检索结果-内蒙古大学图书馆

Asian control Conference

作者： Nurulaqilla Khamis Mohammad Fadzli Haniff Hazlina Selamat Omar Farouq Lutfy Centre for Artificial Intelligence & Robotics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineeering Faculty Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineering Faculty Universiti Teknologi Malaysia Control & Systems Engineering Department University of Technology

ISBN: (纸本)9781479978632

Human will have their own preferences when they are walking such as direction in their movement, destination and walking speed. These preferences and walking patterns can be affected by several factors including psychological behavior of evading other people or obstacle to avoid any collision by exerting certain repulsion forces. To demonstrate plausible human movement pattern, agent simulation model as a tool has been developed in this research studies where the agent will represent the human with the physical characteristics of body radius and Field of View (FoV) to navigate their surroundings. The modification in the proposed agent model was done by utilizing the physical force approach which results in a simpler mathematical representation compared to the original model. In the proposed model, two parameters, namely, K_(ad) and K_(ro), are used to represent the agent motivational force to move towards its target destination and the obstacle repulsion, respectively. Moreover, heuristics and non-linear parameters were used in the proposed model to provide more realistic agent motion by maintaining their safety boundary from obstacles. To increase the accuracy of the modified model, the Particle Swarm Optimization (PSO) algorithm is used to find the optimal settings for the parameters of the agent basic movement model. The PSO has achieved superior results by optimizing the model parameters to provide safe distance trajectories between agents and obstacles.

关键词： Agents research report Repulsion model parameters original model walking barriers Human Force Movements Diaphysis of radius Two-Parameter Models Physical characteristics

来源：评论

学校读者我要写书评

暂无评论

Novel simple reactive power control with constant dc-capacitor voltage control for active load balancer on three-phase four-wire distribution feeders under distorted source voltage conditions

Novel simple reactive power control with constant dc-capacit...

引用

International Conference on Electrical Machines and Systems (ICEMS)

作者： Su Hlaing Wint Yoshihiro Hisada Hiroaki Yamada Toshihiko Tanaka Masayuki Okamoto Seong Ryong Lee Department of Electrical and Electronic Engineering Yamaguchi University Ube Japan Yamaguchi Daigaku Yamaguchi Yamaguchi JP Department of Electrical Engineering National Institute of Technology Ube Japan Department of Control and Robotics Engineering Kunsan National University Kunsan Korea

This paper addresses the compensation performance of the previously proposed reactive power control algorithm with the constant dc-capacitor voltage control for active load balancer (ALB) on three-phase four-wire distribution feeders under distorted source voltage conditions. The instantaneous power flows into the ALB is discussed in detail. This instantaneous power flows into the ALB show that the previously proposed reactive power control algorithm is applicable under the distorted source-voltage conditions. A computer simulation is implemented to confirm the reality of the previously proposed reactive power control algorithm with the constant dc-capacitor voltage control under the distorted source-voltage conditions. A prototype experimental model is constructed and tested. Simulation and experimental results demonstrate that sinusoidal and balanced source currents with the power factor of 0.9 are achieved on three-phase four-wire distribution feeders under the distorted source-voltage conditions.

关键词： Voltage control Reactive power Reactive power control IP networks Computational modeling Phase locked loops Integrated circuit modeling

来源：评论

学校读者我要写书评

暂无评论

A design for a fuzzy logic based frequency controller for efficient wind farm operation

引用

Journal of Institute of control, robotics and Systems 2014年第2期20卷 186-192页

作者： Kim, Se Yoon Kim, Sung Ho School of Electronic and Information Engineering Kunsan National University Korea Republic of Department of Control and Robotics Engineering Kunsan National University Korea Republic of

Recently wind energy penetration into power systems has increased. Wind power, as a renewable energy source, plays a different role in the power system compared to conventional power generation units. As long as only single and small wind power units are installed in the power system, wind power does not influence power system operation and can easily be integrated. However, when wind power penetration reaches a significantly high level and conventional power production units are substituted, the impact of wind power on the power system becomes noticeable and must be handled. The connection of large wind turbines and wind farms to the grid has a large impact on grid stability. The electrical power system becomes more vulnerable to and dependent on wind energy production, and therefore there is an increased concern about the large wind turbines impact on grid stability. In this work, a new type of fuzzy logic controller for the frequency control of wind farms is proposed and its performance is verified using SimWindFarm toolbox which was developed as part of the Aeolus FP7 project. © ICROS 2014.

关键词： Wind farm

来源：评论

学校读者我要写书评

暂无评论

Real time object tracking via a mixture model

Real time object tracking via a mixture model

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dongxu Gao Zhaojie Ju Jiangtao Cao Honghai Liu Intelligent Systems and Biomedical Robotics group School of Computing’ University of Portsmouth Portsmouth England Department of Information and Control Engineering Liaoning Shihua University Fushun Liaoning China

Object tracking has been applied in many fields such as intelligent surveillance and computer vision. Although much progress has been made, there are still many puzzles which pose a huge challenge to object tracking. Currently, the problems are mainly caused by appearance model as well as real-time performance. A novel method was been proposed in this paper to handle both of these problems. Locally dense contexts feature and image information (i.e. the relationship between the object and its surrounding regions) are combined in a Bayes framework. Then the tracking problem can be seen as a prediction question which need to compute the posterior probability. Both scale variations and temple updating are considered in the proposed algorithm to assure the effectiveness. To make the algorithm runs in a real time system, a Fourier Transform (FT) is used when solving the Bayes equation. Therefore, the MMOT (Mixture model for object tracking) runs in real-time and performs better than state-of-the-art algorithms on some challenging image sequences in terms of accuracy, quickness and robustness.

关键词： Computational modeling Image color analysis Hidden Markov models Computer vision Object tracking Pattern recognition Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Measuring and Modelling Delays in Robot Manipulators for Temporally Precise control Using Machine Learning

Measuring and Modelling Delays in Robot Manipulators for Tem...

引用

International Conference on Machine Learning and Applications (ICMLA)

作者： Thomas Timm Andersen Heni Ben Amor Nils Axel Andersen Ole Ravn Department of Automation and Control DTU Electrical Engineering Technical University of Denmark Lyngby Denmark College of Computing Georgia Tech Institute for Robotics and Intelligent Machines Atlanta GA USA

Latencies and delays play an important role in temporally precise robot control. During dynamic tasks in particular, a robot has to account for inherent delays to reach manipulated objects in time. The different types of occurring delays are typically convoluted and thereby hard to measure and separate. In this paper, we present a data-driven methodology for separating and modelling inherent delays during robot control. We show how both actuation and response delays can be modelled using modern machine learning methods. The resulting models can be used to predict the delays as well as the uncertainty of the prediction. Experiments on two widely used robot platforms show significant actuation and response delays in standard control loops. Predictive models can, therefore, be used to reason about expected delays and improve temporal accuracy during control. The approach can easily be used on different robot platforms.

关键词： Delays Robot sensing systems Predictive models Robot control Solid modeling Service robots

来源：评论

学校读者我要写书评

暂无评论

Cooperative Multi Agent System for Ocean Observation System based on Consensus Algorithm

引用

Procedia Computer Science 2015年 76卷 203-208页

作者： Herdawatie Abdul Kadir M.R. Arshad Underwater Control and Robotics Group (UCRG) School of Electrical and Electronic Engineering Engineering Campus Universiti Sains Malaysia (USM) 14300 Nibong Tebal Pulau Pinang Malaysia Department of Robotic & Mechatronic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia (UTHM) 86400 Batu pahat Johor Malaysia

In this paper, we present a cooperative decision making problem of multi agent system for ocean observation system. We consider a team of agents consisting of three blimps and buoys. The aim is to obtain cohesion in heading for the multi blimp to assist aerial mapping and act as the communication hub for a series of ODAS buoy. The ocean observation framework is design suited to the coral reef environment condition. The cooperative solution proposed is based on animal inspired consensus for small flock. The consensus algorithm is developed to solve reach agreement as a whole to acquire the best heading. The results show fast converges of consensus and the effectiveness were demonstrated through numerical simulations.

关键词： Cooperative Multi agent consensus ocean observation blimp

来源：评论

学校读者我要写书评

暂无评论

Sufficient Conditions for Dynamic Stabilization of 3-State Moore-Greitzer Compressor Model

Sufficient Conditions for Dynamic Stabilization of 3-State M...

引用

IEEE Annual Conference on Decision and control

作者： A.S. Shiriaev L.B. Freidovich A. Robertsson A. Andersson R. Johansson Department of Engineering Cybernetics Norwegian University of Science & Technology NO-7491 Trondheim Norway Robotics & Control Lab the Department of Applied Physics & Electronics Umea University SE-901 87 Umea Sweden Department of Automatic Control Lund University Lund SE-221 00 Sweden

ISBN: (纸本)9781479978878

We consider the classical 3-state Moore-Greitzer model, which is commonly used for approximating dynamics of deviations of flow and pressure variables in an axial compressor from their nominal steady-state values. The linearization of the nonlinear system is not controllable and, therefore, even local asymptotic stability cannot be achieved using methods of linear control theory. We propose a family of parametrized partial-state feedback control laws and derive sufficient conditions to guarantee global asymptotic stability of the closed-loop system. The stability analysis uses the integral quadratic constraints technique for the case of non-strict frequency condition and novel arguments for characterization of ω-limit sets.

关键词： Closed loop systems Surges Asymptotic stability Adaptive control Differential equations Mathematical model Limit-cycles

来源：评论

学校读者我要写书评

暂无评论

Dynamic control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

引用

International Conference on control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

来源：评论

学校读者我要写书评

暂无评论

Modelling of a conveyor-belt grain dryer utilizing a sigmoid network

Modelling of a conveyor-belt grain dryer utilizing a sigmoid...

引用

Asian control Conference

作者： Omar F. Lutfy Hazlina Selamat S. B. Mohd Noor Control and Systems Engineering Department University of Technology Baghdad Iraq Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Kuala Lumpur Malaysia Universiti Putra Malaysia Serdang Selangor MY

Post-harvest techniques play an important role in modern agricultural industry. One of these essential post-harvest techniques is the grain drying process. However, this process is characterized by its high complexity and nonlinearity due to the effects of several drying parameters. Therefore, conventional modelling approaches cannot produce accurate modelling results to describe the dynamics of this challenging process. This paper presents a nonlinear modelling technique to develop a highly accurate model for a laboratory-scale conveyor-belt grain drying system. In particular, this modelling technique is based on utilizing the sigmoid network as a nonlinearity estimator in a nonlinear autoregressive with exogenous input (NARX) model. As the training samples, a set of experimental input-output data was used in the model development process. This data set was collected from the conveyor-belt grain dryer during a real-time experiment to dry paddy (rough rice) grains. Compared to other previously reported modelling techniques which were applied for the same drying process, the proposed sigmoid-based NARX model has achieved the best modelling accuracy in describing the grain drying process. More precisely, the proposed model has achieved a root mean squared error (RMSE) of 2.776 × 10 -17 . It is worth to highlight that, unlike previous efforts which aimed at modelling conveyor-belt grain drying systems, the advantage of the proposed modelling technique is that it can be directly applied to model the drying system regardless of the dryer shape, and moreover regardless of the size and physical properties of the grains to be dried. In addition, the resulting model can be readily employed in control applications to design suitable dryer controllers.

关键词： Mathematical model Numerical models Computational modeling control systems Belts Adaptation models

来源：评论

学校读者我要写书评

暂无评论

Link elasticity exploited for payload estimation and force control

Link elasticity exploited for payload estimation and force c...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： J. Malzahn R. Schloss T. Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany Jorn-Malzahn is with the Department of Advanced Robotics Istituto Italiano Di Tecnologia (IIT) Genova Italy Russell Schloss and Torsten Bertram are with the Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Link elasticity is commonly understood to be a detrimental side-effect of imperfect mechanical designs of robotic arms and comparable machinery. In contrast to this notion, this paper demonstrates a novel approach to exploit intrinsic robot link compliance in order to estimate a priori unknown payload masses, measure and also control end effector forces. In this way, the intrinsic link elasticity can be seen as an enabler for new sensing and control capabilities instead of a purely detrimental effect.

关键词： Strain Payloads Force Robot sensing systems Torque Elasticity

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：