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control System of an Automated Nanohandling Robot Cell

Control System of an Automated Nanohandling Robot Cell

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IEEE International Symposium on Intelligent control (ISIC)

作者： Christian Stolle Sergej Fatikow Division Microrobotics and Control Engineering Department of Computing Science University of Oldenburg Germany

Current research work on the development of a nanohandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two microrobots operate in the vacuum chamber of an SEM. In order to enable automatic nanohandling, a modular control system architecture is proposed. Different microrobots can be integrated in a flexible manner using a common control interface. The system easily scales up for more complex robot and sensor setups. Parallel execution of open and closed-loop control tasks can be performed. The functionality of the robot cell is exemplified by handling and mechanical characterization of carbon nanotubes (CNT).

关键词： Automatic control control systems Robotics and automation Scanning electron microscopy Open loop systems Actuators Robot sensing systems Micromanipulators Nanopositioning Sensor systems

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Flecs, a flexible coupling shell application to fluid-structure interaction

Flecs, a flexible coupling shell application to fluid-struct...

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8th International Workshop on Applied Parallel computing, PARA 2006

作者： Nool, Margreet Lirigen, Erik Jan De Boer, Aukje Bijl, Hester CWI Department of Computing and Control P.O. Box 94079 1090 GB Amsterdam Netherlands Habanera Software Company Delft Netherlands TU Delft Faculty of Aerospace Engineering Delft Netherlands

ISBN: (纸本)9783540757542

Numerical simulations involving multiple, physically different domains can be solved effectively by coupling simulation programs, or solvers. The coordination of the different solvers is commonly handled by a coupling shell. A coupling shell synchronizes the execution of the solvers and handles the transfer of data from one physical domain to another. In this paper, we introduce FLECS, a flexible coupling shell, designed for implementing and applying an interface for multidisciplinary simulations with superior accuracy. The aim is not to achieve the best possible efficiency or to support a large feature set, but to provide a flexible platform for developing new data transfer algorithms and coupling schemes. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Parallel processing systems

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Multi-Dimensional Biomedical Image De-Noising using Haar Transform

Multi-Dimensional Biomedical Image De-Noising using Haar Tra...

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International Conference on Digital Signal Processing (DSP)

作者： Eva Hostalkova Oldrich Vysata Ales Prochazka Department of Computing and Control Engineering Institute of Chemical Technology in Prague Prague Czech Republic

Image de-noising and enhancement form two fundamental problems in many engineering and biomedical applications. The paper is devoted to the study of the multi-resolution approach to this topic employing the Haar wavelet transform and its application to processing of volumetric magnetic resonance image sets corrupted with additional noise. The resulting coefficients are thresholded and exploited for subsequent reconstruction. The Haar transform is evaluated using both the two-dimensional approach applied individually to each image layer, and the three-dimensional technique performed on the image volume as a whole. In noise reduction, the latter approach profits from similarities between the neighbouring image layers and shows a considerable improvement over the former method. Results are presented in numerical and graphical forms using three-dimensional visualization tools.

关键词： Biomedical imaging Noise reduction Image denoising Biomedical engineering Wavelet transforms Magnetic resonance Magnetic noise Image reconstruction Performance evaluation Visualization

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GA-based on-line optimization of CAN message scheduling

GA-based on-line optimization of CAN message scheduling

引用

2007 Mediterranean Conference on control and Automation, MED

作者： Duzanec, D. Stare, Z. Kovacic, Z. Ziegler d.o.o. Construction and Development Department Zagreb Croatia University of Zagreb Faculty of EE and C Department of Electronic Systems and Information Processing Croatia University of Zagreb Faculty of EE and C Department of Control and Computing Engineering Zagreb Croatia

ISBN: (纸本)142441282X

In this paper we describe a design and implementation of an on-line scheduling algorithm for controller Area Network (CAN) messages that exploits properties of genetic algorithms (GA) to achieve global message throughput optimization. The use of GA-based scheduler has been found effective even in time-critical distributed control systems, such as the considered control system that encompasses several control subsystems at the fire fighting vehicle. The experimental results show that the GA-optimized CAN message scheduler considerably decreased the average message queuing time. ©2007 IEEE.

关键词： Genetic algorithms

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Towards reliable OSGi operating framework and applications

Towards reliable OSGi operating framework and applications

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作者： Heejune, Ahn Hyukjun, Oh Jiman, Hong Department of Control and Instrumentation Engineering Seoul National University of Technology Seoul 139-743 Korea Republic of School of Electrical Engineering Kwangwoon University Seoul 139-701 Korea Republic of School of Computing Soongsil University Seoul 156-743 Korea Republic of

Upcoming ubiquitous computing systems are required to operate in dynamic, diverse, unverified, and unpredictable operating environment. The OSGi (Open Service Gateway initiative) framework employs the service-oriented approach and the Java ClassLoader architecture for the runtime service deployment, that are well suited to the dynamic environment envisioned for home networking and ubiquitous computing. However, the current OSGi framework does not provide full reliability measures, especially for failure conditions, such as network, device, and application failures. This paper analyzes software reliability issues in OSGi framework and proposes a proxy-based reliable extensions. The design concept was implemented and partly tested on an open source OSGi platform, Oscar, for the smart home residential gateway test-bed.

关键词： Gateways (computer networks)

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Kinematic simulative analysis of virtual potential field method for AUV trajectory planning

Kinematic simulative analysis of virtual potential field met...

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Mediterranean Conference on control and Automation (MED)

作者： M Barisic Z. Vukic N. Miskovic Department of Computer and Control Engineering Laboratory for Underwater Systems and TechnologiesFaculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper deals with an analysis of applicability, capabilities, benefits and pitfalls of using a virtual potential field approach to autonomously planning trajectories in non-communicating autonomous underwater vehicles (AUV-s). Virtual potentials represent an approach to this problem with cross-layer design features. Examples of different layers of control that can be achieved with the same fundamental approach are: obstacle-avoidance, energy-optimal trajectories, forming up with other moving agents, controlled formation fragmentation into well-posed sub-formation etc. This paper shows, on the basis of extensive simulated experiments, that such a trajectory planner based on virtual potentials, guarantees good extendibility, scalability and performance in a hard-real-time hardware-in-the-loop system.

关键词： Kinematics Analytical models Trajectory Computational modeling Computer simulation Electric variables measurement Feature extraction Stability Underwater vehicles Communication system control

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

引用

Mediterranean Conference on control and Automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Underwater Systems and Technologies Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Laboratory for Underwater Systems and Technologies Zagreb Croatia

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system).

关键词： Transfer functions Relays Frequency control systems control engineering computing Delay systems Vehicle dynamics Open loop systems Delay effects Feedback

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Benchmark problems of Signal Processing and control for Testing Emergent Architectures and Programming Techniques of DSP's, FASIC's, and PLD's

Benchmark problems of Signal Processing and Control for Test...

引用

Computer Information Systems and Industrial Management Applications (CISIM)

作者： Adam Dabrowski Pawel Pawlowski Department of Computing and Management Chair of Control and System Engineering Division of Signal Processing and Electronic Systems Poznań University of Technology Poznan Poland

In this paper we present four carefully selected computationally intensive signal processing problems, which can serve as benchmark applications for efficiency testing of modern DSP's, FASIC's, and PLD's.

关键词： Benchmark testing Signal processing Process control Digital signal processing Signal generators control systems Vehicle crash testing Circuit testing System testing Finite impulse response filter

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A Trajectory Tracking control Scheme of a Human Arm in The Sagittal Plane

A Trajectory Tracking Control Scheme of a Human Arm in The S...

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IEEE International Conference on Mechatronics and Automation

作者： Shan Liu Yongji Wang Quanmin Zhu Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China Faculty of Computing Engineering and Mathematical Sciences University of West of England Bristol UK

This paper presents a trajectory tracking control scheme for the human arm moving in sagittal plane. The arm is described by a musculoskeletal model with two degrees of freedom and six muscles, and the control signal is applied directly in muscle space. To design the intelligent controller, an evolutionary diagonal recurrent neural network (EDRNN) is integrated with proper performance indices, which a genetic algorithm (GA) and evolutionary program (EP) strategy are effectively combined with the diagonal neural network (DRNN). The hybrid GA with EP strategy is applied to optimize the DRNN structure and a dynamic back-propagation algorithm (DBP) is used for training the network weights. The effectiveness of the control scheme is demonstrated through a simulated case study.

关键词： Trajectory Humans Muscles Recurrent neural networks Musculoskeletal system Algorithm design and analysis Intelligent networks Genetic algorithms Neural networks Heuristic algorithms

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An Authentication and Access control Framework for Group Communication Systems in Grid Environment

An Authentication and Access Control Framework for Group Com...

引用

International Conference on Advanced Information Networking and Applications (AINA)

作者： Deqing Zou Laurence T. Yang Weizhong Qiang Xueguang Chen Zongfen Han Services Computing Technology and System Lab Huazhong University of Science and Technology Wuhan China Department of Control Science Saint Francis Xavier University Canada Department of Control Science & Engineering Huazhong University of Science and Technology Wuhan China

Collaboration is used for information sharing and activity coordinating, and it exists broadly in many fields. Group communication enables efficient communication between a set of processes logically organized into groups and communicating via multicast in an asynchronous environment. One of the key technologies for collaborative applications is secure group communication. Current research on secure group communication scarcely considers the existing security mechanism in local systems. As a result, group communication systems couldn 't provide general support for collaborative applications running on a specific system. Based on the existing grid security technologies, we propose an authentication and access control framework at virtual organization (VO) level for group communication in grid environment. By introducing role-based access control (RBAC) and attribute-based approach, we define group management policies and design group control protocols. The protocols are analyzed from three aspects: compatibility, performance, and security. Finally, we implement a prototype based on GridShib.

关键词： Authentication Access control Collaboration Communication system security Communication system control Authorization control systems Grid computing Isolation technology Computer science

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