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2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Xiao Lu Mingchao Li Qiong Pu School of Control Science and Engineering Shandong University Jinan 250061 China Key Laboratory f Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Scien Mechatronic Engineering Department Shandong Agricultural Administrators College Jinan 250100 Chin

The paper is concerned with Kalman filtering for wireless sensor network (WSN) with multiple multiplicative noises. Two measurements which are received through two different channels are considered in this system, and some packets are lost independently. Kalman. lter for the above system is presented by solving a Lyapunov equation and a Riccati equation. Moreover, the optimal. lter for the case of the system with multiple multiplicative noises is also presented. Furthermore, some results for the Lyapunov equation and the Riccati equation are proposed to analyze the performances of the Kalman filters.

关键词： Kalman filter Multiplicative noises Wireless sensor network

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Classification of health grade using bio-check unit and health index

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Journal of Biomechanical Science and engineering 2011年第3期6卷 148-159页

作者： Yi, Seong-Il So, Byung-Rok Lee, Chong-Sun Lee, Seung-Ju Park, Seon-Kyun Park, Byung-Kang Chung, And In-Wook Division of Applied Robot Technology KITECH 1271-18 Sa-1-dong Sangrok-gu Ansan City Kyungki-do Korea Republic of College of Mechanical and Control Engineering Handong Global University 3 Namsong-ri Heunghae-eub Pohang City Korea Republic of Department of Family Medicine Sunlin Hospital 69-7 Daesin-dong Buk-gu Pohang City Korea Republic of

A bio-check unit and health index were developed to evaluate personal health grade. The bio-check unit conducts health-related surveys and noninvasive measurements of physiological signals. Four health indices were defined such as cardiovascular index, stress index, obesity index, and management index. Programs were developed to evaluate scores of the four health indices from measured physiological signals and answers of survey questions. In order to obtain distributions of the health index scores with age, a clinical study was performed for 362 persons who visited general hospital for annual health inspection. The health index scores showed significant correlations with age. Based on the regression equation with age, five regions were divided in health index scores to classify personal health grade. The health index scores were found to identify specific diseases such as hypertension and diabetes. © 2011 by JSME.

关键词： Surveys

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Design of multiple magnetic position sensor using two-wired-interface communication

Design of multiple magnetic position sensor using two-wired-...

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Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010

作者： Park, Soon-Gil Ryoo, Young-Jae Chang, Young-Hak Department of Electrical Engineering Mokpo National University Jeonnam Korea Republic of Department of Control and Robot Engineering Mokpo National University Jeonnam Korea Republic of

In this paper, a development of magnetic position meter for unmanned ground vehicle or automated vehicle system using two-wired-interface(TWI) communication is presented. Usually, a magnetic position meter is installed under the bumper of an automated vehicle to detect magnetic markers or magnetic wire. The previous developed magnetic position meter is composed of several sub-boards with magnetic sensors, which use the parallel communication with each board. In order to overcome the limitation and minimize the size of the magnetic position meter, a serial communication should be applied. In this paper, we apply TWI communication to the board of magnetic sensors. The developed magnetic position meter is installed on the automated vehicle, and shows the high performance in the automatic driving test.

关键词： Magnetic sensors

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A real-time data compression for ground-based 3D LIDAR data using wavelets and compressive sensing

A real-time data compression for ground-based 3D LIDAR data ...

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Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010

作者： Im, Jeong Joon Leonessa, Alexander Kurdila, Andrew Ryoo, Young-Jae Department of Mechanical Engineering Virginia Tech Blacksburg VA 24061 United States Department of Control and Robot Engineering Mokpo National University Jeonam Korea Republic of

A map generated from ground-based threedimensional LIDAR data is a critical component for autonomous vehicle navigation using a vision based sensor. When the size of a map is large and the number of grid cells is relatively big, managing the map associated with a dense data set from 3D LIDAR scanner is a demanding task. Wavelets serve as the basis for an efficient compression scheme which makes it possible to significantly reduce processing effort to generate and manage a grid map in real-time. This research proposes a novel approach to generate an occupancy map from compressed measurement signals. A one-dimensional Haar wavelet transform has been applied to compress 3D scan data, from which occupancy maps have been generated. Our experimental results show that this method performs well to provide an autonomous vehicle with rich 3D environment information. As an alternative method to reduce 3D scan data, Compressive Sensing is also adopted in this research. Compressive Sensing uses a small sub set of data to recover the unknown original data. Utilization of Compact Sensing might lead us to the development of a favorable sensing system;however, conventional compressive sensing recovery algorithms might require a non-trivial amount of computing. With sparse Bayesian learning algorithm, compressive sensing can provide a fast and cost effective solution for acquisition systems characterized by large data set.

关键词： Compressed sensing

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Power control and modeling of a solar-ultra capacitor hybrid energy system for stand-alone applications

Power control and modeling of a solar-ultra capacitor hybrid...

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作者： Cho, Jae Hoon Hong, Won-Pyo Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Building Services Engineering Hanbat National University Korea Republic of

ISBN: (纸本)9781424474530

This paper proposes the integration of photovoltaic (PV) and energy storage systems for sustained power generation. In this proposed system, whenever the PV system cannot completely meet load demands, the super capacitor provides power to meet the remaining load. A power management strategy is designed for the proposed system to manage power flows between PV systems and ultracapacitor(UC). The main works of this paper is to design PV systems with storage strategies and to analyze dynamic model proposed for a PV-UC hybrid power generation system. In this paper, the simulation models for the hybrid energy system are developed using Matlab/Simulink, SimPowerSystems and Matlab/state flow tool. The system performances are verified by carrying out simulation studies using practical load demand profile and real weather data. ©ICROS.

关键词： Supercapacitor

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A Design of Incremental Granular Network for Software Data Modeling

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Journal of Software engineering and Applications 2010年第11期3卷 1027-1031页

作者： Keun-Chang Kwak Department of Control Instrumentation and Robot Engineering Chosun University

In this paper, we propose an incremental method of Granular Networks (GN) to construct conceptual and computational platform of Granular Computing (GrC). The essence of this network is to describe the associations between information granules including fuzzy sets formed both in the input and output spaces. The context within which such relationships are being formed is established by the system developer. Here information granules are built using Context-driven Fuzzy Clustering (CFC). This clustering develops clusters by preserving the homogeneity of the clustered patterns associated with the input and output space. The experimental results on well-known software module of Medical Imaging System (MIS) revealed that the incremental granular network showed a good performance in comparison to other previous literature.

关键词： Incremental Granular Network Granular Computing Information Granules Context-Based Fuzzy Clustering

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Inspection of the internal cracks on a pipe using a cylinder-type magnetic camera

Inspection of the internal cracks on a pipe using a cylinder...

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作者： Kim, Jungmin Lee, Jinyi Department of Control and Instrumentation Engineering Graduate School of Chosun University Gwangju 501-759 Korea Republic of Department of Control Instrumentation and Robot Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju 501-759 Korea Republic of

Two important factors in damage tolerance engineering are the damage size that can be tolerated and the use of applied nondestructive testing (NDT) technique for detection of defects. Generally, NDT of large mechanical structures, such as vessels and pipes in nuclear power plants, is carried out according to national codes, and the damaged mechanical parts detected during periodic NDT are repaired or replaced after the evaluation. However, unexpected accidents can occur if cracks in the structure grow and exceed the tolerance limit during operation. Therefore, there is a need to develop NDT techniques that can detect micro-damage in the vessels and pipes. In this paper, we propose a cylinder-type magnetic camera to fill this need. We use a cylindrically integrated Hall sensor array (CIHaS) as a magnetic sensor to create magnetic images, and we use a solenoid coil as the source of the magnetic field detected by the magnetic camera in order to achieve high crack-detection ability. The proposed method is tested with an examination of the cracks on a prepared pipe sample. © (2010)Trans Tech Publications, Switzerland.

关键词： Nondestructive examination

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A new linear matrix inequality condition for robust -stabilizing proportional-derivative state-feedback controller design of polynomial matrix polytopes

A new linear matrix inequality condition for robust -stabili...

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作者： Lee, Dong-Hwan Park, Jin-Bae Joo, Young-Hoon Department of Electrical and Electronic Engineering Yonsei University Seodaemun-gu Seoul 120-749 Korea Republic of Department of Control Robot and Systems Engineering Kunsan National University Kunsan Chongbuk 573-701 Korea Republic of

ISBN: (纸本)9781424474530

This paper investigates the problem of robust D-stabilization for polynomial matrix polytopes. By employing proportional-derivative (PD) state-feedback controllers, a new sufficient condition is formulated in terms of a linear matrix inequality (LMI) feasibility problem. Example is given to demonstrate the validity and efficiency of the proposed approach. ©ICROS.

关键词： Stabilization

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An incremental Granular Network for data modeling in software engineering

An incremental Granular Network for data modeling in softwar...

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International Conference on New Trends in Information and Service Science, NISS

作者： Myung-Won Lee Keun-Chang Kwak Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea

ISBN: (纸本)9781424469826;9788988678183

关键词： Software engineering Computer networks Context modeling Fuzzy sets Biomedical imaging robot control Instruments Data engineering Software performance Computer architecture

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Model-based control for nonprehensile manipulation of a two-rigid-link object by two cooperative arms

Model-based control for nonprehensile manipulation of a two-...

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IEEE International Conference on robotics and Biomimetics

作者： Zyada, Zakarya Hayakawa, Yoshikazu Hosoe, Shigeyuki Tanta University of Egypt Egypt Robot Control Research Team RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Nagoya Aichi 463-0003 Japan Department of Mechanical Science and Engineering Nagoya University Nagoya Furo-cho Chikusa-ku Nagoya 464-8603 Japan Robot Control Research Team RIKEN-TRI Collaboration Center RIKEN Nagoya Japan RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Nagoya Aichi 463-0003 Japan

ISBN: (纸本)9781424493173

robots are expected to come in direct contact with human at care facilities and/or homes soon. Motivated by the application of holding and/or transferring a patient applying a robot, this paper introduces the dynamic model, static analysis and control algorithm for nonprehensile manipulation of a two-rigid-link object applying two cooperative arms. Newton-Euler equations are applied for formulating the object dynamics while a visco-elastic model is applied for modeling the interaction between the object links and the arms. Static analysis specifying the equilibrium points based on the derived dynamical model is introduced. A PD controller with a disturbance observer is designed to control the object lifting-up motion. Static analysis as well as controlled object lifting-up motion simulation results is presented which show the validity of the proposed analysis and control algorithm. © 2010 IEEE.

关键词： Static analysis

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