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IEEE Conference on control Technology and Applications (CCTA)

作者： S.X. Ding N. Weinhold P. Zhang E.L. Ding T. Jeinsch M. Schultalbers Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany Department of Physical Engineering University of Applied Sciences Gelsenkirchen Gelsenkirchen Germany Powertrain Mechatronics Development Gasoline Engines IAV GmbH Gifhorn Germany

A scheme is presented for the integration of FDI functional units into control loops embedded in mechatronic systems. The core of this FDI scheme is to design the FDI functional units by making use of the available tr... 详细信息

关键词： Fault detection control systems Tracking loops Engines mechatronics Automatic control Vehicle safety control system synthesis Knowledge engineering Power engineering and energy

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MICRON: Small Autonomous Robot for Cell Manipulation Applications

MICRON: Small Autonomous Robot for Cell Manipulation Applica...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Brufau M. Puig-Vidal J. Lopez-Sanchez J. Samitier N. Snis U. Simu S. Johansson W. Driesen J.-M. Breguet J. Gao T. Velten J. Seyfried R. Estana H. Woern Instrumentation and Communication Systems Laboratory Universitat de Barcelona Barcelona Spain Laboratoir de Systèmes Robotiques Swiss Federal Institute of Technology Lausanne Switzerland Department of Engineering Sciences Uppsala University Uppsala Fraunhofer Institute of Biomedical Engineering Saint Ingbert Germany Inst. for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.

关键词： Robotics and automation Robot sensing systems Wireless sensor networks Power supplies Force control Batteries Application specific integrated circuits Robot control Teeth Voltage

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Neural network closed-loop control using sliding mode feedback-error-learning

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11th International Conference on Neural Information Processing, ICONIP 2004

作者： Topalov, Andon V. Kaynak, Okyay Department of Electrical and Electronic Engineering Mechatronics Research and Application Center Bogazici University Bebek Istanbul34342 Turkey Control Systems Dept TU Sofia br. Plovdiv Plovdiv4000 Bulgaria

ISBN: (纸本)3540239316

A novel variable-structure-systems-based approach to neuro-adaptive feedback control of systems with uncertain dynamics is proposed. An inner sliding motion is established in terms of the controller parameters. The outer sliding motion is set up on the system under control, the state tracking error vector being driven towards the origin of the phase space. The equivalence between the two sliding motions is shown. The convergence of the on-line learning algorithm is demonstrated and the conditions are given. Results from a simulated trajectory tracking control task for a CRS CataLyst-5 industrial robot manipulator are presented. The proposed scheme can be considered as a further development of the well-known feedback-error-learning method. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Manipulators

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Friction compensation of the electromechanical drive systems using neural networks

Friction compensation of the electromechanical drive systems...

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Annual Conference of Industrial Electronics Society

作者： K. Kiguchi H. Henrichfreise K.-P. Hesseler Department of Advanced Systems Control Engineering Saga University Japan Cologne Laboratory of Mechatronics University of Applied Sciences Cologne Germany

Friction is an undesired phenomenon in many mechanical systems. Feedforward of a suitable estimate of friction is an effective method to compensate for the friction-dependent position errors in the steady state. It is not easy, however, to make a precise friction model because of the complexity of static and dynamic characteristics of friction such as the Stribeck effect, the Dahl effect, stick-slip motion, and so on. In this paper, we propose an effective friction compensation method for the electromechanical drive systems. In the proposed method, neural networks are applied in parallel to a linear observer, for the electromechanical positioning system (EMPS) which is used at the Cologne Laboratory of mechatronics (CLM) at the University of Applied Sciences Cologne for experimental investigation of position control schemes for compliant systems with friction.

关键词： Friction Neural networks Laboratories mechatronics Error correction Vehicle dynamics EMP radiation effects Robots DC motors Neurons

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Loading conditions and bone formation in the GH region of the shoulder

Loading conditions and bone formation in the GH region of th...

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Conference Proceedings - 26th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2004

作者： Tim, D. Seliktar, R. Farrell, E. Tom, J. Nunes, L. Sun, W. Wee, J. School of Biomedical Engineering Science and Health Systems Drexel Universidad Philadelphia PA United States Orthopaedic Surgery Control Health Science Drexel University Philadelphia United States Radiology Control Drexel University Health Science Philadelphia United States Department of Mechanical Engineering Drexel Universidad Philadelphia PA United States

The present study investigates how loading of the shoulder effect the formation of the trabeculae in the sub-articular region of the gleno-humeral joint. Bone morphology was determined from scapular cadaveric specimens and Finite Element (FE) analysis was employed to analyse principal stress trajectories. Boundary conditions corresponded to five functional activities were considered. The results show deviations of the computed trajectories from actual trabecular lines obtained from the bone specimens ranged on average from 10% to 17%. Each activity produced different regional deviation corresponding to the specific loading condition. This study concludes that certain loading conditions are more significant in explaining the formation of the trabecular architecture. The results also suggest that due to the extra sensitivity of the front and the rear aspects of the "lateral region" to the loading conditions, these regions may be more indicative in reflecting shoulder injuries.

关键词： Bone

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Loading conditions and bone formation in the GH region of the shoulder

Loading conditions and bone formation in the GH region of th...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： D. Lim R. Seliktar E. Farrell J. Tom L. Nunes W. Sun J. Wee School of Biomedical Engineering Science and Health Systems Drexel University Philadelphia PA USA Orthopaedic Surgery Control Health Science Drexel University Philadelphia PA USA Radiology Control Drexel University Philadelphia USA Department of Mechanical Engineering Drexel University Philadelphia PA USA

The present study investigates how loading of the shoulder effect the formation of the trabeculae in the subarticular region of the gleno-humeral joint. Bone morphology was determined from scapular cadaveric specimens and finite element (FE) analysis was employed to analyse principal stress trajectories. Boundary conditions corresponded to five functional activities were considered. The results show deviations of the computed trajectories from actual trabecular lines obtained from the bone specimens ranged on average from 10% to 17%. Each activity produced different regional deviation corresponding to the specific loading condition. This study concludes that certain loading conditions are more significant in explaining the formation of the trabecular architecture. The results also suggest that due to the extra sensitivity of the front and the rear aspects of the "lateral region" to the loading conditions, these regions may be more indicative in reflecting shoulder injuries.

关键词： Bones Shoulder Computer architecture Joints Finite element methods Stress Morphology Boundary conditions Head Orthopedic surgery

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Pattern recognition of EEG signals during right and left motor imagery 13

Pattern recognition of EEG signals during right and left mot...

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13th IFAC Symposium on System Identification, SYSID 2003

作者： Inoue, Katsuhiro Pfurtscheller, Gert Neuper, Christa Kumamaru, Kousuke Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka820-8502 Japan Department of Medical Informatics Institute of Biomedical Engineering Graz University of Technology Inffeldgasse 16a Graz8010 Austria

Electroencephalograph (EEG) recordings during right and left motor imagery can be used to move a cursor to a target on a computer screen. Such an EEG-based brain-computer interface (BCI) can provide a new communication channel to replace an impaired motor function. It can be used by e.g., handicap users with amyotrophic lateral sclerosis (ALS). In this study, statistical pattern recognition method based on AR model was introduced to discriminate the EEG signals recorded during right and left motor imagery. And learning methods (processing period for parameter estimation, AR order, etc.) were investigated. Finally, the effectiveness of our method was confirmed through the experimental studies. © 2003 International Federation of Automatic control.

关键词： Brain computer interface

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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A fuzzy track-keeping autopilot for ship steering

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Proceedings of the Institute of Marine engineering, Science and Technology Part A: Journal of Marine engineering and Technology 2003年第2期 23-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Wales College Newport United Kingdom University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Mechatronics United Kingdom IFAC Technical Committee on Marine Systems United Kingdom IFAC Technical Committee on Mechatronic Systems United Kingdom Department of Control Engineering University of Zagreb Faculty of Electrical Engineering and Computing Croatia IEEE Control Systems/Robotics Automation Society Croatia

In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.

关键词： Ships

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Pattern recognition of EEG signals during right and left motor imagery

Pattern recognition of EEG signals during right and left mot...

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SICE Annual Conference

作者： K. Inoue K. Sugioka K. Ishii G. Pfurtscheller K. Kumamaru Department of Control Engineering and Science Factory of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Department of Medical Informatics Institute of Biomedical Engineering Graz University of Technology Graz Austria

In this paper, statistical pattern recognition method based on AR model was introduced to discriminate the electroencephalograph (EEG) signals recorded during right and left motor imagery. And learning methods were investigated. Also, correlation between C3 and C4 signals were investigated, and thereby which AR (combine AR or multivariable AR) model must be used in each EEC recording method.

关键词： Pattern recognition Electroencephalography Electrodes Brain modeling Monitoring Artificial neural networks Feedback biomedical engineering Laplace equations Vectors

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