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IEEE International Conference on Robotics and Automation (ICRA)

作者： Ondrej Miksik Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic

This paper deals with fast vanishing point estimation for autonomous robot navigation. Preceding approaches showed suitable results and vanishing point estimation was used in many robotics tasks, especially in the detection of illstructured roads. The main drawback of such approaches is the computational complexity - the possibilities of hardware accelerations are mentioned in many papers, however, we believe, that the biggest benefit of a vanishing point estimation algorithm is for primarily tele-operated robots in the case of signal loss, etc., that cannot use specialized hardware just for this feature. In this paper, we investigate possibilities of an efficient implementation by the expansion of Gabor wavelets into a linear combination of Haar-like box functions to perform fast filtering via integral image trick and discuss the utilization of superpixels in the voting scheme to provide a significant speed-up (more than 40 times), while we loose only 3-5% in precision.

关键词： Estimation Roads Robots Approximation methods Computational complexity Kernel Dictionaries

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The hardware design technique for ultrasonic process tomography system

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Sensors and Transducers 2012年第6期141卷 52-61页

作者： Fazalul Rahiman, Mohd Hafiz Abdul Rahim, Ruzairi Abdul Rahim, Herlina Nor Ayob, Nor Muzakkir School of Mechatronic Engineering Universiti Malaysia Perlis 02600 Arau Perlis Malaysia Control and Instrumentation Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

This paper describes a work carried out to design and development an ultrasonic process tomography system. The hardware design technique is of interest of this paper. A number of 32-ultrasonic transducers have been employed and the interrogation of ultrasonic information is based on transmission-mode approach. The hardware design technique including the signal processing methodology and the data acquisition technique has been detailed. An embedded controller has been used on each channel to simplify the hardware design as well as for system synchronization. An autocalibration approach has also been used to calibrate 544 signals information. At the end of the paper, several tomograms reconstructed using the sensor array is discussed. © 2012 IFSA.

关键词： Image reconstruction

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Macro and micro machining of molybdenum die for AL2O3 crystal growth

Romanian Review Precision Mechanics, Optics and Mechatronics

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Romanian Review Precision Mechanics, Optics and Mechatronics 2012年第41期 81-86页

作者： Hošek, Jan Department of Instrumentation and Control Engineering Division of Precision Mechanics and Optics Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 Praha 6 Czech Republic

This paper presents a method of manufacturing molybdenum die for growth of Al2O3 sapphire crystal. The die was designed with a system of macro and micro grooves to enhance a capillary effect during crystal growth. This paper presents methods of thin grooves manufacturing in molybdenum sample made by electro discharge (EDM) technique. Three different possibilities of thin grooves EDM manufacturing are discussed. A side sinking process with a planar rib electrode was figured out as an optimal solution for manufacturing of thin grooves. A problem of such electrode wear during molybdenum sinking is also presented.

关键词： Sapphire

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Micro-organic light-emitting devices fabricated by room-temperature curing nanoimprint lithography using diamond molds

Micro-organic light-emitting devices fabricated by room-temp...

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2011 MRS Fall Meeting

作者： Ishikawa, Ippei Okuno, Taisuke Kiyohara, Shuji Taguchi, Yoshio Sugiyama, Yoshinari Omata, Yukiko Kurashima, Yuichi Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Shiroya Maizuru Kyoto 625-8511 Japan Application and Technical Section Elionix Inc. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan Department of Mechanical System Engineering University of Yamanashi 4-3-11 Takeda Kofu Yamanashi 400-8511 Japan

ISBN: (纸本)9781605113722

Organic light-emitting devices (OLEDs) have attracted a lot of attention as a next generation display. In this study, we fabricated the micro-OLEDs by room-temperature curing nanoimprint lithography (RTC-NIL) using diamond molds. The diamond has superior durability and was used as mold material for RTC-NIL. The diamond molds have been fabricated by electron cyclotron resonance (ECR) oxygen ion shower with polysiloxane oxide mask in the electron beam (EB) lithography technology. We fabricated the diamond mold pattern with 10 μm-square dot. The diamond molds have been used to form an insulating layer in micro-OLEDs. The optimum thickness of N,N′-Diphenyl-N,N′-di(m- tolyl)benzidine (TPD) [hole transport layer], Tris(8-quinolinolato)aluminum (Alq3) [electron transport layer] and aluminum (Al) [cathode] were 40 nm, 40 nm and 200 nm, respectively. We succeeded in formation of insulating layer in micro-OLEDs and operation of micro-OLEDs with 10 μm-square-dot by RTC-NIL using diamond molds. © 2012 Materials Research Society.

关键词： Silicones

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Stability analysis of a photovoltaic grid connected inverter model based on system identification

Stability analysis of a photovoltaic grid connected inverter...

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IEEE Region 10 International Conference TENCON

作者： Nopporn Patcharaprakiti Krissanapong Kirtikara Anawach Sanswang Sudchai Boonto Department of Electrical and Computer Rajamangala University of Technology Lanna Department of Electrical Engineering Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Bangkok Thailand

ISBN: (纸本)9781467348232

This paper presents a system stability analysis of a grid-connected inverter from a linear system viewpoint. A Photovoltaic (PV) inverter model is derived using a system identification method, specifically the Hammerstein-Wiener model. The PV inverter is supplied by a controllable DC power supply and the inverter output is connected to a 220 V utility grid. The input and output characteristics on the inverter terminals are collected and the nonlinear model of the inverter is obtained. The inverter model is decomposed into three parts follow as nonlinear input, linear middle part and nonlinear output. Both nonlinear parts are deemed static where the dynamical behavior is described by the middle part. The stability of the inverter is analyzed based on a linearized model of the nonlinear system. Frequency response analysis is performed for insight on the system dynamical behavior.

关键词： Power system stability Stability criteria Inverters Mathematical model system identification Thermal stability

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The extended co-learning framework for robust object tracking

The extended co-learning framework for robust object trackin...

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2012 13th IEEE International Conference on Multimedia and Expo, ICME 2012

作者： Gong, Chen Liu, Yang Li, Tianyu Yang, Jie He, Xiangjian Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai China Faculty of Engineering and Information Technology University of Technology Sydney PO Box 123 Sydney NSW Australia

ISBN: (纸本)9781467316590

Recently, object tracking has been widely studied as a binary classification problem. Semi-supervised learning is particularly suitable for improving classification accuracy when large quantities of unlabeled samples are generated (just like tracking procedure). The purpose of this paper is to fulfill robust and stable tracking by using collaborative learning, which belongs to the scope of semi-supervised learning, among three classifiers. Different from [1], random fern classifier is incorporated to deal with 2bitBP feature newly added and certain constraints are specially implemented in our framework. Besides, the way for selecting positive samples is also altered by us in order to achieve more stable tracking. Algorithm proposed in this paper is validated by tracking pedestrian and cup under occlusion. Experiments and comparison show that our algorithm can avoid drifting problem to some degree and make tracking result more robust and adaptive. © 2012 IEEE.

关键词： Supervised learning

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Genetic modeling of a rectangular flexible plate system with free-free-clamped-clamped (FFCC) edges

Genetic modeling of a rectangular flexible plate system with...

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IEEE Conference on control, systems & Industrial Informatics (ICCSII)

作者： M. S. Hadi M. H. Hashim I. Z. Mat Darus Department of System Dynamics and Control Faculty of Mechanical Engineering Universiti Teknologi Malaysia Johor Malaysia

This paper presents the performance of system identification of a rectangular flexible plate structure using Least Squares, Recursive Least Squares and Genetic Algorithms techniques. The input - output data are collected through an experimental study using a vibrational flexible plate experimental rig complete with data acquisition and instrumentation system. The experimental rig of two clamped and two free edges (FFCC) flexible plate were fabricated and used throughout this research. All the models developed using Least Squares, Recursive Least Squares and Genetic Algorithms were validated using one step-ahead prediction (OSA), mean squared error (MSE) and correlation tests. It was found that the estimated models using all methods proposed are comparable, acceptable and possible to be used as a platform of controller development and verification to suppress the vibration of flexible plate structure in the future work. Amongst all, it was found that the Genetic Algorithm has performed the best as compared to other methods in estimating the first mode of vibration which is the dominant mode of the structure with 3.63% error. However, for overall estimation, the Least Squares algorithm has achieved the lowest mean squares error (0.00019725) as compared to the Recursive Least Squares and Genetic Algorithms performance.

关键词： Instruments Force

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Approach to gasoline engine faults diagnosis based on crankshaft instantaneous angular acceleration

Approach to gasoline engine faults diagnosis based on cranks...

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International Carpathian control Conference (ICCC)

作者： Binh Le Khac Tuma Jiri Department of Control Systems and Instrumentation Faculty of Mechanical Engineering VSB Technical University of Ostrava Ostrava Czech Republic

Gasoline engine is a complex power generating machines and used widely in automotive industry, which the failure rate is high. Carrying out the gasoline engine fault diagnostic methods have been studied and still a lasting topic for scientists. Crankshaft instantaneous angular acceleration, which evaluated by second derivative of the crankshaft rotation respect to time contains information for fault diagnosis. In this paper, phase modulation signal is derived from the phase of an analytical signal which evaluated by using the Hilbert Transform technique. To verify the signal analysis technique, the engine model created originally by John J. Moskwa needs to be extended to produce fluctuation of the crankshaft angular acceleration and to implement the extended model into the dSPACE equipment to control and diagnose the engine.

关键词： Engines Acceleration Petroleum Velocity control Torque Fault diagnosis Rotation measurement

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Positive trigonometric polynomials for strong stability of difference equations

Positive trigonometric polynomials for strong stability of d...

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作者： Henrion, Didier Vyhlídal, Tomáš CNRS LAAS 7 avenue du colonel Roche F-31400 Toulouse France Université de Toulouse LAAS F-31400 Toulouse France Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 CZ-16626 Prague Czech Republic Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 CZ-16607 Prague Czech Republic

We follow a polynomial approach to analyse strong stability of continuous-time linear difference equations with several delays. Upon application of the Hermite stability criterion on the discrete-time homogeneous characteristic polynomial, assessing strong stability amounts to deciding positive definiteness of a multivariate trigonometric polynomial matrix. This latter problem is addressed with a converging hierarchy of linear matrix inequalities (LMIs). Numerical experiments indicate that certificates of strong stability can be obtained at a reasonable computational cost for state dimension and number of delays not exceeding 4 or 5. © 2012 Elsevier Ltd. All rights reserved.

关键词： Time delay

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Fabrication of diamond nanopit arrays by room-temperature curing nanoimprint lithography using glass-like carbon molds

Fabrication of diamond nanopit arrays by room-temperature cu...

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2011 MRS Fall Meeting

作者： Kiyohara, Shuji Ito, Chigaya Ishikawa, Ippei Takikawa, Hirofumi Taguchi, Yoshio Sugiyama, Yoshinari Omata, Yukiko Kurashima, Yuichi Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Aza Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology Toyohashi Aichi 441-8580 Japan Application and Technical Section Elionix Inc. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan Department of Mechanical System Engineering University of Yamanashi 4-3-11 Takeda Kofu Yamanashi 400-8511 Japan

ISBN: (纸本)9781605113722

We have proposed the use of glass-like carbon (GC), as mold material because the 27-maximum etching selectivity of polysiloxane film against GC, which was approximately six times larger than that of polysiloxane film against chemical vapor deposited (CVD) diamond film. We have investigated the fabrication of diamond nanopit arrays by room-temperature curing nanoimprint lithography (RTC-NIL) using GC mold, as applications to the emitter and the micro-gear. The polysiloxane has in the state of sticky liquid at room-temperature and negative-exposure characteristic. Therefore, the polysiloxane was used as RTC-imprint resist material, and also used as electron beam (EB) resist (oxide mask) material in EB lithography. We have fabricated the cylindrical GC nanodot mold with 500 nm-diameter, 600 nm-height and 2 μm-pitch. We carried out RTC-NIL using GC mold under the following optimum conditions: time from spin-coating to imprint of 1 min, imprinting pressure of 0.5 MPa and imprinting time of 5 min. Then, we have processed the diamond film with an electron cyclotron resonance (ECR) oxygen ion shower. We have fabricated diamond nanopit array with 250 nm-depth and 500 nm-diameter. The diameter of diamond nanopit pattern was in good agreement with that of GC mold. Moreover, the depth of the diamond nanopit patterns fabricated by RTC-NIL using cylindrical GC mold was three times larger than that using conical diamond mold. © 2012 Materials Research Society.

关键词： Chemical vapor deposition

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