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检索条件"机构=Department of Control and Robotics Engineering"

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Optimal location of an active segment of magnetorheological fluid layer in a sandwich plate

Optimal location of an active segment of magnetorheological ...

引用

International Carpathian control Conference (ICCC)

作者： Jacek Snamina Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

In the present study a sandwich plate, of rectangular form, with magnetorheological (MR) fluid core is investigated. The plate consists of two outer layers made of aluminium and an MR fluid layer in between. The plate edges are clamped. It was assumed that the aluminium layers are pure elastic. The energy is dissipated in MR fluid layer. Additional assumptions concerning displacements, deformations and stresses are introduced in calculations. The active segment of MR fluid layer is placed in various parts of plate. The optimal positions of active segment for selected modes of vibration are determined.

关键词： Fluids Strain Aluminum Vibrations Damping Stress Magnetic liquids

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A constant DC-capacitor voltage control based strategy for current balancer in single-phase three-wire distribution systems

A constant DC-capacitor voltage control based strategy for c...

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Annual Conference of Industrial Electronics Society

作者： Yusuke Baba Masayuki Okamoto Eiji Hiraki Toshihiko Tanaka Seong Ryong Lee Graduate School of Science and Engineering Yamaguchi University Japan Department of Control and Robotics Engineering Kunsan National University South Korea

This paper proposes a constant dc-capacitor voltage control based strategy for a current balancer in single-phase three-wire distribution systems. The proposed control strategy only uses the constant dc-capacitor voltage control block commonly used in active power conditioners to calculate the compensation current. No calculation blocks to obtain the reactive and unbalanced-active components are necessary. Thus, we provide the simplest possible control strategy for the current balancer. The basic principle of the proposed control method is discussed in detail then its validity is confirmed by digital computer simulation using PSIM software. A prototype experimental model is constructed and tested. Experimental results demonstrate that balanced source currents with a power factor of unity are obtained on the secondary side of a pole-mounted distribution transformer while retaining unbalanced load current conditions with a lagging power factor.

关键词： Pulse width modulation Inverters Voltage control Reactive power Capacitors Feedback control Steady-state

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints

Improved vertex control for time-varying and uncertain linea...

引用

作者： Nguyen, H.N. Gutman, P.-O. Olaru, S. Hovd, M. Colledani, F. Automatic Control Department Gif sur Yvette France CEA-LIST Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Israel Department of Engineering Cybernetics Norwegian University of Science and Technology Norway CEA LIST Interactive Robotics Laboratory 18 route du Panorama F-92265 Fontenay-au-Roses France

ISBN: (纸本)9781457700804

This paper addresses the problem of regulating a discrete-time linear uncertain and time-varying system to the origin. It is shown that, based on an interpolation technique, by minimizing an appropriate objective function, how feasibility and a robustly and asymptotically stable closed-loop behavior can be achieved. It is shown that the control is a piecewise affine and continuous function of the state. Several simulations demonstrate the performance of our results. © 2011 AACC American Automatic control Council.

关键词： Discrete time control systems

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Digital controller design for fuzzy systems with packet loss: Intelligent digital redesign approach

Digital controller design for fuzzy systems with packet loss...

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Geun Bum Koo Jin Bae Park Young Hoon Joo Hyoung Seok Jeon Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control and Robotics Engineering Kunsan National University Kunsan South Korea

In this paper, a novel digital controller is proposed for the nonlinear systems with packet loss using the intelligent digital redesign (IDR). For the fuzzy controller, the nonlinear system is represented by a Takagi-Sugeno (T-S) fuzzy model. The IDR technique is to convert a pre-designed analog controller into an equivalent digital controller. For this technique, the discretized models of the analog and digital closed-loop system are presented, respectively. The digital control gain is obtained to minimize the norm error between the state of the analog and digital closed-loop systems and stabilize the digital closed-loop system. Its sufficient conditions are derived in terms of linear matrix inequalities (LMIs). Finally, a numerical example is provided to verify the effectiveness of the proposed technique.

关键词： Fuzzy systems Nonlinear systems Digital control Linear matrix inequalities Artificial intelligence Stability analysis

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Stabilization of Takagi-Sugeno fuzzy interconnected systems with imperfect premise matching

Stabilization of Takagi-Sugeno fuzzy interconnected systems ...

引用

International Conference on control, Automation and Systems ( ICCAS)

作者： Ho Jun Kim Jin Bae Park Young Hoon Joo Department of Electrical Engineering Yonsei University Seoul South Korea Department of Control and Robotics Engineering Kunsan University Gunsan-si Jeonbuk South Korea

This paper is concerned with the stabilization of Takagi-Sugeno (T-S) fuzzy interconnected systems. The nonlinear interconnected system is presented by T-S fuzzy model. To reduce conservative stabilization conditions, imperfect premise matching is proposed in which T-S fuzzy model and fuzzy controller do not share the same membership functions. The stabilization condition is formulated in terms of linear matrix inequalities (LMIs). Simulation example is given to illustrate the effectiveness of the proposed approach.

关键词： Stability analysis Interconnected systems Numerical stability Analytical models Fuzzy control Lyapunov methods

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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A new stability region analysis of continuous-time Takagi-Sugeno fuzzy systems using fuzzy Lyapunov functions

A new stability region analysis of continuous-time Takagi-Su...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Dong Hwan Lee Jin Bae Park Young Hoon Joo Myung Hwan Tak Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control and Robotics Engineering Kunsan National University Kunsan Chungbuk South Korea

In this paper, we propose a new sufficient condition in the form of eigenvalue problem (EVP) for assessing the stability of continuous-time Takagi-Sugeno (T-S) fuzzy systems and estimating the domain of attraction (DA) based on fuzzy Lyapunov functions (FLFs). In order to deal with the time-derivatives of the fuzzy weighting functions (TDFWFs) in the Lyapunov inequality, the existing conditions consider the upper bound on each TDFWF's absolute value. The main result of this paper is derived considering an inequality constraint of a nonlinear function depending quadratically on the fuzzy weighting functions. Finally, an example is given to demonstrate the effectiveness and validity of the proposed approach.

关键词： Stability analysis Lyapunov methods Nonlinear systems Fuzzy control Symmetric matrices Asymptotic stability

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Stabilization of polynomial fuzzy large-scale system: Sum-of-square approach

Stabilization of polynomial fuzzy large-scale system: Sum-of...

引用

International Conference on control, Automation and Systems ( ICCAS)

作者： Han Sol Kim Jin Bae Park Young Hoon Joo Department of Electrical Electronic Engineering Yonsei University Seoul South Korea Department of Control and Robotics Engineering Kunsan University Gunsan-si Jeonbuk South Korea

This paper presents a polynomial fuzzy method approach to stabilize the nonlinear large-scale system. Unlike conventional T-S fuzzy system, polynomial fuzzy system contains polynomial matrix. Since polynomial fuzzy system has polynomial matrix, this system has less IF-THEN rules than T-S fuzzy system. Based on the proposed method, stabilization condition is derived in the form of polynomial and solved by sum-of-square method. Finally, some examples demonstrate that the proposed condition is adoptable in modeling and stabilization for the nonlinear large-scale system.

关键词： Polynomials Fuzzy systems Large-scale systems Nonlinear systems Stability analysis Linear matrix inequalities Vectors

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Human hand: Kinematics, statics and dynamics

Human hand: Kinematics, statics and dynamics

引用

41st International Conference on Environmental Systems 2011, ICES 2011

作者： Chen, Fai Chen Favetto, Alain Mousavi, Mehdi Ambrosio, Elisa P. Appendino, Silvia Battezzato, Alessandro Manfredi, Diego Pescarmona, Francesco Bona, Basilio Italian Institute of Technology Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Mechanics Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Center for Space Human Robotics Corso Trento 21 10129 Torino Italy

ISBN: (纸本)9781600869488

The human hand is an extremely complex system due to its large number of degrees of freedom (DoF) within a significantly reduced space. Moreover, it is required for most of the tasks performed by humans. That is why it is necessary to understand deeply all the characteristics of the human hand in order to develop devices interacting with it: to support it, to substitute injured parts, to help the recovery from injuries, or to enhance the performances while preserving its natural level of dexterity. The aim of this paper is to provide a complete and exhaustive summary of the kinematic, static and dynamic characteristics of the human hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons. Both fields provide promising opportunities in research and space applications;the former through humanoid robotic helpers (e.g., Eurobot, Robonaut), the latter through the rising necessity to help the astronauts during Extravehicular Activity (EVA). In literature, several papers can be found analyzing kinematics, workspace, constraints and forces of the human hand2,4. However this information is scattered among several papers, regarding in particular the exerted forces and the dependencies of joint forces and velocities from the angular values of the same joint or the adjacent one. Direct and inverse kinematics are presented for all the fingers and the data related to maximum forces, velocities, acceleration for each joint of each finger has been collected and is presented in this work. © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Space applications

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