检索结果-内蒙古大学图书馆

Periodica Polytechnica electrical engineering and Computer Science 2012年第4期56卷 95-104页

作者： Drexler, Dániel András Harmati, István Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok körútja 2. H-1117 Budapest Hungary

This paper presents a methodology for avoiding joint limits of robot manipulators in the solution of the differential inverse kinematics problem. A nonlinear transformation is applied to the joint limits, leading to a new kinematics formulation defined in the space of the transformed variables. The introduced transformation ensures that the joint variables stay between joint limits. Optimality conditions are converted into the transformed joint space, and closed-loop differential inverse kinematics is applied. The effectiveness of the introduced method is demonstrated on a simulational example.

关键词： Inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

A multiple local search strategy in memetic evolutionary computation for Multi-objective Robust control Design

A multiple local search strategy in memetic evolutionary com...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Jiaqi Liu X. Z. Gao X. Wang K. Zenger Department of Automation and Systems Technology Aalto University School of Electrical Engineering Finland Center for Control Theory and Guidance Technology Harbin Institute of Technology China College of Information Engineering Shanghai Maritime University China

Memetic algorithms (MAs) with multiple Local Search Strategies (LSSs) for the mixed H ∞ /H 2 robust control design is proposed and investigated in this paper. Multiple LSSs are introduced into a given evolutionary computation leading to a new memetic algorithm. The correcting memes, directed memes, and stochastic memes are used to form the meme pool for iterative search, by which the multiple LSSs can be combined with Multi-Objective Evolutionary Algorithms (MOEAs) together. The new algorithm is applied in Multi-objective Robust control Design (MRCD), which is capable of both moving toward and along the Pareto can yield a better performance for these two norms. Finally, the result of the proposed memetic algorithm is compared with the numerical solution of the convex approximations in terms of the Linear Matrix Inequalities (LMIs).

关键词： Memetics Robust control Algorithm design and analysis Optimization Search problems Robustness Sociology

来源：评论

学校读者我要写书评

暂无评论

Semantic Runtime Interface Description Based on engineering Knowledge

引用

IFAC Proceedings Volumes 2012年第6期45卷 805-810页

作者： Petr Novák Martin Melik-Merkumians Michael Steinegger Thomas Moser Radek Ŝindelář Alois Zoitl Christian Doppler Laboratory for Software Engineering Integration for Flexible Automation Systems Vienna University of Technology AT-1040 Vienna Austria Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague 121 35 Prague Czech Republic Automation and Control Institute Vienna University of Technology AT-1040 Vienna Austria

Design and integration of industrial automation systems require cooperation of different engineering disciplines and various engineering tools during both design and run time. The scope of this paper is to bridge the gap between design-time description and runtime integration in a semi-automated way. Furthermore, we address the problem of integrating legacy systems with no access to original engineering data. It is assumed that an interface between a real industrial system and software automation tools is OPC Unified Architecture (UA) and we propose to derive the plant knowledge from the OPC UA tag list. Since it is not possible to solve this task in general, we require the tag list to adopt the naming convention of IEC 81346, which is widespread in large-scale systems. This tag list is parsed and the engineering knowledge is derived and stored in the engineering Knowledge Base. Consequently, the plant knowledge is mapped to knowledge related to software automation tools, such as simulators. The proposed methodology is evaluated on a real-life example dealing with a laboratory tank model.

关键词： automation Integration Knowledge-based systems Data acquisition OPC UA IEC 81346 Computer Simulation Software tools

来源：评论

学校读者我要写书评

暂无评论

Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking

Approximate feedback linearization of the Acrobot tracking e...

引用

Mediterranean Conference on control and automation (MED)

作者： Milan Anderle Sergej Čelikovský Faculty of Electrical Engineering Department of Control Engineering Czech Technical University Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences슠of the슠Czech Republic Prague Czech Republic

The purpose of this paper is to provide theoretical framework enabling to design tracking feedback for a general Acrobot trajectory which allows rigorous convergence proof. It is based on the partial exact feedback linearization of the Acrobot model followed by further approximate feedback linearization of the tracking error dynamics for arbitrary target trajectory. The approach presented here enables to prove the convergence in a rigorous way at least for small initial tracking errors. The slight novelty here is that neglecting is made with respect to tracking error along any general trajectory to be tracked, not just in some neighborhood of fixed working point. To demonstrate viability of this approach, simulations of a tracking of a walking-like cyclic trajectory are presented. The walking includes several steps including impacts between them. As a matter of fact, the exponentially stable tracking during the swing phase only is capable to stabilize overall walking, including the effect of the impacts.

关键词： Trajectory Legged locomotion Target tracking Convergence Equations Mathematical model Mechanical systems

来源：评论

学校读者我要写书评

暂无评论

Multiple-input cultivation model based optimization of penicillin production

Multiple-input cultivation model based optimization of penic...

引用

IEEE Conference on Decision and control

作者： Matej Pčolka Sergej Čelikovský Department of Control Engineering (DCE) Faculty of Electrical Engineering (FEE) Czech Technical University in Prague Praha Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Praha Czech Republic

Unlike prevailing contemporary approach considering the influx feed flow as the only crucial input influencing the final product concentration in bioprocess cultivation, the current paper considers other (non-nutritional) inputs as well. Among them, the volume withdrawal is an important option. Two types of control strategies employing this second input are considered here, each of them using it in a different way. First, the so-called quasi-double-input strategies exploit the broth withdrawal to follow a pre-determined volume profile. Second, the true-double-input strategies consider the second input as a completely independent optimization variable. Main analysis tool here is the gradient optimization numerical algorithm and its adaptations. All resulting strategies are summarized and formulated in the context of optimization, those introduced earlier (i.e., the quasi-double-input) are unified into a common general strategy. Practical complication (inadmissible volume decrease) related to withdrawal introduction is successfully addressed and the summary results show indisputable improvement gained by the non-nutrient input introduction.

关键词： Optimization Feeds Mathematical model Biomass Substrates Production Equations

来源：评论

学校读者我要写书评

暂无评论

On multivariable fuzzy control of electro-refining successive crystallization machine

On multivariable fuzzy control of electro-refining successiv...

引用

31st Chinese control Conference, CCC 2012

作者： Hui, Feng Li Ping, Zhang Xiao Hua, Shen Qiang Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming 650500 China Department of Electric Engineering Yunnan Vocational College of Mechanical and Electrical Technology Kunming 650203 China Faculty of Metallurgy and Energy Engineering Kunming University of Science and Technology Kunming 650093 China

ISBN: (纸本)9789881563811

The electro-refining successive crystallization machine of having advanced processing technique was an important China's invention in the 70's of the 20th century and has been become a kind of key equipment during tin refining process. Because of many influence factors and strong coupling, the equipment is a multi-inputs and multi-outputs complicated system, and it is difficult to realize automatic production by traditional controlling methods. For raising production efficiency, assuring product quality and reducing energy consumption of the equipment, this paper developed simulating research of its multivariable fuzzy control based on obtained its dynamic mechanical model and many years' operating experience. Finally a good satisfied control effect has been obtained. © 2012 Chinese Assoc of Automati.

关键词： Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

Fabrication of diamond nanopit arrays by room-temperature curing nanoimprint lithography using glass-like carbon molds

Fabrication of diamond nanopit arrays by room-temperature cu...

引用

2011 MRS Fall Meeting

作者： Kiyohara, Shuji Ito, Chigaya Ishikawa, Ippei Takikawa, Hirofumi Taguchi, Yoshio Sugiyama, Yoshinari Omata, Yukiko Kurashima, Yuichi Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Aza Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology Toyohashi Aichi 441-8580 Japan Application and Technical Section Elionix Inc. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan Department of Mechanical System Engineering University of Yamanashi 4-3-11 Takeda Kofu Yamanashi 400-8511 Japan

ISBN: (纸本)9781605113722

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. © 2012 Materials Research Society.

关键词： Chemical vapor deposition

来源：评论

学校读者我要写书评

暂无评论

System Identification model for an Intelligent Pneumatic Actuator (IPA) system

System Identification model for an Intelligent Pneumatic Act...

引用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Khairuddin Osman Ahmad 'Athif Mohd Faudzi M.F. Rahmat Nu'man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Control Instrumentation and Automation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system.

关键词： Analytical models Data models Silicon Mathematical model Actuators Robots Correlation

来源：评论

学校读者我要写书评

暂无评论

Automatic grading of appearance retention of carpets using intensity and range images

Automatic grading of appearance retention of carpets using i...

引用

作者： Orjuela Vargas, Sergio Alejandro Ortiz-Jaramillo, Benhur Vansteenkiste, Ewout Rooms, Filip De Meulemeester, Simon De Keyser, Robain Van Langenhove, Lieva Philips, Wilfried Ghent University Dept. of Telecommunications and Information Processing Image Processing and Interpretation Group Interdisciplinary Institute for BroadBand Technology Ghent B-9000 Belgium Antonio Nariño University Faculty of Electronics and Biomedical Engineering Bogotá Colombia Ghent University Department of Textiles Ghent B-9000 Belgium Ghent University Department of Electrical Energy Systems and Automation Ghent B-9000 Belgium

Textiles are mainly used for decoration and protection. In both cases, their original appearance and its retention are important factors for customers. Therefore, evaluation of appearance parameters are critical for quality assurance purposes, during and after manufacturing, to determine the lifetime and/or beauty of textile products. In particular, appearance retention of textile products is commonly certified with grades, which are currently assigned by human experts. However, manufacturers would prefer a more objective system. We present an objective system for grading appearance retention, particularly, for textile floor coverings. Changes in appearance are quantified by using linear regression models on texture features extracted from intensity and range images. Range images are obtained by our own laser scanner, reconstructing the carpet surface using two methods that have been previously presented. We extract texture features using a variant of the local binary pattern technique based on detecting those patterns whose frequencies are related to the appearance retention grades. We test models for eight types of carpets. Results show that the proposed approach describes the degree of wear with a precision within the range allowed to human inspectors by international standards. The methodology followed in this experiment has been designed to be general for evaluating global deviation of texture in other types of textiles, as well as other surface materials. © 2012 SPIE and IS&T.

关键词： Textiles

来源：评论

学校读者我要写书评

暂无评论

Design and Implementation of nonlinear neural network controller based on simulator model in Damavand Tokamak

Design and Implementation of nonlinear neural network contro...

引用

第24届中国控制与决策会议

作者： H. Tolouei A. Kouhi H. Rasouli C. Rasouli Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical Engineering Control department K.N. Toosi University of TechnologyTehran Iran Plasma Physics and nuclear fusion institute Institute of nuclear science and technology (AEOI)Tehran Iran.

In this study, nonlinear neural network controller will be developed to control plasma radial motion in Damavand Tokamak. It is essential to have a good model in order to design a proper controller for plasma radial motion. To achieve this goal, actuator circuits are simulated and in consequence based on simulator model and simulated actuator circuits nonlinear neural network controller will be designed in Damavand Tokamak. Comparison between neural network controller output and PD controller output shows the efficiency of proposed approach.

关键词： Tokamak, Actuator circuits, nonlinear neural network controller, Gradient descent algorithm, Momentum algorithm.

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：