检索结果-内蒙古大学图书馆

Bidirectional best first based autonomous parallel parking system

Bidirectional best first based autonomous parallel parking s...

International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Amorn Vorashompoo Benjamas Panomruttanarug Kohji Higuchi Faculty of Engineering Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Department of Electronic Engineering University of Electro-Communications Tokyo Japan

One of the major difficulties with an autonomous reverse parallel parking is how to find a trajectory of travel from start to goal without any collision. In this paper, a bidirectional search is suggested to find the shortest pathway from an initial vertex to a goal vertex in a directed graph, implying that the initial and goal states must be known in advance. In each step for searching, there are three possible nodes generated from the configuration space (or C-space), that the algorithm must decide to traverse to based on a best first search algorithm. Giving a start and goal points, the designed path is obtained by simulation in MATLAB. The experimental results show an ability to perform a parking maneuver using the simulated path.

关键词： Robots Mobile communication MATLAB Joints

来源：评论

学校读者我要写书评

暂无评论

Design of a Gough-Stewart Platform for micro-surgical operations

Design of a Gough-Stewart Platform for micro-surgical operat...

引用

IEEE/SICE International Symposium on system Integration

作者： Sung Mok Kim Hoon Lim Joono Cheong Byung Ju Yi Whee Kuk Kim Korea University Chochiwon South Korea Hanyang University Ansan South Korea Department of Control and Instrumentation Engineering Korea University Chochiwon South Korea Department of Electronics System Engineering Hanyang University Ansan South Korea

In general, optimal design for the mechanism such as Gough-Stewart Platform (GSP) does not take into account practical factors of the mechanism such as its component weight and size, and mechanical interferences among them, etc. Particularly, in designing a robot module for micro-surgical operations which would be mounted at the end of a macro manipulator, its light weight, compactness, as well as good kinematic performance are important design aspects that should be considered. In this paper, design of a compact GSP module incorporating additional practical design factors such as mechanical interferences among mechanism components is discussed. A modified design for micro-surgical operations which requires a small operation region represented as a nominal operation point is suggested and it is shown that its performance exceeds one of the typical GSP design under the given practical component limitations such as actual length of active prismatic joints.

关键词： Kinematics Indexes Joints Actuators Service robots Vectors

来源：评论

学校读者我要写书评

暂无评论

Novel emotion dynamic express for robot

Novel emotion dynamic express for robot

引用

International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Dong-Hwa Kim Péter Baranyi Department of Instrumentation and Control Engineering Hanbat National University Daejeon South Korea Head of Cognitive Informatics research group involved in the System and Control Laboratory Computer and Automation Research Institute (MTA-SZTAKI) Hungarian Academy of Sciences Hungary

This paper proposes the novel emotion dynamic equation for emotion implementation like human's emotion. Almost general method use artificial approach such as neutral networks to classify emotion by using speech and face image data for human's emotion recognition. But high-dimension and large size of this data cause low-speed learning in robot system. The main idea of the proposed dynamic equation method is to dynamically express emotion by multi-agent function.

关键词： Robot sensing systems Humans Dynamics Face Equations

来源：评论

学校读者我要写书评

暂无评论

Two-Degree-of-Freedom LPV control for a through-the-Road Hybrid Electric Vehicle via Torque Vectoring

Two-Degree-of-Freedom LPV Control for a through-the-Road Hyb...

引用

IEEE Conference on Decision and control

作者： Qin Liu Gerd Kaiser Sudchai Boonto Herbert Werner Frederic Holzmann Benoit Chretien Matthias Korte Institute of Control Systems Hamburg University of Technology Eissendorfer Str. 40 21073 Hamburg Germany Intedis GmbH Delpstrasse 4 97084 Wuerzburg Germany Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi 10140 Thailand

ISBN: (纸本)9781612848006

This paper presents an application of linear-Parameter-Varying (LPV) control to solve the torque vectoring problem of a through-the-road hybrid electric vehicle (TtR-HEV). To achieve high performance both in reference tracking and disturbance rejection, a two-degree-of-freedom LPV self-scheduled controller is synthesized by using mixed sensitivity loop shaping. The controller is based on a single Lyapunov function and guarantees stability and a level of control performance for all admissible trajectories of varying parameters. Moreover, an anti-windup control scheme is derived by employing a two-step design procedure. Finally the designed controller is tested in various driving maneuvers and compared with a flatness-based controller.

关键词： TORQUE VECTOR controllers Torque design process control performance Disturbance rejection Liapunov function HIGH-PERFORMANCE variable parameter

来源：评论

学校读者我要写书评

暂无评论

Genetic algorithms-based gain optimization of a simple learning control for single-phase shunt active filters

Genetic algorithms-based gain optimization of a simple learn...

引用

作者： Lenwari, Wanchak Department of Control System and Instrumentation Engineering King's Mongkut University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781424474530

The repetitive or learning based control has proven to achieve high steady-state performances for control systems. The iterative learning algorithm aims to accomplish zero tracking error without full knowledge of the system model. However, its dynamic behaviors were not satisfied in some conditions particularly under non-periodic disturbances since the control uses the information from the previous iteration to calculate the system input. This paper proposes the investigation of the use of genetic algorithm to optimize the learning gain of a simple proportional-type (P-type) learning control applied to current control for shunt active filters. The merit of the proposed control is its simplicity, potentially suitable for commercial active filters. All design concepts are verified and the results obtained in the simulation confirm the improvement in the dynamic responses during the transient condition while the harmonic control accuracy in steady-state can remain excellent with the proposed control system. ©ICROS.

关键词： Electric current control

来源：评论

学校读者我要写书评

暂无评论

FIR optimization control for external vibration in self servo track writer

FIR optimization control for external vibration in self serv...

引用

作者： Thongsuk, Parnupong Panomrattanarug, Benjamas Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok 10140 Thailand

ISBN: (纸本)9784907764364

In hard disk drive manufacturing, the servo tracks are written with the equipment of servo track writer. External vibrations during servo track writing process give rise to servo track writing error. The servo track writing error can cause some critical errors during data writing operation. This paper proposes two control schemes using an effective Finite Impulse Response (FIR) compensator to attenuate external vibrations based on optimization technique. The former aims to decrease the error in each frequency by minimizing the sensitivity transfer function from command/disturbance to error. It is constructed in a feedback control loop without any sensor to detect vibrations. The latter is also designed in the frequency domain with a slightly different objective function. Here the designed compensator is constructed in a feedforward scheme with a use of accelerometer to measure vibrations. Without a mathematical model of the system, the FIR compensator from the two structures can be practically designed by using the experimental data of the system. The more number of gains used in the compensator design, the better the performance. Weighting functions are applied to emphasize on the addressed frequencies where the vibrations usually dominate. © 2010 SICE.

关键词： Errors

来源：评论

学校读者我要写书评

暂无评论

Fuzzy Logic Based Autonomous Parallel Parking system with Kalman Filtering

引用

SICE Journal of control, Measurement, and system Integration 2010年第4期3卷 266-271页

作者： Benjamas Panomruttanarug Kohji Higuchi Department of Control System and Instrumentation Engineering King Mongkuts University of Technology Thonburi Department of Electronic Engineering University of Electro-Communications

This paper presents an emulation of fuzzy logic control schemes for an autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending the distance data to a microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rear wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking processes, the vehicle will be in line with other parked cars and positioned in the middle of the free space. Fuzzy rules are designed based upon a wall following process. Performance of the infrared sensors is improved using Kalman filtering. The design method needs extra information from ultrasonic sensors. Starting from modeling the ultrasonic sensor in 1-D state space forms, one makes use of the infrared sensor as a measurement to update the predicted values. Experimental results demonstrate the effectiveness of sensor improvement.

关键词： parallel parking fuzzy logic wall following Kalman filtering

来源：评论

学校读者我要写书评

暂无评论

Ultrasonic inspection system for detecting small flaws at far surface of steel plate

Ultrasonic inspection system for detecting small flaws at fa...

引用

7th Annual International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Vilasmongkolchai, T. Noipitak, M. Kaewtrakulpong, P. Prateepasen, A. Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Thungkru Bangkok 10140 Thailand Department of Production Engineering King Mongkut's University of Technology Thonburi Thungkru Bangkok 10140 Thailand

ISBN: (纸本)9789746724913

This paper presents the development of inspection system using ultrasonic for steel plate manufacturing. Generally, internal defects in the final product of steel plate are inspected manually by human operators, which is a time consuming process. In this research, the crystal of an ultrasonic probe at natural frequency suitable for steel plate examination was developed. In our design, high sensitivity (i.e. high signal peak amplitude) and good resolution were achieved using a (water coupling) probe structure, without ceramic wear plate, and a signal processing called the 1-bit technique. Backing material of the probe was carefully designed and experimented to obtain proper impedance matching with the probe's crystal by varying its material composition. Jig with a dual-probe support to speed up the inspection of a steel plate was implemented. Moreover, the 1-bit technique was applied to improve resolution of the inspection and to detect small flaws close to the far surface of the steel plate. The developed probe has more sensitivity than that of commercial probes in terms of frequency response. The 1-bit processing technique has been realized and simulated and it showed advantages over the conventional method for processing time and accuracy.

关键词： Probes

来源：评论

学校读者我要写书评

暂无评论

Modern development of low cost RT industrial process control based on matlab-simulink and PAC

Modern development of low cost RT industrial process control...

引用

作者： Tutsch, Michal Konarik, Petr Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB - Teclmical University of Ostrava Ostrava Czech Republic Department of Control System and Instrumentation Faculty of Mechanical Engineering VSB - Teclmical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424473359

The paper presents modern advanced development methods of control systems that minimizes the cost of development of applications which are widely applicable in industrial control of whole range of processes. Unlike the classical way of design and testing control algorithms which are based on expensive RT measurement cards or dSpace, this solution is based on industrial controllers WinPLC/WinPAC. This enables so called rapid-prototyping of control algorithms directly from Matlab-Simulink into target platform. It was used muItiplatform control system REX as a bridge between Matlab and the target platform. The paper describes whole design of control algorithms and control schemes, simulation of prepared schemes, uploading control schemes into target platform of WinPLC. Also possibilities of remote data transfer and data storage are mentioned. The real measurement on hydraulic industrial system proved its limits that were also explained in this paper.

关键词： Simulink

来源：评论

学校读者我要写书评

暂无评论

FIR optimization control for external vibration in self servo track writer

FIR optimization control for external vibration in self serv...

引用

SICE Annual Conference

作者： Parnupong Thongsuk Benjamas Panomrattanarug Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

关键词： Vibrations Servomotors Feedforward neural networks Finite impulse response filter Feedback control Frequency response Transfer functions

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：