检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh H. Stephanou New York State Center for Advanced Technology in Robotics Automation and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the control law required to control a plant in such a space. A complete set of derivations of the quaternion algebra used to accomplish the optimal control have also been developed. The advantage of this approach is that it decouples the position and orientation states, thereby reducing the complexity of the control algorithms. The intended application of this research is task-level control of the five-fingered Anthrobot mounted on a PUMA 760.

关键词： Quaternions Optimal control Space technology Orbital robotics Force control robotics and automation Manufacturing automation Computer aided manufacturing Motion control Acceleration

来源：评论

学校读者我要写书评

暂无评论

Systematic design of novel architectures for implementation of Radon Transform

Systematic design of novel architectures for implementation ...

引用

Midwest Symposium on Circuits and Systems (MWSCAS)

作者： D. Soudris T. Chronopoulos N. Koussoulas T. Stouraitis Department of Electrical & Computer Engineering Democritus University of Thrace Xanthi Greece Lab of Automation and Robotics Department of Electrical Engineering University of Patras Achaia Greece VLSI Design Laboratory Department of Electrical Engineering & Computer Technology University of Patras Achaia Greece

A systematic methodology is introduced for designing highly pipelined array architectures for implementation of Discrete Radon Transform and its Inverse, starting from the algorithmic level and ending with the architectural (hardware) level. Due to large amount of data, the original algorithm is partitioned into nested loops that can be easily mapped onto fixed-size hardware. The proposed methodology derives a plethora of alternative architectures, which meet various parameters such as high-throughput rate, maximum hardware utilization, and pipelinability. Moreover, the derived architectures are piecewise regular and consist of linear and/or 2-D systolic arrays.

关键词： Discrete transforms Computer architecture Algorithm design and analysis Partitioning algorithms Hardware Systolic arrays Geophysics computing Concurrent computing Image reconstruction robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Systems, Modelling and Control Theory Issues in the Global Operation of Industrial Processes

引用

IFAC Proceedings Volumes 1995年第10期28卷 221-228页

作者： N. Karcanias H.N. Koivo C. Kyriakopoulos Control Engineering Centre City University Northampton Square London EC1V OHB England Department of Electrical Engineering Tampere University of Technology P O B 692 SF-33101 Tampere Finland Laboratory of Automation and Robotics Department of Electrical Engineering University of Patras 26001 RION Greece

The paper deals with the overall problem of process operations of large industrial processes and aims to idenify a number of important Systems and Control Theory type issues which are of generic character and they are also relevant to both continuous and discrete type processes. It is argued that modelling is central to the overall exercise of understanding global process operations and that some new form of systems theory is needed to transcent the boundaries of a given type model family. The development of the systems approach for understanding the issues of global operations is shown to be based on four general clusters of system type problems. These are the Model Embedding Problem (MEP), the Model Interface Problem (MIP), the Variable Complexity Modelling Problem (VCMP) and the Model Composition Problem (MCP) families. The role of such problems for global process operations is discussed and their main features are established

关键词：

来源：评论

学校读者我要写书评

暂无评论

Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

来源：评论

学校读者我要写书评

暂无评论

Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

来源：评论

学校读者我要写书评

暂无评论

Robust neural network control of rigid-link electrically-driven robots

Robust neural network control of rigid-link electrically-dri...

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： C.M. Kwan F.L. Lewis D.M. Dawson Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA

A robust neural network (NN) controller is proposed for the motion control of rigid-link electrically-driven (RLED) robots. The NNs are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the uniformly, ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require persistent excitation conditions and no lengthy and tedious preliminary analysis to determine a regression matrix is needed.

关键词： Robust control Neural networks Robots robotics and automation Stability Actuators Nonlinear dynamical systems Motion control Error correction Computer aided manufacturing

来源：评论

学校读者我要写书评

暂无评论

Tetrobot: A Modular System for Hyper-Redundant Parallel robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering Systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

来源：评论

学校读者我要写书评

暂无评论

Robust adaptive control of robots using neural network: global tracking stability

Robust adaptive control of robots using neural network: glob...

引用

IEEE Conference on Decision and Control

作者： C.M. Kwan D.M. Dawson F.L. Lewis Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA

A desired compensation adaptive law-based neural network (DCAL-NN) controller is proposed for the robust position control of rigid-link robots. The NN is used to approximate a highly nonlinear function. The controller can guarantee the global asymptotic stability of tracking errors and boundedness of NN weights. In addition, the NN weights here are tuned on-line, with no off-line learning phase required. When compared with standard adaptive robot controllers, one does not require persistent excitation conditions, linearity in the parameters, or lengthy and tedious preliminary analysis to determine a regression matrix. The controller can be regarded as a universal reusable controller because the same controller can be applied to any type of rigid robots without any modifications.

关键词： Robust control Adaptive control Neural networks Programmable control Adaptive systems Position control Asymptotic stability Error correction Robot control Linearity

来源：评论

学校读者我要写书评

暂无评论

Motion control of a mobile robot with an onboard manipulator

Motion control of a mobile robot with an onboard manipulator

引用

IEEE/IAS International Conference on Industrial automation and Control, IA & C

作者： P.S. Shiakolas S. Jagannathan Visiting Assistant Professor Mechanical Engineering Department University of Texas Arlington Arlington TX USA Research Scientist-Automation and Robotics Resexch Institute University of Texas Arlington Arlington TX USA

Navigation and control of autonomous vehicles with onboard manipulator systems are currently being investigated for intelligent manufacturing applications. A multilayer neural network controller which feedback linearizes a mobile base with an onboard arm is presented. Feedback linearization using neural networks is used to take into account the complete dynamics with non-holonomic constraints. The neural network feedback linearization provides an inner loop that accounts for possible motion of the onboard arm. The neural network considered in this study does not require any a priori training but rather exhibits a learning while functioning feature. The weights of the network are dynamically updated on line. The cases of maintaining a desired course and speed and the case of disturbance rejection due to the interactive forces between the mobile base and the onboard arm are considered.< >

关键词： Motion control Mobile robots Neural networks Neurofeedback Manipulator dynamics Multi-layer neural network Navigation Control systems Remotely operated vehicles Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

A Deadlock Avoidance Policy for a Class of FMS

引用

IFAC Proceedings Volumes 1995年第24期28卷 281-286页

作者： A. Gurel O.C. Pastravanu F.L. Lewis Department of Electrical and Electronic Engineering Eastern Mediterranean University Famagusta North Cyprus Mersin 10 Turkey Department of Automatic Control and Industrial Informatics Technical University of Iasi 6600 Iasi Romania Automation and Robotics Research Institute The University of Texas at Arlington Forth Worth Texas 76118 USA

A real-time deadlock avoidance policy is proposed for a subclass of FMS. To model the flow of parts in the FMS, a new formulation, which separates the controller from the workcell dynamics, is adapted. The controller is rule-based, and is represented as a set of matrix equations over ( min , +) algebra. The proposed scheme is founded on a Petri net-based analysis of deadlock situations in FMS. It handles the problem of deadlock on an on-line basis, as part of the more general issue of conflict resolution.

关键词： Discrete-event manufacturing systems flexible manufacturing systems deadlock avoidance rule-based controller Petri-nets

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：