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IEEE International Conference on Industrial Technology (ICIT)

作者： Jang-Hyun Park Chae-Joo Moon Seong-Hwan Kim Jin Lee Soon-Youl So Jun-Ho Choi School of Electrical Control System and Advanced Material Engineering Mokpo National University Muan South Korea Department of Electrical Engineering Chonnam National University South Korea

A new adaptive fuzzy controller for uncertain strict-feedback nonlinear systems is proposed. All the previous approximator-based adaptive control algorithms for the strict-feedback nonlinear systems are based on backstepping scheme and guarantee semi-global closed-loop system stability. This paper proposes a new globally stabilizing adaptive fuzzy controller for strict-feedback nonlinear system without backstepping. To this end, an online self-structuring adaptive fuzzy system is employed. The proposed adaptive fuzzy controller is considerably simpler than the previous ones based on backstepping. Only one FLS is employed to approximate a lumped uncertain nonlinearity, which highlights the simplicity of our proposed control scheme.

关键词： Programmable control Adaptive control Fuzzy control Nonlinear systems Fuzzy systems Backstepping Adaptive systems Nonlinear control systems control systems Stability

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Online Detection and Classification of Disasters by a Multiple-input/single-output Sensor for a Home Security system

Online Detection and Classification of Disasters by a Multip...

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International Joint Conference on Neural Networks (IJCNN)

作者： T. Ishigaki T. Higuchi K. Watanabe Department of Statistical Science The Graduate University for Advanced Studies (SOKENDAI) Tokyo Japan System Control Engineering Department Hoxi University Tokyo Japan Prediction and Knowledge Discovery Research Center Research Organization of Information and Systems Tokyo Japan System Control Engineering Department Hosei University Tokyo Japan

Conventional sensors have been designed to minimize noise effects. Any sensor that is designed to detect a certain physical variable is influenced to a certain degree by other physical variables. This suggests that any sensor is potentially tap able of detecting multiple physical variables. In the present study, we consider sensing devices that are easily influenced by several physical variables and make full use of their multi-sensing characteristics through statistical signal processing and machine learning techniques with a wide variety of prior information. The proposed sensor design approach is completely different from the conventional approach with respect to system design and has advantages in terms of cost and system simplification compared to existing approaches. This new idea can be realized by developing a novel multiple-input/single-output sensor that can detect various variables such as pressure, acceleration, temperature and light emission by a single device. The sensor is applied to monitor the symptoms of tire, earthquake and break-in for the purpose of home security. The proposed security system consists of the following three steps: (1) detection of disaster by a probabilistic outlier detection procedure using an auto-regressive model, (2) disaster feature extraction by Kalman filter on a state space model, and (3) disaster classification by multiclass support vector machine.

关键词： Sensor systems Security Sensor phenomena and characterization Temperature sensors Signal processing Machine learning Costs Acceleration Monitoring Tires

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Fabrication of Diamond Nanopit arrays by Room-temperature Curing Nanoimprint Lithography Using Glass-like Carbon Molds

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MRS Online Proceedings Library 2011年第1期1395卷 27-32页

作者： Shuji Kiyohara Chigaya Ito Ippei Ishikawa Hirofumi Takikawa Yoshio Taguchi Yoshinari Sugiyama Yukiko Omata Yuichi Kurashima Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology Maizuru Kyoto Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology Toyohashi Aichi Japan Application and Technical Section ELIONIX INC. Hachioji Tokyo Japan Department of Mechanical System Engineering University of Yamanashi Kofu Yamanashi Japan

We have proposed the use of glass-like carbon (GC), as mold material because the 27-maximum etching selectivity of polysiloxane film against GC, which was approximately six times larger than that of polysiloxane film against chemical vapor deposited (CVD) diamond film. We have investigated the fabrication of diamond nanopit arrays by room-temperature curing nanoimprint lithography (RTC-NIL) using GC mold, as applications to the emitter and the micro-gear. The polysiloxane has in the state of sticky liquid at room-temperature and negative-exposure characteristic. Therefore, the polysiloxane was used as RTC-imprint resist material, and also used as electron beam (EB) resist (oxide mask) material in EB lithography. We have fabricated the cylindrical GC nanodot mold with 500 nm-diameter, 600 nm-height and 2 µm-pitch. We carried out RTC-NIL using GC mold under the following optimum conditions: time from spin-coating to imprint of 1 min, imprinting pressure of 0.5 MPa and imprinting time of 5 min. Then, we have processed the diamond film with an electron cyclotron resonance (ECR) oxygen ion shower. We have fabricated diamond nanopit array with 250 nm-depth and 500 nm-diameter. The diameter of diamond nanopit pattern was in good agreement with that of GC mold. Moreover, the depth of the diamond nanopit patterns fabricated by RTC-NIL using cylindrical GC mold was three times larger than that using conical diamond mold.

关键词： diamond nanostructure ion-beam processing

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Identification of Hammerstein-Wiener ARMAX systems Using Extended Kalman Filter

Identification of Hammerstein-Wiener ARMAX Systems Using Ext...

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2011 Chinese control and Decision Conference（CCDC）

作者： M.Mansouri H.Tolouei M.Aliyari Shoorehdeli Intelligent System Laboratory (ISLAB) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringMechatronics departmentK.N.Toosi University of Technology

In this study,Extended Kalman Filter (EKF) algorithm is developed to estimate the parameters of Hammerstein-Wiener (H-W) ARMAX *** basic idea is to estimate the original parameters of the identification model,which are appeared in the form of product terms,***,other algorithms like Extended Forgetting Factor Stochastic Gradient (EFG),Extended Stochastic Gradient (ESG),Forgetting Factor Recursive Least Square (FFRLS) and Kalman Filter (KF),estimate parameters in the product form and they need another algorithms such averaging method (AVE method),singular value decomposition method (SVD method) to separate the ***,the computational complexity of the proposed approach *** show the efficiency of this method the results are compared with EFG and ESG method.

关键词： Hammerstein-Wiener model,Extended Kalman Filter algorithm,Extended Stochastic Gradient algorithm,Extended Forgetting Factor Stochastic Gradient algorithm

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Weighted two-dimensional longitudinal impedance for driving support system

Weighted two-dimensional longitudinal impedance for driving ...

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IEEE International Conference on systems, Man and Cybernetics

作者： J.C.F. de Winter M. Mulder M.M. van Paassen T. Yamamura Aerospace Engineering Delft University of Technnology Delft Netherlands Chassis Control System Development Group Advanced Vehicle Engineering Department Nissan Motor Company Limited Yokosuka Japan

Visual cues that are relevant to safe car driving are generally not supported by redundant non-visual cues, resulting in increased accident risk when visual attention is misallocated. Haptic gas pedal feedback, also referred to as longitudinal impedance, may assist drivers in proper and timely reallocation of their visual attention. A solution is presented for translating the relevant two-dimensional situation in front of the driver into a total hazard level from which gas pedal feedback force is calculated. Car driving simulations, that include a radar-like sensor model and a human driver model, were performed for several highway maneuvers. The simulations indicated that the calculated gas pedal feedback force is a weighted mix of hazard-defining variables depending on the positions of the lead vehicles in front of the own vehicle

关键词： Impedance Force feedback Hazards Vehicle driving Haptic interfaces Road accidents Force sensors Automotive engineering Force measurement Aerospace engineering

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Design of an Image Motion Compensation (IMC) algorithm for the Communication, Ocean, Meteorological Satellite (COMS)

Design of an Image Motion Compensation (IMC) algorithm for t...

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AIAA/AAS Astrodynamics Specialist Conference, 2006

作者： Jung, Taek-Seo Lee, Un-Seob Park, Sang-Young Choi, Yoon-Hyuk Bang, Hyo-Choong Ju, Gwanghyeok Yang, Koon-Ho Yonsei University Seoul 120-749 Korea Republic of Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of Korea Aerospace Research Institute Daejeon 305-333 Korea Republic of Astrodynamics and Control Lab. Dept. of Astronomy and Space Science Flight Dynamics and Control Lab. Dept. of Aerospace Engineering Communication Satellite System Department

ISBN: (纸本)1563478226

This paper presents an Image Motion Compensation (IMC) algorithm for Korea's Communication, Ocean, and Meteorological Satellite (COMS). An IMC algorithm is a priority component of the Image Navigation and Registration (INR) system to locate and register radiometric image data. To eliminate image distortions, depointing of the imager aiming direction must be adjusted. A compensation algorithm to correct depointing caused by satellite motion is designed, and the capability of the algorithm is compared with that of existing algorithm applied to the GOES's INR system. The algorithm developed in this paper improves pointing accuracy by efficiently compensating for depointing of the imager aiming direction. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Motion compensation

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Dynamic analysis of a 3-DOF 3-PUU parallel manipulator based on the principle of virtual work

Dynamic analysis of a 3-DOF 3-PUU parallel manipulator based...

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

作者： Song Lu Yangmin Li Department of Electromechanical Engineering University of Macau Macao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467391085

This paper presents a straightforward and systematical methodology for conducting the inverse dynamic analysis of a 3-prismatic-universal-universal (PUU) parallel kinematic manipulator (PKM) through employing the principle of virtual work. The proposed 3-PUU PKM possesses three translational degree-of-freedom (DOF). The position, velocity and acceleration of joints are solved via the inverse kinematic analysis, the link Jacobian matrices which map the velocity of the moving platform into the velocity and angular velocity of struts are derived in the fixed coordinate system. Based on the d'Alembert's form of the principle of virtual work, the applied generalized forces of the whole mechanical system are divided into the applied forces of moving platform, struts, sliders, and motor-coupling-leadscrew, respectively. The joint actuated torques are obtained through eliminating the virtual displacement in the dynamic equations. Furthermore, the inertial term, centrifugal and Coriolis term, and gravitational term of the total joint torque are determined. Simulation for a conical spiral trajectory demonstrates that the total torque is dominated by the inertial term.

关键词： Manipulator dynamics Joints Acceleration Dynamics Kinematics Mathematical model

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Comparative study of two 3-CRU translational parallel manipulators

Comparative study of two 3-CRU translational parallel manipu...

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IEEE International Conference on Robotics and Biomimetics

作者： Bin Li Yangmin Li Xinhua Zhao Weimin Ge Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China Department of Electromechanical Engineering University of Macau Taipa Macao SAR China

ISBN: (纸本)9781479973989

Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing the differences between the two 3-CRU TPMs in kinematics, workspace and performance. This study provides insights into parallel manipulators with identical kinematics arranged differently.

关键词： Manipulators Joints Kinematics Actuators Layout Rails Integrated circuits

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A new method on judgement of static stability for the quadruped robot

A new method on judgement of static stability for the quadru...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory control engineering Mechanical engineering

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Triple band Modified 90 Degree Koch Fractal H-Slot Microstrip Antenna

Triple band Modified 90 Degree Koch Fractal H-Slot Microstri...

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International Conference on Intelligent and advanced systems

作者： Tale Saeidi Idris bin Ismail Vala Saleh Adam R. H. Alhawari Instrument Smart System and Advanced Control Centre (ISAAC) Department of Electrical & Electronic Engineering Universiti Teknologi PETRONAS Faculty of Engineering Universiti Tenaga Nasional Jalan IKRAM-UNITEN Department of Electrical Engineering Faculty of Engineering Najran University

ISBN: (纸本)9781509008469

A tri-band fractal structure for Agriculture, WLAN and GSM band applications is presented. The desired resonances are 0.915, 1.8 and 2.45 GHz. This antenna consists of a modified 90 degree Koch fractal resonator, two layer substrates which are separated by an air gap layer and then fed through the SMA port and finally simulated on RT/Duroid 5880. Fractal shapes have been used to have a multi-band frequencies with a reduction in size. Furthermore, inductive and capacitive loadings have been applied though some stubs, gaps and two shorting posts to reduce the size. Thereafter, the equivalent circuit of the proposed antenna designed based on the literature. The uniqueness of the antenna is the miniaturized size (90 × 90×10mm~3) compared to the first resonant frequency with high performance. The measured results performed on the performance of the proposed antenna, which has a good agreement with the simulation results.

关键词： Koch Triple-band Shrunk size Fractal Performance

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