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18th IEEE Signal Processing Algorithms, Architectures, Arrangements, and Applications, SPA 2014

作者： Dobrucki, Andrzej Walczyński, Maciej Bozejko, Wojciech Wroclaw University of Technology Faculty of Electronics Department of Acoustic and Multimedia Wyb. Wyspiańskiego 27 Wroclaw50-370 Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wyb. Wyspiańskiego 27 Wroclaw50-370 Poland

ISBN: (纸本)9788362065189

This paper deals with a number of parallel LMS family algorithms in the context of their use in the acoustic echo cancellation. The most complex parts of the LMS-based algorithms were determined and parallelized. A number of parallelization methods were designed taking under consideration varied types of architectures of modern concurrent computing environment, such as GPUs, clusters of workstations and cloud computing. © 2014 Division of Signal Processing and Electronic Systems, Poznan University of Technology.

关键词： Adaptive algorithms

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A methodology for autonomous robotic manipulation of valves using visual sensing 2

A methodology for autonomous robotic manipulation of valves ...

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2nd IFAC Workshop on Automatic control in Offshore Oil and Gas Production, OOGP 2015

作者： Faria, Rafael O. Kucharczak, Florentin Freitas, Gustavo M. Leite, Antonio C. Lizarralde, Fernando Galassi, Mauricio From, Pål J. Department of Electrical Engineering COPPE Federal University of Rio de Janeiro Rio de Janeiro Brazil Department of Control Vision and Robotics Télécom Physique Strasbourg Strasbourg France Petrobras Research and Development Center CENPES Rio de Janeiro Brazil Department of Mathematical Sciences and Technology Norwegian University of Life Science Ås Norway

This work presents a methodology for autonomous manipulation of valves using a dual-arm robot and the visual sensing provided by cameras mounted on the head and each robot arm. A novel image-based identification and pose estimation method is devised to determine the valve to be manipulated as well as to estimate its position and orientation with respect to the robot base. The valve pose is used in the positioning and alignment of the robot end effector enabling the manipulation task to be carried out autonomously. Experimental results, obtained with a Baxter™ robot performing valve turning tasks, illustrate the feasibility of the proposed methodology. The main objective of this work is to provide capabilities to develop new solutions and innovative technologies to deal with the challenge of manipulating valves autonomously in poorly structured and harsh environments. © 2015, IF AG.

关键词： End effectors

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Overhead Crane control through LQ Singular Surface Design MATLAB Toolbox

Overhead Crane control through LQ Singular Surface Design MA...

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American control Conference

作者： Ismael Castillo Carlos Vazquez Leonid Fridman Department of Control and Robotics Engineering National Autonomous University of Mexico Mexico City Mexico Department of Applied Physics and Electronic Umea University Umea Sweden

ISBN: (纸本)9781479917730

The experimental application of LQ Singular Optimal surface design methodology through a MATLAB Toolbox to an overhead crane is presented. Based on the properties of a given performance index, it is possible to apply all the cases of Higher-Order Sliding Mode controllers, from conventional Sliding Mode controller up to Higher-Order Sliding Mode controller of order n, for a specified system. Moreover, it is illustrated how the MATLAB Toolbox can be a helpful tool to select a better performance option. The experimental results confirm the advantages of the proposed control design methodology.

关键词： fuzzy sliding mode controllers tool cases MATLAB LQ performance indicators crane control Sliding mode CRANE BRIDGE Singular controllers

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Reducing the transient active power from diesel generator using flywheel energy storage system in isolated wind-diesel hybrid power system

Reducing the transient active power from diesel generator us...

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International Conference on Power, Instrumentation, control and Computing (PICC)

作者： S. Sujith V. Ramesh Electrical and Electronics Department NSS College of Engineering Palakkad India Robotics and Control division Vellore Institute of Technology VIT Vellore India

The paper describes the application of a flywheel energy storage system (FESS) for reducing the diesel energy consumption during the post high wind transient period in an isolated wind-diesel hybrid power system. The combination of Diesel Generator(DG) with Wind Generator (WG) ensures that there will be continuous supply of active power to the system and can be effectively utilised for critical power applications. However, the diesel power is neither economical nor environmental friendly in an already installed WDHS. And thus the priority should be to reduce its dependence of power without compromising on continuous power supply. Flywheel based energy storage system is highly effective for the specified mission, especially for locations which suffers from high wind speed oscillations. The paper describes the specified applications of FESS and the system is validated using Matlab /Simulink software. The simulation results show that the peak overshoot of the power from DG reduced by 21 % and the DG power reduces by over 35%, typically, during the said transition interval.

关键词： Flywheels Generators Wind power generation Software packages Power system stability Hybrid power systems

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Statistical recognition of breathing by MS Kinect depth sensor

Statistical recognition of breathing by MS Kinect depth sens...

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2015 International Workshop on Computational Intelligence for Multimedia Understanding, IWCIM 2015

作者： Schätz, Martin Centonze, Fabio Kuchyňlka, Jiří Ťupa, Ondřej Vyšata, Oldřich Geman, Oana Procházka, Ales Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic University of Chemistry and Technology in Prague Dept of Computing and Control Engineering CZ Czech Republic Politecnico di Milano Department of Mechanical Engineering Italy Charles University Department of Neurology University Hospital in Hradec Kralove CZ Czech Republic Stefan Cel Mare University of Suceava Department of Health and Human Development Romania

ISBN: (纸本)9781467384575

Measuring of breathing with contact methods, like respiratory belts, is very uncomfortable for patients and in case of complex sleep analysis, cables from different sensors can substantially affect the quality of the sleep. This paper presents the contactless measuring of breathing using the MS Kinect depth sensor, and it compares the results obtained with records of breathing observed by the flowmetry. The methodological part of the paper is devoted to spectral analysis of data acquired, feature extraction, and their Bayesian classification. The proposed classifier is able to distinguish the Sleep and Wake classes with the accuracy of 100% (cross-validation: 0) for given data. The achived accuracy of classification into 3 classes (Sleep, Falling Asleep and Wake) is 97% (cross-validation: 0.0248) in the given case. © 2015 IEEE.

关键词： Wakes

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Erratum to: Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings

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Journal of neuroengineering and rehabilitation 2017年第1期14卷 69页

作者： Alexis R Krueger Psiche Giannoni Valay Shah Maura Casadio Robert A Scheidt Biomedical Engineering Marquette University Milwaukee WI USA. Informatics Bioengineering Robotics and Systems Engineering University of Genova Genoa Italy. Robotics Brain and Cognitive Science Italian Institute of Technology Genoa Italy. Biomedical Engineering Marquette University Milwaukee WI USA. robert.scheidt@marquette.edu. Physical Medicine and Rehabilitation Northwestern University Feinberg School of Medicine Chicago IL USA. robert.scheidt@marquette.edu. Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA. robert.scheidt@marquette.edu. Neurology Medical College of Wisconsin Wauwatosa WI USA. robert.scheidt@marquette.edu. Neuromotor Control Laboratory Department of Biomedical Engineering Marquette University Olin Engineering Center 206 P.O. Box 1881 Milwaukee WI 53201-1881 USA. robert.scheidt@marquette.edu.

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Generalization of optimal motion trajectories for bipedal walking

Generalization of optimal motion trajectories for bipedal wa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Werner D. Trautmann Dongheui Lee R. Lampariello German Aerospace Center (DLR) Institute of Robotics and Mechatronics Chair of Automatic Control Engineering Department of Electrical and Computer Engineering Technische Universität München (TUM)

control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.

关键词： Trajectory Legged locomotion Machine learning algorithms Cost function Splines (mathematics)

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Experimental exergy analysis of the solar thermal system in the Off-Grid Zero Emissions Building

Experimental exergy analysis of the solar thermal system in ...

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Conference on Technologies for Sustainability (Sustech)

作者： Sam Yang Mauricio B. Chagas Tomas Solano Juan C. Ordonez Taylor Davis Jose V. C. Vargas Camilo Ordonez Department of Mechanical Engineering Center for Advanced Power Systems Florida State University Tallahassee FL USA Department of Mechanical Engineering Control and Robotics Florida State University Tallahassee FL USA

This paper presents an experimental exergy analysis of the solar thermal system in the Off-Grid Zero Emissions Building (OGZEB) at the Florida State University in efforts to identify components with major irreversibilities, i.e., exergy destruction. The solar thermal system comprises a series of flat-plate solar thermal collectors and 250-gal sensible thermal energy storage tank, and it is an essential constituent of the OGZEB heating system. In this study, exergy flow and destruction rates throughout the solar thermal system were evaluated using the experimental data obtained on two different days. According to the analysis, the greatest exergy destruction rate was observed in the solar thermal collector as expected, and its average exergetic efficiencies were 7.9% and 6.5% on each respective day. In the thermal energy storage tank, most of the exergy destruction was attributed to the mixing of hot water from the collector with the reservoir. This work serves as an initial step to the integrative thermodynamic optimization of the HVAC system in an off-grid residential building, where most energy is consumed for air-conditioning and heating.

关键词： Heat transfer Buildings Temperature measurement Sun Thermal analysis Thermal energy

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A study on tracking peformance of the pneumatic system with enhanced NPID controller

A study on tracking peformance of the pneumatic system with ...

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Asian control Conference

作者： Sy Najib Sy Salim Aliza Che Amran A. A. M. Faudzi Z. H. Ismail M. F. Rahmat N. H. Sunar Shamsul Anuar Shamsudin Department of Control Instrumentation and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Department of Control Universiti Teknikal Malaysia Melaka Department of Control and Mechatronic Engineering Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics (CAIRO) Universiti Teknologi Malaysia Kuala Lumpur Malaysia Faculty of Mechanical Engineering Universiti Teknikal Malaysia Melaka

An investigation on the performance of enhanced Nonlinear Proportional Integral Derivative (ENPID) controller is presented in this paper. The study is focused on the potential of the controller to perform well in tracking set point of pneumatic actuator system. Two control strategies of the ENPID are considered in this paper, namely Multi-rate NPID (MN-PID) and Self-regulation NPID (SN-PID). These control strategies are tested against NPID and conventional PID controller. Also, the dead-zone compensation (DZC) is applied to the system to overcome the dead-band of the valve. Feed forward path is also included to improve the tracking performance. Two different input signals i.e. sinusoidal and S-curve waveforms are used to evaluate the performance of the techniques. To further examine the controller performance, the frequency and amplitude of the sinusoidal test signal are varied. The effectiveness of the proposed controllers is verified through simulation and experimental studies.

关键词： Pneumatic actuators Valves Mathematical model Trajectory Pistons Fuzzy logic

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A new emission model including on-ramps for two-class freeway traffic control

A new emission model including on-ramps for two-class freewa...

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International IEEE Conference on Intelligent Transportation Systems

作者： C. Pasquale S. Liu S. Siri S. Sacone B. De Schutter the Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy. the Delft Center for Systems and Control Delft University of Technology The Netherlands.

ISBN: (纸本)9781467365970

The main objective of this paper is to propose a new two-class macroscopic emission model to describe the pollutant emissions produced by freeway traffic. The innovative aspect of the proposed model consists in considering the on-ramp emissions, which are explicitly modeled for different traffic scenarios. Next, a two-class local controller based on a ramp metering is reported with the aim of minimizing emissions and congestion in the freeway system. The relevance of the on-ramp emission model is in this way highlighted, since ramp metering may lead to creation of queues at the entering on-ramps and hence a concentration of pollutants on these on-ramps. Simulation results show the effectiveness of the proposed control strategy for a case of study.

关键词： pollutant emissions proposed case of study Emissions On ramps Ramp metering DISCHARGE OF POLLUTANTS Freeway emission Pollutant control strategy Case studies Queue local controller Traffic

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