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Visual tracking of robots in uncalibrated environments

Visual tracking of robots in uncalibrated environments

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hesheng Wang Weidong Chen Zhongli Wang Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

This paper presents a new adaptive controller for visual tracking control of a robot manipulator in 3D general motion with a fixed camera whose intrinsic and extrinsic parameters are uncalibrated. In addition to camera parameters, the feature positions in 3D space are also assumed unknown. Based on the fact that the unknown parameters appears linearly in the closed-loop dynamics of the system if the depth-independent interaction matrix is adopted to map the image errors onto the joint space of the manipulator, we developed a new adaptive algorithm to estimated the unknown parameters on-line. With a full consideration of dynamic responses of the robot manipulator, we employ the Lyapunov method to prove asymptotic convergence of the image errors. Experimental results are used to demonstrate the performance of the proposed approach.

关键词： Cameras Robot vision systems Trajectory Manipulator dynamics Joints

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Robust Filtering for Networked systems with Random Transmission Delays and Packet Dropouts

Robust Filtering for Networked Systems with Random Transmiss...

引用

2011 American control Conference (ACC)

作者： Yunze Cai Hua O. Wang Kazuo Tanaka Xiaoming Xu Department of Mechanical Engineering Boston University Boston MA USA Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiaotong University Shanghai China Department of Mechanical Systems and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Automation Shanghai Jiaotong University Shanghai China University of Shanghai for Science and Technology Shanghai China

This paper addresses a robust H_(infinity) filtering problem for networked systems that are subject to both random transmission delays and packet dropouts. To start with, a data transmission model is established by employing random series with Bernoulli distributions. A sufficient condition for robust stability with H_(infinity) constraints is derived for the filtering error system. The robust filter is designed in terms of the feasibility of a linear matrix inequality (LMI). The numerical examples are provided to show the effectiveness of the data transmission model and the proposed filtering method.

关键词： Delay Filtering Robustness Data models Symmetric matrices Hidden Markov models Markov processes

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Hierarchical control scheme for voltage Harmonics Compensation in an islanded droop-controlled microgrid

Hierarchical control scheme for voltage Harmonics Compensati...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Mehdi Savaghebi Josep M. Guerrero Alireza Jalilian Juan C. Vasquez Tzung-Lin Lee Center of Excellence for Power System Automation and Operation Iran University of Science and Technology Iran Department of Automatic Control and Industrial Informatics Technical University of Catalonia Spain Institute of Energy Technology University of Aalborg Denmark Department of Electrical Engineering National Sun Yat-sen University Taiwan

In this paper, a microgrid hierarchical control scheme is proposed which includes primary and secondary control levels. The primary level comprises distributed generators (DGs) local controllers. The local controller mainly consists of active and reactive power controllers, voltage and current controllers, and virtual impedance loop. A novel virtual impedance structure is proposed to achieve proper sharing of non-fundamental power among the microgrid DGs. The secondary level is designed to manage compensation of voltage harmonics at the microgrid load bus (LB) to which the sensitive loads may be connected. Also, restoration of LB voltage amplitude and microgrid frequency to the rated values is directed by the secondary level. These functions are achieved by sending proper control signals to the local controllers. The simulation results show the effectiveness of the proposed control scheme.

关键词： Harmonic analysis Voltage control Power harmonic filters Impedance Frequency control Resistance

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Containment control of networked Lagrange systems with group dispersion and cohesion behaviors

Containment control of networked Lagrange systems with group...

引用

Chinese control Conference (CCC)

作者： Ziyang Meng Zongli Lin Wei Ren Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville 22904-4743 U.S.A. Department of Electrical and Computer Engineering Utah State University Logan 84322 U.S.A.

In this paper, distributed containment control with group dispersion and cohesion behaviors are discussed for a group of Lagrange systems. Both the cases of constant leaders' generalized coordinate derivatives and time-varying leaders' generalized coordinate derivatives are considered. The proposed control algorithms are shown to obtain velocity matching, connectivity maintenance and collision avoidance. In addition, the sum of the steady-state distances between followers and the convex hull formed by the leaders is shown to be bounded and this bound is explicitly given.

关键词： Lead Dispersion Topology Sensors Laplace equations Maintenance engineering Algorithm design and analysis

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A branch convergence approach to distributed dynamic service composition

A branch convergence approach to distributed dynamic service...

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International Conference on Advanced Computer Theory and engineering

作者： Ma, Lin Zhu, Ming Wang, Lei Department of Electronic Engineering and Information Science Key Laboratory of Network Communication System and Control CAS Hefei China Department of Automation Key Laboratory of Network Communication System and Control CAS Hefei China

ISBN: (纸本)9781424465408

Web Service composition is a very promising way to generate new services on service oriented architecture (SOA). It will come across subsequent branch convergence problem when implementing parallel process in the distributed environment, which is some parallel branches can't converge at one executive node. In this paper, we introduce a Branch Convergence Approach based on Common Node (BCACN) to solve this problem. A common node which is chosen before branches converging, make a decision to choose a convergent node, such that all subsequent branches can merge into an executive node. Experimental studies demonstrate the effectiveness of the proposed approach. © 2010 IEEE.

关键词： Information services

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Design and implementation of VoIP prepaid service based on RADIUS

Design and implementation of VoIP prepaid service based on R...

引用

2010 International Conference on Computer Application and system Modeling, ICCASM 2010

作者： Chen, Xuelian Hu, Jingtao Department of Information Engineering LiaoNing Provincial College of Communications China Department of Industrial Control System Shenyang Insitute of automation CAS ShenYang China

ISBN: (纸本)9781424472369

The prepaid service is a valid method to assure the credit of users that is prevalent used by vendors at present, and it is a very important and applied function. Firstly, the generic AAA architecture and the work principle of RADIUS protocol used by prepaid service are introduced simply. Secondly, the system structure of VoIP authentication and accounting system based on RADIUS is described. Finally, this paper emphasizes on the implementation of the VoIP prepaid service. The results show that the prepaid service can enlarge the function of VoIP authentication and accounting system and validly control the customer credit. © 2010 IEEE.

关键词： Network architecture

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Artificial neural networks eccentricity fault detection of induction motor

Artificial neural networks eccentricity fault detection of i...

引用

International Multi-Conference on Computing in The Global Information Technology

作者： Matić, Dragan Kulić, Filip Pineda-Sanchez, Manuel Pons-Llinares, Joan Department for Automation and System Control Faculty of Technical Science Novi Sad Serbia Department of Electrical Engineering Universidad Politécnica de Valencia Valencia Spain

ISBN: (纸本)9780769541815

This paper deals with eccentricity fault detection in a induction motor via artificial neural networks. Discriminative features are extracted from magnitude-frequency plot of line current spectra at characteristic frequencies. Based on this data, training and test sets for used artificial neural networks are made. Feedforward and radial basis function neural networks are used for tasks of rotor condition classification. Well trained artificial neural networks are capable to successfully classify rotor condition at medium and full shaft load for choosen features. Simple structure and implementation made them suitably for practical usage. © 2010 IEEE.

关键词： Induction motors

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Real-time vehicle detection based on Quasi-shot segmentation

Real-time vehicle detection based on Quasi-shot segmentation

引用

2010 3rd International Congress on Image and Signal Processing, CISP 2010

作者： Liu, Yan Dai, Yaping Wang, Meng Dai, Zhongjian Memon, Zubair Ahmed School of Automation Beijing Key Laboratory of Automatic Control System BIT Beijing China Department of Electrical Engineering Mehran University of Engineering and Technology Jamshoro. Sindh Pakistan

ISBN: (纸本)9781424465149

In this paper, a Quasi-shot Segmentation Vehicle Detection (QSVD) method is proposed to improve the accuracy and robustness of traffic flow detection. The QSVD method is based on histogram intersection method to find the biggest difference between successive frames. Adjacent frames are considered in when vehicle is detected in current frame. Relying on the QSVD method, vehicle can be detected by signal peak and valley search and gradual transition shot detection problem can be resolved. The initial video is used to accomplish detection directly without image preprocessing. Experiments show that vehicles can be detected effectively by the QSVD method. The detection accuracy is remained at 93% or more. ©2010 IEEE.

关键词： Vehicles

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Underlying system using dynamic clustering and structural similarity

Underlying system using dynamic clustering and structural si...

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010

作者： Hernando Colina, M. Eliezer Castañeda, M. Wladimir Rodríguez, G. Carlos Parra, O. University of Pamplona Engineering Faculty Systems Engineering Department Pamplona Norte de Santander Colombia Automation and Control Department University of Andes System School Sede la Hechicera Estado Mérida Mérida Venezuela Department of Computer Engineering Faculty System School Sede la Hechicera Estado Mérida Mérida Venezuela

ISBN: (纸本)9781424469208

we propose a new perspective on the identification of linear dynamic system using structural similarity. The proposal consists in the meaningful exploration of each model, specifically behavior of the state variable. The decomposition of the behavior of a state variable in different modes of behavior of a system, each one has a different set of weights and shows different patterns of behavior. These weights are more significant than eigenvalue to develop a new technique for identifying linear system and invariants over time. We use two methods based on different areas of knowledge such as linear algebra and statistics. This paper is a conceptual proof that enriches the implementation and validity not only from point of view algorithmic likewise physic mathematical. © 2010 IEEE.

关键词： Artificial intelligence

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Artificial neural networks broken rotor bars induction motor fault detection

Artificial neural networks broken rotor bars induction motor...

引用

10th Symposium on Neural Network Applications in Electrical engineering, NEUREL-2010

作者： Matić, Dragan Kulić, Filip Climente-Alarcon, Vincente Puche-Panadero, Ruben Faculty of Technical Science Department for Automation and System Control Trg Dositeja Obradovića 6 21000 Novi Sad Serbia Polytechnic University of Valencia Department of Electrical Engineering Comino de Vera 46020 Valencia Spain

ISBN: (纸本)9781424488209

Paper deals with application of online rotor broken bar fault detection via artificial neural networks. Fault can be detected by monitoring abnormalities of the spectrum amplitudes at certain frequencies in the motor current spectrum. These discriminative features are used for training of feed-forward backpropagation artificial neural network. Trained network is capable to successfully classify induction motor rotor condition. Results are presented in tables and figures. © 2010 IEEE.

关键词： Neural networks

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