检索结果-内蒙古大学图书馆

4th Helenic Conference on AI, SETN 2006

作者： Papageorgiou, Elpiniki Stylios, Chrysostomos Groumpos, Peter Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 Greece Department of Communications Informatics and Management TEI of Epirus Artas Epirus Greece

ISBN: (纸本)354034117X

Fuzzy Cognitive Maps (FCMs) is a graphical model for causal knowledge representation. FCMs consist of nodes-concepts and weighted edges that connect the concepts and represent the cause and effect relationships among them. FCMs are used in complex problems involving causal relationships, which often include feedback, and where qualitative rather than quantitative measures of influences are available. They have used for decision support to determine a final state given a qualitative initial knowledge for nodes and weighted edges, A first study on introducing Interval analysis in the FCM framework has been attempted and it is presented in this work. Here a new structure for FCM is proposed with interval weights and a new method for processing interval data input for FCMs is proposed. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Fuzzy sets

来源：评论

学校读者我要写书评

暂无评论

A target differentiation algorithm of multi-neural-network based on rough set for mobile robot

A target differentiation algorithm of multi-neural-network b...

引用

6th World Congress on Intelligent Control and automation, WCICA 2006

作者： Xin, Ma. Liu, Wei Li, Yibin Chen, Weidong Xi, Yugeng Centre for Robotics School of Control Science and Engineering Shandong University Jinan Shandong Province China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)1424403324

Aiming at the uncertainty of sonar data in the problem of sonar-based target differentiation for mobile robot, the paper firstly presents a hierarchical reduction approach to reduce a sonar data set based on rough set theory. Then on the basis of the reduction, a multi-neural network based target differentiation algorithm is designed on the fact that the effective combination of multiple neural networks can increase the ability to pattern classification and generalization of the whole system. Parallel network architecture is adopted locally to increase the differentiation accuracy. And the average weighed strategy is applied to fuse the outputs of the parallel neural network classifiers to improve the robustness of the differentiation system to noise, physically plausible failure and missing sonar data situation. The simulation experiments prove that the new method combining with the traditional target differentiation algorithm can increase the accuracy of sonar-based target differentiation for mobile robot in indoor environments. © 2006 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Haptic interfaces for a labview-based system dynamics course

Haptic interfaces for a labview-based system dynamics course

引用

113th Annual ASEE Conference and Exposition, 2006

作者： Bowen, Kevin O'Malley, Marcia Rice University United States William Marsh Rice University United States Mechanical Engineering and Materials Science Department Rice University United States ASME Dynamic Systems and Controls Division Robotics Panel IEEE Robotics and Automation Society

Too often in undergraduate mechanical engineering courses, the content of laboratory exercises is not well coordinated with course content, and the exercises are unrelated to each other. As a result, students have a difficult time grasping the "big picture" themes. This project at Rice University seeks to improve the effectiveness of laboratory exercises in a required undergraduate mechanical engineering system dynamics course via student-centered learning and laboratory topics featuring haptic paddles, devices that allow users to interact via the sense of touch with virtual environments. One outcome of these improvements is a cohesive set of laboratory experiments using the haptic paddles as a single experimental test bed for multiple experiments. The Haptic Paddle exercises are unique because they allow the students to analyze and build their own haptic interface, or force-reflecting system. The students are able to see many subsets of mechanical engineering come together in a series of exercises, including assembly, system analysis, calibration, system modeling, and dynamics. Finally, a key advantage to the haptic paddle labs is that they tie closely with the course material. This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the labora

关键词： Haptic interfaces

来源：评论

学校读者我要写书评

暂无评论

Closed-loop finite element modeling for analysis of smart structures in ansys environment

Closed-loop finite element modeling for analysis of smart st...

引用

2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Mahboobi, Seyed Hanif Shahidi, Alireza Abedian, Ali Meghdari, Ali Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran School of Mechanical Engineering Sharif University of Technology Tehran Iran Department of Aerospace Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)0791837904

It would be promising if one can simulate the closed-loop behavior of a smart system in an available FEM software such as "ANSYS". The ANSYS/Multiphysics software has the ability of coupling different physical domains and also modeling smart materials such as piezoelectric and piezoresistives, i.e. it has the capability of modeling smart structures. The dynamic modeling of the controlled structures is then realized by the ANSYS programming tool. This aspect highly facilitates the overall system behavior analysis and at the same time various control methods can be tested without noticing the time consuming structural analysis involved. In this research work, it is tried the mentioned idea to be implemented and some control strategies for the structural active damping to be examined. Copyright © 2006 by ASME.

关键词： Intelligent structures

来源：评论

学校读者我要写书评

暂无评论

Virtual Prototyping for Conceptual Design of a Tracked Mobile Robot

Virtual Prototyping for Conceptual Design of a Tracked Mobil...

引用

Canadian Conference on Electrical and Computer engineering (CCECE)

作者： Sadath M. Malik Jun Lin Andrew A. Goldenberg Robotics & Automation Lab Department ofMech &Ind Engineering University of Toronto Canada

Mobile robots equipped with manipulator arms are often required to operate on rough and uneven terrains. During the design stage, the designer needs to verify the robots performance on various test terrains. Physical prototyping although is more desirable, may prove to be expensive and time consuming. Virtual prototyping can be used especially in the conceptual design stage in order to significantly reduce the amount of physical testing that is required. This paper discusses the application of virtual prototyping using ADAMS software for tracked mobile robots. The virtual prototype was created for an existing robot and was validated with tests done on the physical robot. Different types of virtual terrains were created and dynamic simulations of the robot were performed on these terrains. The simulation results helped in many ways including visualization of the robot motion on different terrains and in determining the limiting dimensions of obstacles, stairs, ditches, etc., that the robot can safely negotiate. The described process can be applied to new robot designs, while still in their conceptual design stage

关键词： Virtual prototyping Mobile robots Testing Software prototyping Manipulators Arm Prototypes Application software Visualization Robot motion

来源：评论

学校读者我要写书评

暂无评论

Analysis of fractional - Order robot axis dynamics

Analysis of fractional - Order robot axis dynamics

引用

作者： Rosario, J.M. Dumur, D. Tenreiro Machado, J.A. Laboratory of Automation and Robotics Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 - Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

ISBN: (纸本)9783902661128

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics. Copyright © 2006 IFAC.

关键词： Calculations

来源：评论

学校读者我要写书评

暂无评论

Stability enhancement of mobile manipulators via soft computing

引用

International Journal of Advanced Robotic Systems 2006年第3期3卷 191-198页

作者： Ghaffari, Ali Meghdari, Ali Naderi, Davood Eslami, Sohrab Department of Mechanical Engineering K.N.T. University of Technology No. 322 West Mirdamad Ave. 19697 Tehran Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Azadi Ave. Tehran Iran Department of Mechanical Engineering Bu Ali-Sina University Hamadan Iran Sharif University of Technology Azadi Ave. Tehran Iran

Nowadays the size and dimension of mobile manipulators have been decreased for being usable in various regions. This leads several problems such as danger of instability. Therefore, many researches have been done to overcome the problem of overturning of a mobile manipulator. In this paper, an algorithm for increasing the stability of a mobile manipulator is presented based on the optimization of a performance index. The path of vehicle and the desired task of the end-effector are predefined. In order to apply the optimal stability criterion, it is more convenient that the manipulator be of a redundant. Considering the interaction between the vehicle and the manipulator and using the genetic algorithm to minimize the stability criterion cooperating with a neural network, the proposed method is a swift algorithm to determine the optimum configuration of the manipulator for real time overturning control of the vehicle. An example for illustrating the significance of the proposed method is presented in a two dimensional configuration.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Planning of dynamic compensation manipulator motions for stability enhancement of mobile manipulators by soft computing

Planning of dynamic compensation manipulator motions for sta...

引用

2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Ghaffari, Ali Naderi, Davood Meghdari, Ali Eslami, Sohrab Department of Mechanical Engineering K.N.T. University of Technology Tehran Iran Bu Ali-Sina University Hamadan Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)0791837904

Mobile manipulators are developed in order to execute separately in various regions where there is not possibility for human to appear there. Recently, the size of mobile manipulators has been decreased according to their given tasks. For such systems, the stability issue is very important. The robot system should be able to keep itself in an optimal situation. For reaching to this goal, one can use a redundant degree of freedom for the mobile manipulator such that this redundancy makes it possible to recover the system's stability by dynamic compensatory motion of manipulator when the system is unstable. In this paper, we present an algorithm which is fast enough to stabilize the mobile manipulator with the best stability criterion based on a neural network and genetic algorithm which cooperate together. For applying the optimal values as the algorithm outputs to the appropriate joints, a PD controller is used. The significance of this algorithm is provided for a spatial mobile manipulator with a predefined trajectory of the end-effector and the vehicle. Copyright © 2006 by ASME.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

H-infinity static output-feedback control for rotorcraft

H-infinity static output-feedback control for rotorcraft

引用

AIAA Guidance, Navigation, and Control Conference 2006

作者： Gadewadikar, J. Lewis, F.L. Subbarao, Kamesh Peng, Kemao Chen, Ben Automation and Robotics Research Institute University of Texas at Arlington Fort-Worth TX 76118 United States Dept. of Mechanical and Aerospace Engineering University of Texas at Arlington Arlington TX 76018 United States Department of Electrical and Computer Engineering National University of Singapore Singapore Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Fort Worth TX 76118-7115 United States Automation and Robotics Research Institute Department of Electrical Engineering 7300 Jack Newell Blvd. S. Fort Worth TX 76118-7115 United States Department of Mechanical and Aerospace Engineering Box 19018 500 W. First St 211 Woolf Hall United States AIAA United States Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)1563478196

The problem of stabilization of an autonomous rotorcraft platform in a hover configuration subject to external disturbances is addressed. Necessary and sufficient conditions are presented for static output-feedback control of linear time-invariant systems using the H∞ approach. Simplified conditions are derived which only require the solution of two coupled matrix design equations. It is shown that the static output-feedback H ∞ solution does not generally yield a well-defined saddle point for the zero sum differential game;conditions are given under which it does. This paper also proposes a numerically efficient solution algorithm for the coupled design equations to determine the output-feedback gain. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example. The rotorcraft model is first loop shaped to achieve desired characteristics about the hover operating condition.

关键词： Helicopter rotors

来源：评论

学校读者我要写书评

暂无评论

Design of SMA actuated light weight parallel manipulator with Intelligent Controller

Design of SMA actuated light weight parallel manipulator wit...

引用

作者： Sreekumar, M. Nagarajan, T. Singaperumal, M. Zoppi, M. Molfino, R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab - Laboratory of Design and Measurement for Automation and Robotics DIMEC - Department of Mechanics and Machines Design University of Genova Via all'Opera Pia 15 a 16145 Genoa Italy

ISBN: (纸本)9783902661166

Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mechanisms in which the linear-rotary actuators and spherical-rotary joints are replaced by smart actuators and with or without flexure joints. This paper describes about a lightweight miniature parallel manipulator of size 17.5mm dia.x25mm height, made of Beryllium-Copper spring steel and actuated by Shape Memory Alloy (SMA) actuators. The system modelling which includes dynamics and kinematics analysis is briefly described. The possibility of incorporating an Intelligent Fuzzy Controller is investigated. Preliminary simulation results are presented. Copyright © 2006 IFAC.

关键词： Fuzzy 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：