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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Parallel mining and application of fuzzy association rules

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Frontiers of Electrical and Electronic Engineering in China 2006年第2期1卷 177-182页

作者： LU Jian-jiang XU Bao-wen ZOU Xiao-feng KANG Da-zhou LI Yan-hui ZHOU Jin Institute of Command Automation PLA University of Science and TechnologyNanjing 210007China Department of Computer Science and Engineering Southeast UniversityNanjing 210096China

Quantitative attributes are partitioned into several fuzzy sets by using fuzzy c-means *** c-means algorithm can embody the actual distribution of the data,and fuzzy sets can soften the partition ***,we improve the search technology of apriori algorithm and present the algorithm for mining fuzzy association *** the database size becomes larger and larger,a better way is to mine fuzzy association rules in *** the parallel mining algorithm,quantitative attributes are partitioned into several fuzzy sets by using parallel fuzzy c-means *** parallel algorithm is improved to discover frequent fuzzy attribute set,and the fuzzy association rules with at least a minimum confidence are generated on all *** experiment results implemented on the distributed linked PC/workstation show that the parallel mining algorithm has fine scaleup,sizeup and ***,we discuss the application of fuzzy association rules in the *** example shows that the accuracy of classification systems of the fuzzy association rules is better than that of the two popular classification methods:C4.5 and CBA.

关键词： Data mining Association rules Fuzzy Parallel Classification

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A distributed multimedia CDN model with P2P architecture

A distributed multimedia CDN model with P2P architecture

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2006 International Symposium on Communications and Information Technologies, ISCIT

作者： Guomin, Zhang Changyou, Xing Ming, Chen Department of Computer Science Institute of Command Automation PLA University of Science and Technology No. 1 Hai Fu Xiang Road 210007 Nanjing China

Use for reference of the great success of P2P in distributed file sharing and locating, by abolishing CDN central node and making all POP nodes, which adopt the cluster technique, being peers to each other, a distributed multimedia CDN model with P2P architecture is put forward. In order to implement the global load optimization, the two-level load balance algorithm based on network measurement is proposed. Files are sliced up and transmitted through P2P mechanism to satisfy the requirement on real time multi-media application and high quality of service. Results of analysis show us that this multimedia CDN model has better expansibility, robustness, and quality of service. © 2006 IEEE.

关键词： Quality of service

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Reasoning with fuzzy ontologies

Reasoning with fuzzy ontologies

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2nd International Workshop on Contexts and Ontologies: Theory, Practice and applications, C and O 2006 - Collocated with the 17th European Conference on Artificial Intelligence, ECAI 2006

作者： Li, Yanhui Xu, Baowen Lu, Jianjiang Kang, Dazhou Department of Computer Science and Engineering Southeast University Nanjing 210096 China Institute of Command Automation PLA University of Science and Technology Nanjing 210007 China

By the development of Semantic Web, increasing demands for vague information representation have triggered a mass of theoretical and applied researches of fuzzy ontologies, whose main logical infrastructures are fuzzy description logics. However, current tableau algorithms can not supply complete reasoning support within fuzzy ontology: reasoning with general TBox is still a difficult problem in fuzzy description logics. The main trouble is that fuzzy description logics adopt fuzzy models with continuous but not discrete membership degrees. In this paper, we propose a novel semantical discretization to discretize membership degrees in fuzzy description logic FSHIN. Based on this discretization, we design discrete tableau algorithms to achieve reasoning with general TBox.

关键词： Data description

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Bayesian decision-theoretic causation analysis for gas explosion

Bayesian decision-theoretic causation analysis for gas explo...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Cai, Linqin Sun, Yining Mei, Tao Zuchang, Ma Department of Automation Chinese Academy of Sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424404665

Frequent mine gas incident in china fully shows there must be many undiscovered essential factors in all previous gas incident investigations. Exploring a new analysis approach is vital to prevent and control mine gas emergency. A Bayesian decision-theoretic causation analysis method was introduced to study the mine gas incident. A typical gas explosion case was explained. The interaction law of human, machine, environment, and management factors causing mine gas incident was discussed. The evolution process of the connotative factors from the uncertain state to the certain state was discovered, and the relationships between the external factors and the internal factors were revealed. © 2006 IEEE.

关键词： Decision trees

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Modeling and analyzing multi-agent task plans for intelligent virtual training system using petri nets

Modeling and analyzing multi-agent task plans for intelligen...

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

作者： Linqin, Cai Tao, Mei Yining, Sun Lei, Sun Zuchang, Ma Department of Automation University of Science and Technology of China Chinese Academy of Sciences Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424403324

Integrated virtual reality with Intelligent Tutoring System, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans are reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, Hierarchy Colored Petri Nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model. ©2006 IEEE.

关键词： Intelligent systems

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Modeling and Analyzing Multi-agent Task Plans for Intelligent Virtual Training System using Petri Nets

Modeling and Analyzing Multi-agent Task Plans for Intelligen...

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World Congress on Intelligent Control and automation (WCICA)

作者： Linqin Cai Tao Mei Yining Sun Lei Sun Zuchang Ma Department of Automation Center for Biomimetic Sensing and Control Research Center for Biomimetic Sensing and Control ResearchChinese Academy of sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering and Physics Mianyang China

Integrated virtual reality with intelligent tutoring system, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, hierarchy colored Petri nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model

关键词： Intelligent systems Petri nets Machine intelligence Virtual reality Railway safety Sun Biomimetics Automatic control Control systems computer architecture

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Noninterference model for nondeterministic systems

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Ruan Jian Xue Bao/Journal of Software 2006年第7期17卷 1601-1608页

作者： Xie, Jun Huang, Hao Institute of Command Automation PLA University of Science and Technology Nanjing 210007 China Department of Computer Science and Technology Nanjing University Nanjing 210093 China

The noninterference concept for actions of system to information domains is proposed. On the basis of this concept, the noninterference model is extended to nondeterministic systems. The noninterference concept based on actions of system simplifies the 'purge' of the action sequence of the system. As a result, this model has concise unwinding conditions which are easy to understand and use. The extended model can be used to verify not only static but also dynamic information flow policies. Finally, a dynamic label based access control model is designed, in which the concrete semantic of the actions such as read, write and execute are defined, and its security is verified by the noninterference model.

关键词： Information technology

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Algorithm of r-adjustable negative selection algorithm and its simulation analysis

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Jisuanji Xuebao/Chinese Journal of computers 2005年第10期28卷 1614-1619页

作者： Zhang, Heng Wu, Li-Fa Zhang, Yu-Sen Zeng, Qing-Kai Institute of Communication Engineering PLA University of Science and Technology Nanjing 210007 China Institute of Command Automation PLA University of Science and Technology Nanjing 210007 China Department of Computer Science and Technology Nanjing University Nanjing 210093 China Laboratory for Novel Software Technology Nanjing University Nanjing 210093 China

The Artificial Immune System (AIS) is introduced briefly, then as one of the main algorithms in AIS, negative selection algorithm is discussed. In order to reduce the number of holes which is inevitable in negative selection algorithm, an algorithm of r-adjustable negative selection algorithm is put forward. The new algorithm can reduce the number of holes through adjusting threshold of matching. The simulation results show that both the number of iteration to generate mature detector and the number of holes decline quickly, while the rate of detecting abnormity raises.

关键词： Information technology

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A mechanism to defend SYN flooding attack based on network measurement system

A mechanism to defend SYN flooding attack based on network m...

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International Conference on Information technology: Research and Education (ITRE)

作者： Qiu Xiaofeng Hao Jihong Chen Ming Computer Department Institute of Command Automation People''s Liberation Army University of Science and Technology Nanjing China

SYN flooding attack is a common method employed in denial of service (DoS) and distributed denial of service (DDoS). It's hard to maintain the effective defense merely by passive defense measures such as monitoring and filtering. To avoid influencing the legitimate service requests and stop attacks at the source, the attack-detection and service-protection must be combined with the trace of the attack source. Having studied and concluded the features of such attacks, we propose a few key metrics to judge if an attack is undergoing. In this paper, the based platform, network measurement system (NMS) is outlined first. Then the detection method is discussed in detail, focusing on the features of service-protection, attack-elimination, and how to trace back the attack source. Finally, we present the experiments of the defending mechanism and analyze their results.

关键词： Floods TCPIP computer networks Distributed computing automation Programmable logic arrays computerized monitoring Modems Security computer crime

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