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FRSMC design for the steering control and diving control of underwater vehicles

Journal of Marine Science and Technology 2009年第1期17卷 50-59页

作者： Kuo, Tzu-Chun Huang, Ying-Jeh Yu, Hung-Hsiu Department of Electrical Engineering Ching Yun University Chungli Taiwan Department of Electrical Engineering Yuan Ze University Chungli Taiwan Robot Control Technology Department Mechanical and Systems Research Laboratories Industrial Technology Research Institute Hsinchu Taiwan

A robust control method is proposed for the steering and diving control systems of autonomous underwater vehicles. Heading angle and heave position tracking are achieved. All the closed-loop poles in the sliding mode can be placed by using the sliding mode and root locus techniques. Fuzzy logic technique is further employed to effectively tune the control law. Parameter variation and external disturbance such as various vehicle speeds and the ocean current effect are overcome.

关键词： Root loci

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Global Asymptotical Stabilization of Morse-Smale Systems Using Weak control-Lyapunov Functions

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SICE Journal of control, Measurement, and System Integration 2009年第1期2卷 43-49页

作者： Gou Nishida Takayuki Tsuzuki Hisakazu Nakamura Yuh Yamashita RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Center Advanced Science Institute RIKEN Department of Electronic and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Systems and Control Lab. Graduate School of Information Science Nara Institute of Science and Technology Division of Systems Science and Informatics Graduate School of Information Science and Technology Hokkaido University

This paper proposes a method of constructing weak control-Lyapunov functions for nonlinear systems by introducing a topological geometric assumption called a Morse-Smale system. A Lyapunov function is one of the most important tools to study stability and stabilization of nonlinear systems. However, a general way of finding Lyapunov functions has not been found yet. First, we confirm there is a weak Lyapunov function for Morse-Smale systems. Next, we define the escapability for singular structures of the weak Lyapunov function. If all singular structures are escapable, then the Morse-Smale system is a globally asymptotically stabilizable one. Finally, we present the method of constructing a set of weak control-Lyapunov functions to achieve global stabilization. The method is described in terms of a recursive sequence of singular structures. We call the sequence a weak Lyapunov filtration.

关键词： nonlinear systems Lyapunov functions iterative modeling and control design

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Privacy Protection Technology in Video Surveillance System

Privacy Protection Technology in Video Surveillance System

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International Conference on Embedded and Multimedia Computing (EM-Com)

作者： Hae-Min Moon Chang Ho Seo Yongwha Chung Sung Bum Pan Department of Information and Communication Engineering Chosun University Gwangju South Korea Department of Applied Mathematics Kongju National University Kongju South Korea Department of Computer and Information Science Korea University Chungnam South Korea Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea

Since the increase of terrors and crimes, the demand of the video surveillance system is increasing. The video surveillance system has been operated for public interest by the police and local government. However private information such as faces or behavior patterns can be recorded in CCTV, it may cause the invasion of privacy. This paper proposes a video surveillance system that satisfies both functions of privacy protection and surveillance. The proposed system operates multiple surveillance cameras with a single RFID system. The RFID system is used in order to recognize internal or external personnel of object at entrance and cameras are used to extract features such as height and clothing-colors of the object. The proposed system can reduce invasion of privacy by intensity of scrambling according to access levels. Based on the experimental results, we are able to confirm that surveillant can classify personnel information fast and exactly in the display.

关键词： Privacy Protection Video surveillance Cameras Radiofrequency identification Personnel Local government Data mining Feature extraction Displays

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Boundary Detection of Variational Symmetry Breaking using Port-Representation of Conservation Laws

Boundary Detection of Variational Symmetry Breaking using Po...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Gou Nishida Motonobu Sugiura Masaki Yamakita Bernhard Maschke Ryojun Ikeura RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Center Advanced Science InstituteRIKEN Department of Mechanical and Control Engineering Tokyo Institute of Technology Laboratoire d’Automatique et de Génie des Procédés UMR CNRS 5007Université Claude Bernard Lyon 1Université de Lyon Department of Mechanical Engineering Mie University

*** A conservation law expresses the physical property that some quantity of a physical system’s model is invariant under a transformation(*** translation for the energy conservation law)[21].On the other hand,a conservation law is derived from a mathematical property,called a variational symmetry[14].The conservation laws of some system of partial differential equations are widely used in science and engineering.

关键词： Boundary Detection of Variational Symmetry Breaking using Port-Representation of Conservation Laws

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A beacon selected localization algorithm for Ad-Hoc networks of sensors

A beacon selected localization algorithm for Ad-Hoc networks...

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IEEE International Conference on Mechatronics and Automation

作者： Lingfei Wu Max Q.-H. Meng Huawei Liang Department of Automation University of Science and Technology Hefei Anhui China Center of Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Advanced Robot Technology The key Laboratory of Biomimetic Sensing Anhui Province Department of Automation University of Science and Technology of China Hefei Anhui Province China Center for Biomimetic Sensing and Control Research Chinese Academy of Sciences Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Sha tian Hong Kong

Aiming at the positioning problem of Ad-Hoc networks of sensors node location, a beacon selected localization algorithm (BSLA) is proposed in this paper. The proposed method considers sufficiently both the topology relationship among beacons and the topology relationship between beacon nodes and unknown nodes. We introduce the concept of collinearity and apply it into the localization of the multihop networks. Through selecting best anchor terms by using collinearity parameter, node position estimate can be attained with a weighted estimate mechanism. A well-established data analysis technique- Pauta Criterion is used to filter out the erroneous position estimate to achieve higher localization accuracy. Simulation results show that the performance of BSLA outweighs the traditional DV-Hop and DV-distance algorithms whether in regular networks or in irregular networks (C shape networks).

关键词： Ad hoc networks Wireless sensor networks Network topology Shape robotics and automation Spread spectrum communication Data analysis Filters Mechatronics Biosensors

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A flexure guided stage with piezo electric transducers for laser micro/nano machining 10

A flexure guided stage with piezo electric transducers for l...

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10th Anniversary International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2008

作者： Kim, Jin-Yong Hwang, Donghyun Lee, Kwang-Il Kim, Sang-In Kim, Ho-Sang Lee, Kyoung-Don Jeong, Jaewha Lee, Moon G. Division of Mechanical Engineering Ajou University Korea Republic of Center for Robot Tech. and Manufacturing Institute of Advanced Engineering Korea Republic of Department of Control and Instrumentation Engineering Korea University Korea Republic of

ISBN: (纸本)9780955308253

Laser machining technology has potential to be applied to FPD (flat panel display) industry. The equipments are required to repair the electronics or inspect the pattern with using the laser. In order to repair micro and nano pattern for FPD, the equipments should be able to carry large sized work-piece with high speed and accuracy. We proposed a fine XY-stage mechanism which is compact and fast. The stage actuated by PZT (Piezo Electric Transducer). The PZT motion is amplified by flexure lever mechanisms. The stage and actuator mechanism is designed so that satisfies the requirements: The stage moves over 10 um u 10 um in XY-range with bandwidth over 80 Hz. The positioning accuracy should be about 100 nm.

关键词： Flat panel displays

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Genetically optimized linguistic models

Genetically optimized linguistic models

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International Conference on control, Automation and Systems ( ICCAS)

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

This paper is concerned with linguistic models (LM) optimized by genetic algorithm (GA) and developed their comprehensive framework. The main characteristics of LM are user-centric and inherently dwell upon collections of highly interpretable and user-oriented entities such as information granules. The objective of this paper is to present an organization of overall optimization process and come up with a specification of several evaluation mechanisms of the performance of the models. The underlying design tool guiding the development of LM revolves around the augmented version of fuzzy clustering known a context-based fuzzy c-means. The optimization design based on GA determines the number of cluster generated by each linguistic context and fuzzification factor related to information granules in the input and output process. The experimental study comes with coagulant dosing process in a water purification plant. Furthermore we contrast the performance of genetically opimized LM in comparison with other radial basis function networks and LM itself.

关键词： Context modeling Fuzzy sets Genetic algorithms Radial basis function networks Automatic control robotics and automation control system synthesis robot control Instruments Genetic engineering

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An incremental adaptive neuro-fuzzy networks

An incremental adaptive neuro-fuzzy networks

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International Conference on control, Automation and Systems ( ICCAS)

作者： Keun-Chang Kwak Department of Control Instrumentation and Robot Engineering Chousn University Gwangju South Korea

In this paper, we propose a method for constructing an incremental adaptive neuro-fuzzy network (IANFN). In contrast to typical rule-based systems, the underlying principle is to consider a two-step development of adaptive neuro-fuzzy network (ANFN). First, we build a standard linear regression (LR) model which could be treated as a preliminary design capturing the linear part of the data. Next, all modeling discrepancies are compensated by a collection of rules that become attached to the regions of the input space in which the error becomes localized. The incremental network is constructed by building a collection of information granules through some specialized fuzzy clustering, called context-based fuzzy c-means (CFCM) that is guided by the distribution of error of the linear part of its development. The experimental results reveal that the proposed incremental network shows a good approximation and generalization capability in comparison with the general method.

关键词： Adaptive systems Fuzzy neural networks Linear regression Automatic control control systems robotics and automation Programmable control Adaptive control robot control Instruments

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Design of new modular walking robot MERO

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11th International Conference on Climbing and Walking robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Ion, Ion Simionescu, Ion Curaj, Adrian Luige, Vladareanu Vasile, Aurelian Technology of Manufacturing Department POLITEHNICA University Bucharest Romania Mechanism and Robot Theory Department POLITEHNICA University Bucharest Romania Automatic Control and System Engineering Department POLITEHNICA University Bucharest Romania Institute of Solid Mechanics Romanian Academy Romania

ISBN: (纸本)9812835768

The walking robots are built to displace the loads on the not-aligned terrain. The modular walking system protect much better the environment when its contact with the soil is discrete, a fact that limits appreciately the area that is crushed. At the Polytechnic University of Bucharest has been new developed a walking modular robot to handle farming tools. This walking robot has three twolegged modules. Every leg has three freedom degrees (RRT) and a tactile sensor to measure the contact, which consists of lower and upper levels. The body of the MERO (MEchanism robot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic or electric drives and are equipped with transducers and sensors. They are used to control the walking robot in the adaptability to a natural ground. A vehicle like that is Romanian Walking robot MERO (Fig. 1).

关键词： Machine design

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Investigating Authentication Architecture Based on Mobility in Heterogeneous Network

Investigating Authentication Architecture Based on Mobility ...

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International Conference on Future Generation Communication and Networking (FGCN)

作者： Anish Prasad Shrestha Dong-You Choi Joon Lee Seung-Jo Han Soon-Suck Jarng Department of Information and Communication Engineering Chosun University Gwangju South Korea Department of Computer Engineering Chosun University Gwangju South Korea Department of Control Instrumentation & Robot Engineering Chosun University Gwangju South Korea

ISBN: (纸本)9781424440085

The limitation of each wireless technologies in terms of coverage, bandwidth or delay, has enforced the concept of integrated heterogeneous high speed wireless access. However, with the integration of different technologies provided by different operators, maintaining security remains a challenging proposition. When a mobile device moves in and out of the coverage of one wireless network to another wireless network in such heterogeneous network, they need to be authenticated. The focus of this paper is on improving the authentication architecture based on mobility of users with the use of dynamic security association.

关键词： Authentication Communication system security Wireless networks Switches Delay Land mobile radio cellular systems Wireless LAN Access protocols Computer architecture Computer networks

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