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RETRACTED ARTICLE: Support vector regression methodology for prediction of input displacement of adaptive compliant robotic gripper

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Applied Intelligence 2014年第3期41卷 887-896页

作者： Dalibor Petković Shahaboddin Shamshirband Hadi Saboohi Tan Fong Ang Nor Badrul Anuar Nenad D. Pavlović Faculty of Mechanical Engineering Deparment for Mechatronics and Control University of Niš Niš Serbia Department of Computer Science Chalous Branch Islamic Azad University (IAU) Chalous Iran Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of Information System Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Computer Engineering Department Islamic Azad University of Karaj Karaj Iran

The prerequisite for new versatile grippers is the capability to locate and perceive protests in their surroundings. It is realized that automated controllers are profoundly nonlinear frameworks, and a faultless numerical model is hard to get, in this way making it troublesome to control utilizing tried and true procedure. Here, a design of an adaptive compliant gripper is presented. This design of the gripper has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize specific shapes of the grasping objects. Since the conventional control strategy is a very challenging task, soft computing based controllers are considered as potential candidates for such an application. In this study, the polynomial and radial basis function (RBF) are applied as the kernel function of Support Vector Regression (SVR) to estimate and predict optimal inputs displacement of the gripper according to experimental tests and shapes of grasping objects. Instead of minimizing the observed training error, SVR poly and SVR rbf attempt to minimize the generalization error bound so as to achieve generalized performance. The experimental results show that an improvement in predictive accuracy and capability of generalization can be achieved by the SVR approach compared to other soft computing methodology.

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A hybrid genetic algorithm - Sequential quadratic programing approach for canting keel optimization in transverse stability of small boat design

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International Conference on Advanced engineering Theory and Applications 2013, AETA 2013

作者： Le, Tat-Hien Duy, Vo Hoang Phuong, Pham Nhat Nam, Jong-Ho Department of Naval Architecture and Marine Engineering Ho Chi Minh City University of Technology Viet Nam National Key Lab. of Digital Control and System Engineering Vietnam National University No. 19 Nguyen Huu Tho Street Ho Chi Minh City Viet Nam Faculty of Electrical and Electronics Engineering Ton Duc Thang University No. 19 Nguyen Huu Tho Street Ho Chi Minh City Viet Nam Division of Naval Architecture and Ocean Systems Engineering Korea Maritime University Busan Korea Republic of

ISBN: (纸本)9783642419676

The transverse stability is one of the most important characteristics of the ship in survivability. This factor can be influenced by wind, moving cargoes and passengers. In order to avoid maritime accidents due to parametric rolling, several ways are considered in the practical situation such as active and passive anti rolling method. The canting keel is a practical tool for the enhancement of ship stability. In the early ship design stage, this problem is considered to be multimodal objective problem. In the present research, a hybrid optimization technique, genetic algorithm - sequential quadratic programing (GA-SQP) is developed to determine the appropriate parametric values of design of canting keel. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Genetic algorithms

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Voltage problem area Classification using Support Vector Machine SVM

Voltage problem area Classification using Support Vector Mac...

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International Conference Data Mining, Civil and Mechanical engineering (ICDMCME’2014, Bali)

作者： Khaled Abduesslam-M Mohamed Mohamed Khalee Muhammad Nizam Inayati MSc degree in Sebelas Maret University Central JavaIndonesia University Sensate / Head of control unit UNS Ex.Power System.Power Quality.Energy Management System Chemical Engineering Department Faculty of EngineeringSebelas Maret University

This paper presents Classification of Voltage Problem Using Support Vector Machine(SVM) of electrical power system using Least Squares Support Vector Machine(LS-SVM) algorithm and implemented on IEEE-39 bus New-England system. The data was collected from the time domain simulation by using input to the LS-SVM classification, and LS-SVM PTSI estimation on Least Squares Support Vector Machine, which is used as a predictor to determine the dynamic voltage collapse indices by increasing of the power in load buses. The Kernel function type and Kernel parameter are considered. In order to verify the effectiveness of the proposed LS-SVM classification and estimation method, its performance is compared with the Learning Vector Quantization(LVQ). The results shows that both the LS-SVM classification and estimation are faster and better by 100%, compared to LVQ with 61.538 %, which has one misclassification.

关键词： Dynamic Voltage Collapse Predication least squares support vector machine Learning Vector Quantization

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Saturation in engineering simulation

Saturation in engineering simulation

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10th IFAC Symposium on Advances in control Education, ACE 2013

作者： Vrána, Stanislav Šulc, Bohumil Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9783902823434

The wind-up effect is a phenomenon known mostly from implementing PI(D) controllers in real operation when saturation of the manipulated variable may occur and cause worse control results. Nowadays many publications exist on this topic where several anti wind-up mechanisms are presented and discussed. However, the wind-up phenomenon, i.e. the problem of continued integration after the output has become limited (saturated), is a problem appearing not only in connection with numerically calculated control actions of digital controllers, but also in computer models of controlled plants. In this field, existence of the wind-up effect is somehow missed. Results and conclusions obtained by such inaccurate simulation may be misleading. Surprisingly, occurrence of this situation is not so rare, because use of amplitude limiting blocks in simulation is considered to be the only necessary precaution. In education of many control engineers, information about wind-up effect in simulation is not sufficiently pointed out. In models of higher than first order, the same approach as the one used the filed of PI(D) controllers is not always correct. The publications focused on the solutions for this case seem to be rare, if any exist. This paper presents one possible approach to wind-up and anti wind-up mechanism in modeling and simulations. © IFAC.

关键词： controllers

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Virtual control laboratory - Enhanced remote control of real models using PLC foxtrot

Virtual control laboratory - Enhanced remote control of real...

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11th IEEE International Conference on Emerging eLearning Technologies and Applications, ICETA 2013

作者： Trnka, P. Gojda, Š. Bauerová, D. Hofreiter, M. Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9781479921621

An enhanced remote control of real models has been implemented in our virtual control laboratory http://***. As before, user can control the model via the Internet using an ordinary personal computer. The innovation lies in the structural change of the control chain. The prior software controller running on a remote client computer has been replaced by a hardware controller located just beside the controlled model. The control process itself remains fully under control of the remote client (i.e. controller parameters setting, choice of input variables course etc.). Currently, the enhanced control system is being tested in parallel with the prior solution. © 2013 IEEE.

关键词： Remote control

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Design and compensation of DC chopper for speed control in DC motor using PLL controller

Design and compensation of DC chopper for speed control in D...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Phipek, K. Sompracha, C. Tipsuwanporn, V. Department of Instrumentation Engineering Faculty of Engineering Rajamangala University of Technology Rattanakosin Nakhon Pathom 73170 Thailand Department of Instrumentation and Control Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok 10520 Thailand

In this paper describes the speed output of DC motor. The DC motor is controlled by DC converter which is using the PLL controller. This proposed is designed and implemented the current output of the DC-DC chopper which fed to DC motor based on close-loop control. The close-loop control is obtained the small signal from the tachogenerator and encoder. The encoder is converted the small signal to similar PWM waveform feedback to PLL detector that is adjusted the PWM signal driven into DC chopper. In order control to applied high precision speed of DC motor.

关键词： controllers

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The speed control of induction motor using 11-level inverter

The speed control of induction motor using 11-level inverter

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6th IASTED Asian Conference on Power and Energy systems, AsiaPES 2013

作者： Tipsuwanporn, Vittaya Numsomran, Arjin Phipek, Kowit Khaengsarigid, Adisak Department of Instrumentation and Control Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok 10520 Thailand Department of Instrumentation Engineering Faculty of Engineering Rajamangala University of Technology Rattanakosin Nakhon Pathom 73170 Thailand

ISBN: (纸本)9780889869455

In this paper, control of the output voltage in 11-level inverter is presented. The inverter is controlled by using pulse width modulation (PWM) technique. A novel 11-inverter source fed induction motor drive with sinusoidal voltage and current waveform is proposed. Variable frequency inverters to high precision in order control the speed of induction motor. The current in the inverter source can be controlled as constant or vary the magnitude of inverter current reference. The propose is controlled speed and decreased total harmonic distortion (THD) of output in the inverter which it fed to induction motor with V/F control.

关键词： Induction motors

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Robust walking of biped robot on uneven terrain using effect of wobbling mass

Robust walking of biped robot on uneven terrain using effect...

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IEEE International Conference on Robotics and Biomimetics

作者： Terumitsu Hayashi Masaki Yamakita Yuta Hanazawa Fumihiko Asano Dept. of Mechanical and Control Engineering Tokyo Institute of Technology Meguro-ku Tokyo JAPAN Faculty of Engineering Department of Applied Science for Integrated System Engineering Kyushu Institute of Technology Kita-Kyushu Fukuoka Japan School of Information Science Japan Advanced Institute of Science and Technology Nomi Ishikawa JAPAN

ISBN: (纸本)9781479973989

Many studies about improving the performance of biped robots, especially energy efficiency and waking speed have been done. These properties, however, are secondary to the robot ability to prevent falling down on irregular grounds. In this paper, we propose a novel method which uses an active up-and-down wobbling mass to improve walking ability and robustness of biped robot on uneven terrain. We will show improvements that the number of walk steps is increased in numerical simulations using the proposed method. We also evaluate quantitatively walking ability of biped robot on uneven terrain using a performance measure called Gait Sensitivity Norm (GSN) and H ∞ norm. Furthermore, we show the effectiveness of H ∞ norm measure which cannot be evaluated by GSN in a walking example.

关键词： Legged locomotion Limit-cycles Trajectory Robustness Mathematical model Sensitivity

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Influence of Li-Ion Battery Models in the Sizing of Hybrid Storage systems with Supercapacitors

Influence of Li-Ion Battery Models in the Sizing of Hybrid S...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Claudio Pinto Jorge V. Barreras Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Department of Energy Technology Aalborg University Aalborg Denmark Institute of System Dynamics and Control German Aerospace Center (DLR) Wessling Germany

This paper presents a comparative study of the influence of different aggregated electrical circuit battery models in the sizing process of a hybrid energy storage system (ESS), composed by Li-ion batteries and supercapacitors (SCs). The aim is to find the number of cells required to propel a certain vehicle over a predefined driving cycle. During this process, three battery models will be considered. The first consists in a linear static zeroeth order battery model over a restricted operating window. The second is a non-linear static model, while the third takes into account first- order dynamics of the battery. Simulation results demonstrate that the adoption of a more accurate battery model in the sizing of hybrid ESS's prevents over-sizing, leading to a reduction in the number of cells of up to 29%, and a cost decrease of up to 10%.

关键词： Batteries Integrated circuit modeling Vehicles system-on-chip Supercapacitors Resistance Resource management

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Reliability analysis of systems with a complex structure using Monte Carlo approach

Reliability analysis of systems with a complex structure usi...

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12th IFAC Conference on Programmable Devices and Embedded systems, PDeS 2013

作者： Jirgl, M. Bradac, Z. Stibor, K. Havlikova, M. Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic

ISBN: (纸本)9783902823533

Nowadays the systems have often a complex structure and it is relatively difficult to ensure their reliability. Therefore it is important to predict reliability of systems already at design phase. This way is suitable for the prevention of the frequently failures. Prevention of frequently failures means a higher lifetime and cost savings for producer. This paper deals with a modern approach of quantitative reliability analysis-using the Monte Carlo statistical reliability analysis and its comparison with the conventional approaches. The Monte Carlo method is explained at a fundamental level with emphasis on its application in reliability analysis of systems with a complex structure. © IFAC.

关键词： Mean time between failures

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