The following work describes in the field of neuro endoscopy the possibilities offered by active endoscopes equipped with augmented reality features and able to perform quantitative measurements. In the NEAR project, ...
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The following work describes in the field of neuro endoscopy the possibilities offered by active endoscopes equipped with augmented reality features and able to perform quantitative measurements. In the NEAR project, a practical implementation targeted towards endoscopic third ventriculostomy (ETV) and realized with standard optical systems and endoscopes is used as an example to discuss the limits and the possibilities offered by computer vision and navigations techniques.
In this paper, we investigate a novel adaptive design approach for nonlinear systems as an exploration of the new challenging topic on dealing with both parametric and nonparametric internal uncertainties in adaptive ...
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In this paper, we investigate a novel adaptive design approach for nonlinear systems as an exploration of the new challenging topic on dealing with both parametric and nonparametric internal uncertainties in adaptive control of discrete-time nonlinear systems. The existence of both two kinds of uncertainties makes it very difficult or even impossible to apply the traditional recursive identification algorithms which are designed for parametric systems. To best utilize the existing adaptive control technique, a novel deadzone with threshold converging to zero has been proposed to modify the traditional gradient update law for parameters estimation, while an auxiliary output including both uncertainties is introduced to facilitate the nonparametric uncertainties compensation. It is rigorously proved that the designed adaptive control guarantees the boundedness of all the closed-loop signals and achieves asymptotic tracking performance.
This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communication constraints. Communication constraints under consideration include medium access ...
This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communication constraints. Communication constraints under consideration include medium access constraint,network-induced delays and packet-dropouts. A feedback control system with the communication constraints is modelled as a switched delay system which switches on the open-loop and closed-loop models according to whether the feedback control loop gains access to the network or not. Delay-dependent sufficient conditions for exponential stability with L2 gain performance are developed for the switched system. Based on the stability conditions, sufficient conditions are presented on the existence of scheduling policy that simultaneously stabilizes the collection of NCSs. Simulation on network-based control of unstable batch reactor systems is performed to demonstrated the effectiveness of the proposed scheduling strategy.
This paper addresses the problem of robust stability of discrete-time switched systems with time-varying delays and polytopic uncertainties. It is supposed that the switched systems are composed of both stable and uns...
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ISBN:
(纸本)9781424445233
This paper addresses the problem of robust stability of discrete-time switched systems with time-varying delays and polytopic uncertainties. It is supposed that the switched systems are composed of both stable and unstable subsystems. Delay-dependent sufficient conditions for robust exponential stability are proposed by employing parameter-dependent piecewise Lyapunov-like functional combined with the free-weighting matrix and average dwell time methods. These sufficient conditions are applied in the study of stability analysis for a network-based reliable control system with controller failures, and the effectiveness of the analysis procedure is demonstrated with numerical simulation on network-based reliable control of cart-pendulum.
The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing ...
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The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing environments as an application platform in order to consider the robust Task Apportionment system for such a case but the proposed system can be generalized to any similar system. Both centralized and decentralized systems are considered and task allocation, re-allocation, exchange and execution as layers of task apportionment methods are designed and described in each system. The system may switch between modes according the feedback information of communication capabilities or uses different modes for each part of the platform.
Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual proto...
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Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual proto...
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Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. Control simulation is done and shows intelligent control is good for BRHL.
The new ASTM E1989–98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facili...
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The new ASTM E1989–98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facilitate “plug-and-play” integration of laboratory automation with standard hardware behavior and software interfaces. The LECIS standardizes laboratory equipment behavior and a message passing scheme between the controller and equipment that synchronizes this behavior. Commercial adoption of this new standard is well under way.
Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desi...
Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.
作者：
Chiodo, E.Menniti, D.Testa, A.Picardi, C.Elio Chiodo (1959) received the degree in Electronics Engineering in 1985
and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly
in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy
in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy
in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu
An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural n...
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