检索结果-内蒙古大学图书馆

International Conference on Information and Automation (ICIA)

作者： Wenbing Chen Xia Xu Ming Liu Yunjian Ge Min Zhu Department of Automation University of Science and Technology Hefei Anhui China Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Eng. Monash University VIC Australia

The advantage of neural network (NN) controllers lies on their capability of learning from training data to approximate highly nonlinear functions for nonlinear system control. In this paper, we present a MIMO neural network controller with two inputs and two outputs for flight control of a small-scale unmanned helicopter. The feedback is based on multiple on-board sensors including altitude meter, digital gyro, acceleration meter and GPS, etc. The neural network based controller has an adaptive NN PID configuration. According to the sensor measurement, it tunes the PID parameters k p , k b , and k d in real time to control the helicopter flying in the required attitude. The control law and its training scheme are presented. The MATLAB based simulation shows that the outputs of the system can responds the input signals accurately.

关键词： Adaptive systems Programmable control Adaptive control Neural networks Helicopters Nonlinear control systems Control systems Three-term control Training data Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Communication and Knowledge Intensive Engineering Modeling in Virtual Spaces

Communication and Knowledge Intensive Engineering Modeling i...

引用

International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： Laszlo Horvath Imre J. Rudas Simona Vaivoda Zsuzsa Preitl Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Budapest Hungary Department of Automation and Applied Informatics Fac. of Automation and Computer Science Polytechnic University of Timisoara Timisoara Romania

Engineering for development, production, and other product related company activities are being organized in virtual systems for lifecycle management of product data. This new age of engineering is a result of the continuous development for step-by-step moving of product design, analysis and other production engineering activities from conventional environments to modeling environments during the eighties and nineties. However, more developments were needed in knowledge based decision assistance in order to realize modeling of human intent, increasingly complex product structures, and efficient communication of product data. In recent years, a great change of engineering methodology and software produced program products in knowledge technology and advanced local and global communication. Group work of engineers is increasingly organized around special portals for engineering on the Internet. Although intensive research activities produced outstanding methods in knowledge-based solutions for engineering, these methods have not widespread in the industrial modeling practice. This paper attempts to evaluate the possibility that recent communication and knowledge intensive engineering modeling can be developed into communication and knowledge intensive virtual space technology. Paper starts with a discussion on integrated application of different groups of product modeling techniques. Following this, methods are evaluated for the management of product data (PDM). Next section emphasizes aspects, contexts, and intents as primary issues in modeling for relationships in product data and decisions by engineers. Finally, methods for the management of engineering activities for lifecycle of products are summarized, considering communities of engineers around Internet portals.

关键词： Knowledge engineering Data engineering Engineering management Portals Internet Production systems Design engineering Product design Production engineering Humans

来源：评论

学校读者我要写书评

暂无评论

F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

引用

2007 IEEE/RSJ International Conference on intelligent Robots and systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

来源：评论

学校读者我要写书评

暂无评论

Fractal scale descriptors based on 3d wavelet moments for 3d objects

Fractal scale descriptors based on 3d wavelet moments for 3d...

引用

International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Li Cui Ying Li Dong Xu Hua Li School of Mathematics Sciences Beijing Normal University Beijing China College of Computer Science and Technology Jilin University Changchun China Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China Graduate University of Chinese Academy of Sciences Beijing National Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy of Sciences Beijing Chinese Academy of Sciences Beijing China National Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy of Sciences Beijing China

In this paper, based on 3d wavelet moments we present a new method called fractal scale descriptors for 3d objects. Just like wavelet moments, they are still robust to translation, rotation and scale, and have the multi-resolution features in the radial direction, which can handle noise to some extent and provide multi-level features to satisfy various requirements. Furthermore the new method is prior to the original 3d wavelet moments in computational complexity by using the fast algorithm of the spherical harmonics together with the Mallat algorithm of the wavelets.

关键词： Fractals Wavelet analysis Pattern analysis Pattern recognition

来源：评论

学校读者我要写书评

暂无评论

Stability Analysis and Control of Repetitive Trajectory systems in the State-Domain: Roller Coaster Application

Stability Analysis and Control of Repetitive Trajectory Syst...

引用

IEEE International Symposium on intelligent Control (ISIC)

作者： Hyo-Sung Ahn YangQuan Chen Kevin L. Moore Wonpil Yu Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Center of Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA Division of Engineering Colorado Schml of Mines Golden CO USA Intelligent Robot Research Division Electronics and Telecommunications Research Institute Daejeon South Korea

This paper discusses the concepts of stability and asymptotic stability for state-dependent repetitive trajectory systems. An adaptive compensation method is proposed to compensate for disturbances that are a function of the system state. It will be shown that Lyapunov stability analysis can be performed in the state-domain if certain conditions are satisfied. The main theoretical contribution of the paper is to show that stability analysis can be carried out not only along the time axis but also in the state domain and that state-dependent disturbances or uncertainty can be successfully rejected. The motion dynamics of a roller coaster system is simulated to illustrate the practical importance of the proposed compensation method.

关键词： Stability analysis Control systems Friction Asymptotic stability Motion control Programmable control Adaptive control Lyapunov method Performance analysis Velocity control

来源：评论

学校读者我要写书评

暂无评论

A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

引用

IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Using the Waseda Bioinstrumentation System WB-1R to analyze Surgeon’s performance during laparoscopy - towards the development of a global performance index -

Using the Waseda Bioinstrumentation System WB-1R to analyze ...

引用

2007 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Massimiliano Zecca Filippo Cavallo Minoru Saito Nobutsuna Endo Yu Mizoguchi Stefano Sinigaglia Kazuko Itoh Hideaki Takanobu Giuseppe Megali Oliver Tonet Paolo Dario Andrea Pietrabissa Atsuo Takanishi Institute for Biomedical Engineering ASMeW Waseda University Shinjuku Tokyo Japan Scuola Superiore Sant'Anna CRIM Pisa Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Center for Computer Assisted Surgery EndoCAS Pisa Italy Department of Modern Mechanical Engineering Humanoid Robotics Institute (HRI) Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Minimally invasive surgery (MIS) has become very common in recent years, thanks to the many advantages it provides for patients. Since it is difficult for surgeons to learn and master this technique, several training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess his/her skills. This paper presents the use of the WB-1R (Waseda bioinstrumentation system no.1 refined), which was developed at Waseda University, Tokyo, to investigate and analyze a surgeon's movements and performance. Specifically, the system can measure the movements of the head, the arms, and the hands, as well as several physiological parameters. In this paper we present our experiment to evaluate a surgeon's ability to handle surgical instruments and his/her depth perception using a laparoscopic view. Our preliminary analysis of a subset of the acquired data (i.e. comfort of the subjects; the amount of time it took o complete each exercise; and respiration) clearly shows that the expert surgeon and the group of medical students perform very differently. Therefore, WB-1R (or, better, a newer version tailored specifically for use in the operating room) could provide important additional information to help assess the experience and performance of surgeons, thus leading to the development of a global performance index for surgeons during MIS. These analyses and modeling, moreover, are an important step towards the automatization and the robotic assistance of the surgical gesture.

关键词： Performance analysis Surges Laparoscopes robotics and automation Humanoid robots Management training Minimally invasive surgery intelligent robots USA Councils

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR CONTROL

引用

Asian Journal of Control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

来源：评论

学校读者我要写书评

暂无评论

Automatic seizure detection based on time-frequency analysis and artificial neural networks

引用

Computational Intelligence and Neuroscience 2007年第1期2007卷 80510页

作者： Tzallas, A.T. Tsipouras, M.G. Fotiadis, D.I. Department of Medical Physics Medical School University of Ioannina GR 451 10 Ioannina Greece Unit of Medical Technology and Intelligent Information Systems Department of Computer Science University of Ioannina GR 451 10 Ioannina Greece Biomedical Research Institute Foundation for Research and Technology-Hellas (BRI-FORTH) University of Ioannina GR 451 10 Ioannina Greece

The recording of seizures is of primary interest in the evaluation of epileptic patients. Seizure is the phenomenon of rhythmicity discharge from either a local area or the whole brain and the individual behavior usually lasts from seconds to minutes. Since seizures, in general, occur infrequently and unpredictably, automatic detection of seizures during long-term electroencephalograph (EEG) recordings is highly recommended. As EEG signals are nonstationary, the conventional methods of frequency analysis are not successful for diagnostic purposes. This paper presents a method of analysis of EEG signals, which is based on time-frequency analysis. Initially, selected segments of the EEG signals are analyzed using time-frequency methods and several features are extracted for each segment, representing the energy distribution in the time-frequency plane. Then, those features are used as an input in an artificial neural network (ANN), which provides the final classification of the EEG segments concerning the existence of seizures or not. We used a publicly available dataset in order to evaluate our method and the evaluation results are very promising indicating overall accuracy from 97.72 to 100.

关键词：

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：