to the driving situation, observed by the mean of a monitor. The proposed strategy tackles the nonlinear tire braking force in an original way and meets the situation dependent objectives of the vehicle in a unified synthesis. Simulation tests on a complex nonlinear full vehicle model shows improvements of the proposed approach.

关键词： H ∞ Linear Parameter Varying Suspensions Brakes Global Chassis control Anti-locking Braking System Electronic Stability control

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Output feedback control of linear systems with input and output quantization

Output feedback control of linear systems with input and out...

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IEEE Conference on Decision and control

作者： Daniel Coutinho Minyue Fu Carlos E. de Souza Group of Automation and Control Systems Faculty of Engineering Pontifícia Universidade Católica do Rio Grande do Sul Porto Alegre Brazil School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Systems and Control Laboratory Nacional de Computação Científica Petropolis Rio de Janeiro Brazil

ISBN: (纸本)9781424431236

A considerable amount of research has been done on the use of logarithmic quantizers for networked feedback control systems. However, most results are developed for the case of a single quantizer (either measurement or control signal quantization). In this paper, we investigate the case of simultaneous input and output quantization for SISO linear output feedback systems. Firstly, we show that the problem of quadratic stabilization via quantized feedback can be addressed with no conservativeness by means of the sector bound approach. Secondly, we provide a bound on the maximal admissible sector bound via a scaled H ¿ optimization problem.

关键词： Output feedback Linear feedback control systems control systems Linear systems Quantization Communication system control Feedback control Communication channels Digital control Bandwidth

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Neural networks for disturbance and friction compensation in hard disk drives

Neural networks for disturbance and friction compensation in...

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IEEE Conference on Decision and control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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The visualization system of spatial fields of synoptic objects

The visualization system of spatial fields of synoptic objec...

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17th International Conference on computer Graphics and Vision, GraphiCon 2007

作者： Melman, Sergey Bobkov, Valery Institute for Automation and Control Processes Department of Computer Graphics Russia

The visualization system of spatial fields of synoptic objects is presented. Algorithms of scalar and vector fields' visualization are described. Results are shown for synthetic and real data.

关键词： Volume rendering

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