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IEEE Latin American Robotics Symposium, LARS

作者： Márcio V. de Araujo Glaumo N. da Silva Lennedy C. Soares Pablo J. Alsina Department of Mechanical Engineering Federal University of Rio Grande do Norte Natal Brazil Federal Institute of Education Science and Technology of Rio Grande do Norte (IFRN) Rio Grande do Norte Brazil Departament of Computing Engineering and Automation Federal University of Rio Grande do Norte Natal Brazil

Currently the increasing number of robotic devices for application in the mobility of people who had suffered some type of spinal cord injury, it is necessary to develop new equipment more adaptable, safe and efficient. Robotic devices that aid in locomotion of paraplegic people can play their function, they must be able to reproduce the lost movements with most of fidelity and security. This paper presents a prototype of an active orthosis for lower limbs developed by the robotic and dedicated systems group of department of computing engineering and automation (DCA/UFRN) named Ortholeg. The proposed orthosis is an orthopedic device with the main objective of providing walking capacity to people with partial or total loss of limbs movements. The orthosis was projected to reproduce the movements of human gait. The movements of the joints of the orthosis are controlled by DC motors equipped with mechanical reductions, whose purpose is to reduce rotational speed and increase the torque, thus generating smooth movements. An embedded electronic system for sensory data acquisition and motor control was projected.

关键词： Joints Prototypes DC motors Legged locomotion Knee Hip Torque

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${\cal H}_{\infty}$ Model Reduction of Takagi–Sugeno Fuzzy Stochastic Systems

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IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 2012年第6期42卷 1574-1585页

作者： Xiaojie Su Ligang Wu Peng Shi Yong-Duan Song Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin China School of Engineering and Science Victoria University Melbourne VIC Australia School of Mathematics and Statistics University of South Australia Adelaide SA Australia Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd UK School of Automation Chongqing University Chongqing China

This paper is concerned with the problem of H ∞ model reduction for Takagi-Sugeno (T-S) fuzzy stochastic systems. For a given mean-square stable T-S fuzzy stochastic system, our attention is focused on the construction of a reduced-order model, which not only approximates the original system well with an H ∞ performance but also translates it into a linear lower dimensional system. Then, the model reduction is converted into a convex optimization problem by using a linearization procedure, and a projection approach is also presented, which casts the model reduction into a sequential minimization problem subject to linear matrix inequality constraints by employing the cone complementary linearization algorithm. Finally, two numerical examples are provided to illustrate the effectiveness of the proposed methods.

关键词： Reduced order systems Stochastic systems Fuzzy systems Symmetric matrices Takagi-Sugeno model

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Tool Sequence Optimization Based on Three Logical Modes of Robot Control via CPLEX Optimization

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Journal of Shanghai Jiaotong university(Science) 2011年第4期16卷 436-440页

作者：孙亮亮刘炜柴天佑 Manufacturing Computing Laboratory Electrical Engineering DepartmentUniversity of Connecticut Storrs Key Laboratory of Integrated Automation of Process Industry Northeastern University

Cluster tools have advantages of shorter cycle times,faster process development,and better yield for less *** sequence of dual-arm cluster tools is a complex logistics process during the semiconductor *** use of cluster tools is naturally very significant to competitive fab *** an optimized sequence in a computationally efficient manner and assessing the quality of the requirements to improve the fab production are the key factors for semiconductor manufacturing *** Petri net modeling is introduced to minimize the makespan of the process for the three different logical modes and select a better mode after comparing the makespan among the three logical *** tool sequence optimization problem is formulated as optimization firing transition sequences based on the Petri net and then the formulation is converted to be linearly solved by the branch-and-cut method in the standard commercial solver *** methods for the linear conversion are *** to the limited calculation time requirement for the real production and the large scale of the problem,special methods for the efficiency tuning are applied according to the characteristics of the *** testing is supported by one of the most advanced semiconductor enterprises and the computational results show significant improvement compared with the traditional manual sequence results.

关键词： logical modes CPLEX branch and cut Petri net tool sequence optimization

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Gain-Scheduled H-infinity Observer Design for Nonlinear Stochastic Systems with Time-Delay and Actuator Saturation

Gain-Scheduled H-infinity Observer Design for Nonlinear Stoc...

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American Control Conference

作者： Yanyan Yin Peng Shi Fei Liu Hamid Reza Karimi Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi Jiangsu 214122 P. R. China Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Engineering Faculty of Engineering and Science University of Agder N-4898 Grimstad Norway

ISBN: (纸本)9781457710957

In this paper, we propose a method for designing continuous gain-scheduled robust H_∞ observer on a class of extended stochastic nonlinear systems subject to time delay and actuator saturation. Initially, gradient linearization procedure is applied to describe such extended nonlinear systems into several model-based linear systems. Next, a robust linear H_∞ observer is designed to such linear stochastic models. Subsequently, a convex hull set is investigated and sufficient condition is derived in terms of feedback observer to determine whether a given initial condition belongs to an ellipsoid invariant set. Finally, continuous gain-scheduled approach is employed to design continuous nonlinear observers on the entire extended nonlinear jump system. A simulation example is given to illustrate the effectiveness of developed techniques.

关键词： Nonlinear stochastic system time delay Observers actuators system clock INITIAL CONDITIONS Nonlinear systems

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Fully Autonomous Quadrotor: A Testbed Platform for Aerial Robotics Tasks

Fully Autonomous Quadrotor: A Testbed Platform for Aerial Ro...

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IEEE Latin American Robotics Symposium, LARS

作者： João P. F. Guimarães Tania L. Laura Armando S. Sanca Alessandro N. Schildt Michel S. de-Deus Pablo J. Alsina Andre T. da-Silva Adelardo A. D. Medeiros Federal Institute of Education Science and Technology of Rio Grande do Norte (IFRN) Rio Grande do Norte Brazil Departament of Computing Engineering and Automation Federal University of Rio Grande do Norte Natal Brazil Technology Department State University of Feira de Santana Bahia Brazil

This paper presents a strategy for an attitude and altitude control of a fully autonomous quad rotor helicopter. The hardware and software architecture of the proposed system is based on master-slave paradigm, where the master device is an embedded PC allowing high degree of autonomy. This paper focuses on the low level stabilization control. The stabilization approach is based on a transformation of the input variables of the system to perform a decoupled control. Experimental results of attitude and altitude control of the quad rotor prototype are shown.

关键词： Propellers Attitude control Base stations Brushless motors Robot sensing systems Pulse width modulation

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A topology-preserving system for environmental models forecasting

A topology-preserving system for environmental models foreca...

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作者： Corchado, Emilio Mata, Aitor Baruque, Bruno Corchado, Juan M. Pérez-Lancho, Belén Department of Computing Science and Automation University of Salamanca Spain Department of Civil Engineering University of Burgos Spain

This inter-disciplinary study presents a novel mathematical simulation model based on an algorithm for the summarization of self-organizing maps ensembles applied under the case-based reasoning (CBR) methodology to perform forecasting tasks. This methodology represents a knowledge-extraction frame, where past information is used to generate new solutions to new problems. The novel summarization algorithm based on topology-preserving models organizes the stored information simplifying the retrieval of the most useful information from the case base. This algorithm is used to organize the case base and to improve the speed and efficiency of the retrieval phase of the CBR cycle within the explained predicting system. The developed mathematical system was applied to a real case of study: a forest fire forecasting data set. Forest fires represent an environmental risk that should be predicted in order to avoid further damages. This novel system was able to predict the future situation of geographic areas after a forest fire had been originated. © 2011 Taylor & Francis.

关键词： Case based reasoning

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Recursive filtering for a class of nonlinear systems with missing measurements

Recursive filtering for a class of nonlinear systems with mi...

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UKACC International Conference on Control (CONTROL)

作者： Jun Hu Zidong Wang Bo Shen Chenxiao Cai James Lam Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China School of Automation Nanjing University of Science and Technology of PLA Nanjing China Department of Information Systems and Computing Brunel University London UK Department of Mechanical Engineering University of Hong Kong Hong Kong China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany

ISBN: (纸本)9781467315593

This paper is concerned with the finite-horizon recursive filtering problem for a class of nonlinear time-varying systems with missing measurements. The missing measurements are modeled by a series of mutually independent random variables obeying Bernoulli distributions with possibly different occurrence probabilities. Attention is focused on the design of a recursive filter such that, for the missing measurements, an upper bound for the filtering error covariance is guaranteed and such an upper bound is subsequently minimized by properly designing the filter parameters at each sampling instant. The desired filter parameters are obtained by solving two Riccati-like difference equations that are of a recursive form suitable for online applications. A simulation example is exploited to demonstrate the effectiveness of the proposed filter design scheme.

关键词： Upper bound Estimation Difference equations Kalman filters Educational institutions Random variables Noise

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Guaranteed cost reliable control for fuzzy systems subject to the actuator failure

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ICIC Express Letters, Part B: Applications 2012年第5期3卷 1085-1092页

作者： Huang, Ling Wang, Kai You, Bo Shi, Peng Liu, Ji School of Automation Harbin University of Science and Technology No. 52 Xuefu Rd Nangang Dist. Harbin 150080 China Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd CF37 1DL United Kingdom College of Electrical and Electronic Engineering Harbin University of Science and Technology No. 52 Xuefu Rd Nangang Dist. Harbin 150080 China

For a class of T-S fuzzy systems with parametric uncertainties, the guaranteed cost reliable control with the actuator failure is designed based on linear matrix inequality (LMI) approach. Sufficient condition for the existence of the guaranteed cost reliable state feedback controller is established by using the parallel distributed compensation strategy. And the parametric design approach for the guaranteed cost reliable controller is presented by LMIs. Finally, an illustrative example is given to demonstrate the effectiveness of the design method. © 2012 ICIC International.

关键词： Fuzzy systems

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TP transformation based control of rotary pendulum

TP transformation based control of rotary pendulum

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作者： Ileš, Sandor Matuško, Jadranko Kolonić, Fetah Department of Electrical Machines Drives and Automation Faculty of Electrical Engineering and Computing University of Zagreb Croatia

ISBN: (纸本)9789532330670

The Tensor Product (TP) model transformation is a recently proposed technique for transformation of a given Linear Parameter Varying (LPV) state-space model into polytopic model form, namely, to parameter varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a relatively short time and the Linear Matrix Inequality (LMI)-based control design frameworks can immediately be applied to the resulting polytopic models. In this paper, such control approach of nonlin-ear systems is applied to the control of rotary pendulum gantry. Pendulum in hanging position represents simplified model of the real industry crane application. On the other hand, inverted pendulum is a classic problem in dynamics and control theory and widely used as a benchmark for testing control algorithms. In order to reach upright position, self erecting technique is employed. LMI control algorithm obtained for both positions is merged using self erecting control algorithm and tested in real experimental setup. © 2011 MIPRO.

关键词： Position control

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Global robust output regulation of nonlinear systems subject to a nonlinear exosystem

Global robust output regulation of nonlinear systems subject...

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作者： Yang, X. Huang, J. Applied Control and Computing Laboratory Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9783902661937

The global robust output regulation problem for nonlinear plants subject to nonlinear exosystems has been a challenging problem and has not been well addressed. The main difficulty lies in finding a suitable internal model. In this paper, we first propose a new class of internal models which is guaranteed to exist under the generalized immersion condition [2]. An advantage of this internal model is that it is zero input globally asymptotically stable. This fact will facilitate the global stabilization of the augmented system associated with the given plant and the internal model. Then we will further utilize this class of internal models to solve the global robust output regulation problem for output feedback systems with a nonlinear exosystem. © 2011 IFAC.

关键词： Internal model design Nonlinear exoystem Output regulation

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