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IEEE/ASME International Conference on Advanced Intelligent mechatronics (AIM)

作者： Sven Rost Matthias Uhlemann Karl-Heinz Modler Yevgen Sklyarenko Frank Schreiber Walter Schumacher National Technical University Donetsk Department of Control Systems and Mechatronics Artema 58 83000 Donetsk Ukraine Dresden University of Technology Institute of Solid Mechanics 01062 Dresden Germany Technical University Braunschweig Institute of Control Engineering Hans-Sommer-Str. 66 38106 Braunschweig Germany

ISBN: (纸本)9781457708381

In this paper, the design for variable geometry truss manipulators, with 3-DOF octahedron-shaped modules and hydraulic actuation is introduced. The main features of the concept are the optimized multiple collocated spherical joints and a structure-integrated supply of the drive fluid for the hydraulic actuators. Based upon the known Spherical Joint Mechanism, design rules are deduced and modified joint elements are presented to provide a larger workspace for a single module. The potential of the resulting module design is demonstrated by the calculation of the workspace, as well as the payload-to-mass ratio. Based upon the presented results, a family of highly maneuverable light-weight hyper-redundant manipulators can be derived.

关键词： Workplace Hydraulic actuators BALL JOINT Activation Robot Manipulator Octahedron Hydrodynamics Joints Joints hyper-redundant manipulators mass-ratio family

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Tracking control with Hysteresis Compensation for Manipulator Segments driven by Pneumatic Artificial Muscles

Tracking Control with Hysteresis Compensation for Manipulato...

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IEEE International Conference on Robotics and Biomimetics

作者： Frank Schreiber Yevgen Sklyarenko Kathrin Schluter Jan Schmitt Sven Rost Annika Raatz Walter Schumacher Institute of Control Engineering Technische Universitat Braunschweig Institute of Machine Tools and Production Technology Technische Universitat Braunschweig National Technical University Donetsk Department of Control Systems and Mechatronics

ISBN: (纸本)9781457721366

In this paper a feedforward control structure is introduced for a manipulator joint driven by a symmetrical arrangement of two antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces. Based upon the manipulator kinematic and the inverse static relation in a single muscle, the pressure signal for the muscles' supplying valves is calculated. Applying this control structure allows to compensate the nonlinear characteristic mean relation in a single muscle actuator, while the muscles' hysteretic behavior introduces a hysteresis in the relation between the desired and the actual joint angles. It is shown, that if the muscles are subject to comparable forces the resulting hysteretic behavior can be described by a Preisach model. The inverse of this model can then be applied as a feedforward term to compensate the static hysteretic behavior. Experiments confirm the improvement in tracking control as compared to the system solely controlled by a feedback regulator.

关键词： tracking control muscles control Architecture joint angle Hysteresis delay compensation Pressure Signal Device Component VALVE GATE Pneumatic Automobile driving

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A biologically inspired model for pattern recognition

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2010年第2期11卷 115-126页

作者： Eduardo GONZALEZ Hans LILJENSTROM Yusely RUIZ Guang LI Department of Biomedical Engineering Zhejiang University Hangzhou 310027 China Department of Energy and Technology Swedish University of Agricultural Sciences Box 7013 SE-750 Sweden National Laboratory of industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

In this paper, a novel bionic model and its performance in pattern recognition are presented and discussed. The model is constructed from a bulb model and a three-layered cortical model, mimicking the main features of the olfactory system. The olfactory bulb and cortex models are connected by feedforward and feedback fibers with distributed delays. The Breast Cancer Wisconsin dataset consisting of data from 683 patients divided into benign and malignant classes is used to demonstrate the capacity of the model to learn and recognize patterns, even when these are deformed versions of the originally learned patterns. The performance of the novel model was compared with three artificial neural networks (ANNs), a back-propagation network, a support vector machine classifier, and a radial basis function classifier. All the ANNs and the olfactory bionic model were tested in a benchmark study of a standard dataset. Experimental results show that the bionic olfactory system model can learn and classify patterns based on a small training set and a few learning trials to reflect biological intelligence to some extent.

关键词： Olfactory system Neural network Bionic model Pattern recognition

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Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithms

Design and optimization of a fuzzy-neural hybrid controller ...

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2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

作者： Erdemir, Erdem Özkan, Mehmed Kawamura, Kazuhiko Wilkes, D. Mitchell Firat, Murat Polat, Ali Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN 37235 United States Institute of Biomedical Engineering Bogazici University 34342 Bebek Istanbul Turkey Department of Mathematics and Computer Science Eindhoven University of Technology Netherlands Department of Systems and Control Engineering Bogazici University Turkey

ISBN: (纸本)9781424486885

Humanoids are increasingly used in the service sectors around the world to work with, or assist humans. However current humanoid designs place limitations on direct engagement with the human in terms of safety and usability. In this paper, we present an approach for the control of hybrid, high-speed and safe human-robot interaction systems with highly non-linear dynamic behavior. The proposed approach comprises the three soft computing techniques, namely back propagation neural network, fuzzy and genetic algorithms. This open-loop controller was applied to a Bridgestone Hybrid Robot Arm (BHRA). BHRA has three electric motors and four artificial muscles, arranged in an agonist/antagonist, and opposing pair configuration, that drive the five-degrees of freedom of the robot arm. The behaviors of the artificial muscles are observed under the effects of the links driven by the electric motors and it is shown that the proposed biologically-plausible controller could produce more accurate trajectories at higher speeds when compared to conventional PID and stand alone or combined versions of Neural Network and Fuzzy controllers. ©2010 IEEE.

关键词： Genetic algorithms

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Unknown input-proportional integral observer for singular systems: Application to fault detection

Unknown input-proportional integral observer for singular sy...

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2010 18th Iranian Conference on Electrical engineering, ICEE 2010

作者： Share Pasand, M.M. Aliyari Sh, M. Taghirad, H.D. Department of Systems and Control Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Department of Mechatronics K.N. Toosi University of Technology P.O. Box 16315-1355 Tehran Iran

ISBN: (纸本)9781424467600

A new approach to the observer design for descriptor continuous time systems is proposed and its application in the fault diagnosis problem is illustrated. In this observer, two features of disturbance decoupling and fault estimation are combined. Also a more general frame for fault estimation is used. Some numerical examples and simulation results are shown to justify the effectiveness of the algorithm. ©2010 IEEE.

关键词： Fault detection

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Hybrid powertrain concept evaluation using optimization

Hybrid powertrain concept evaluation using optimization

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25th World Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exhibition: Sustainable Mobility Revolution, EVS 2010

作者： Murgovski, Nikolce Fredriksson, Jonas Sjöberg, Jonas Norén, Bengt Department of Signals and Systems Division of Automatic Control Automation and Mechatronics Chalmers University of Technology Gothenburge Sweden Complete Powertrain Powertrain Engineering Volvo Cars Corporation. Dept 97520-PV3B-Gothenburge Sweden

This paper describes automatic evaluation of series-parallel (combined) powertrain models using optimization. The novelty with the approach is the possibility to work with non-transparent industrial vehicle models, hidden for intellectual property reasons. The contribution extends the functionality of a recently developed tool for parallel hybrids, with the ability to operate on combined powertrains. Given the user inputs, which include dynamic vehicle model and driving cycle, the tool first produces a simplified powertrain model in the form of static maps, before dynamic programming is used to find an optimal torque split that minimizes fuel consumption. The main use of the tool is to evaluate the potential of a powertrain configuration. The paper contains an illustration of the tool operation on a non-transparent industrial vehicle model. The only requirement on the model is to provide access to some general variables and that it has a torque split that can be fully controlled.

关键词： Hybrid vehicles

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Unknown input-proportional integral observer for singular systems: Application to fault detection

Unknown input-proportional integral observer for singular sy...

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Iranian Conference on Electrical engineering (ICEE)

作者： M. M. Share Pasand M. Aliyari Sh. H. D. Taghirad Department of Systems and Control Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Department of Systems and Control Faculty of Electrical and Computer Engineering Department of Mechatronics K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781424467600

关键词： Fault detection Observers Electrical fault detection Algorithm design and analysis Robustness Uncertainty Application software control systems mechatronics Taylor series

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Auxiliary Model-based Stochastic Gradient Algorithm for Multivariable Output Error systems

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自动化学报 2010年第7期36卷 993-998页

作者： DING Feng LIU Xiao-Ping School of Communication and Control Engineering Jiangnan University Wuxi 214122 P.R. China School of Mechatronics Engineering Nanchang University Nanchang 330031 P.R. China Department of Systems and Computer Engineering Carleton University Ottawa K1S 5B6 Canada

The identification problem of multivariable output error systems is considered in this paper. By constructing an auxiliary model using available input-output data and by replacing the unknown inner variables in the information vector with the outputs of the auxiliary model, an auxiliary model-based stochastic gradient (AM-SG) identification algorithm is presented. Convergence analysis using the martingale convergence theorem indicates that the parameter estimates given by the AM-SG algorithm converge to their true values. The AM-SG algorithm with a forgetting factor is given to improve its convergence rate. The simulation results confirm the theoretical findings.

关键词：多变量输出误差辨识系统自动化系统

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A web-based hospital-acquired infection surveillance information system

A web-based hospital-acquired infection surveillance informa...

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10th International Conference on Information Technology and Applications in Biomedicine: Emerging Technologies for Patient Specific Healthcare, ITAB 2010

作者： Tseng, Yi-Ju Chen, Yee-Chun Lin, Hui-Chi Wu, Jung-Hsuan Chen, Ming-Yuan Lai, Feipei Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taiwan Center of Infection Control National Taiwan University Hospital Taiwan Department of Internal Medicine National Taiwan University Hospital College of Medicine Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Information Systems Office National Taiwan University Hospital Taipei Taiwan

ISBN: (纸本)9781424465606

A web-based hospital-acquired infection surveillance system (WHISS) was implemented in a 2200-beds medical center in Taiwan. Clinical data from hospital information system, laboratory information system and others were collected and analyzed. The hospital-acquired infection decision guidelines of WHISS utilize this information to detect 9 patterns of defined hospital-acquired urinary tract infection. Moreover, these data were integrated into a signal entry point user interface to assist physicians and healthcare providers in making decision. We use web services techniques based on Service-Oriented Architecture (SOA), which are suitable for integrating heterogeneous platforms, protocols, and applications. The WHISS detects 81.9% candidates of hospital-acquired infection event in real time and provides user-friendly interface to infection control nurses. In conclusion, the WHISS simplifies the workflow of hospital infection control, and improves the heaIthcare quality. © 2010 IEEE.

关键词： Hospitals

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Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithms

Design and optimization of a fuzzy-neural hybrid controller ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Erdem Erdemir Mehmed Özkan Kazuhiko Kawamura D. Mitchell Wilkes Murat Fırat Ali Polat Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN USA Institute of Biomedical Engineering Bogazici University Bebek Istanbul Turkey Department of Mathematics and Computer Science Eindhoven University of Technology Department of Systems and Control Engineering Bogazici University

关键词： Artificial neural networks Muscles Joints Robots Equations Trajectory Delay

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