检索结果-内蒙古大学图书馆

International Conference on Intelligent Transportation

作者： A. Dumitrache M.A. Zamora R. Toledo-Moreo A.G. Skarmeta Centre for Research and Training Industrial Control Robotics and Material Engineering Technical University of Bucharest Romania Faculty of Computer Science Department of Information and Communication Engineering University of Murcia Spain

In the intelligent transportation systems (ITS) field, the number of applications that demand a high integrity positioning system is growing. In order to improve the integrity of localization systems, GPS is usually hybridized with additional proprioceptive sensors. In this paper, a new hybridization algorithm based on GPS plus odometry and a gyro is proposed as an improvement of the most common extended Kalman filter (EKF) approach. In concrete, these investigations focus on the performance of the system under bad initial conditions. Results show the suitability of the proposed system for navigation under bad initial values of heading, and its benefits as compared to two state-of-the-art methods of the literature: an EKF, and a particle filter based solution.

关键词： Global Positioning System Land vehicles Intelligent transportation systems Navigation Particle filters Road vehicles Intelligent sensors Sensor systems Costs Sensor fusion

来源：评论

学校读者我要写书评

暂无评论

Frequency-Domain Gray-Box Identification of Industrial Robots

引用

IFAC Proceedings Volumes 2008年第2期41卷 15372-15380页

作者： Erik Wernholt Stig Moberg Division of Automatic Control Department of Electrical Engineering Linköping University SE-581 83 Linköping Sweden ABB AB – Robotics SE-721 68 Västerås Sweden

This paper considers identification of unknown parameters in elastic dynamic models of industrial robots. Identifying such models is a challenging task since an industrial robot is a multivariable, nonlinear, resonant, and unstable system. Unknown parameters (mainly spring-damper pairs) in a physically parameterized nonlinear dynamic model are identified in the frequency domain, using estimates of the nonparametric frequency response function (FRF) in different robot configurations/positions. The nonlinear parametric robot model is linearized in the same positions and the optimal parameters are obtained by minimizing the discrepancy between the nonparametric FRFs and the parametric FRFs (the FRFs of the linearized parametric robot model). In order to accurately estimate the nonparametric FRFs, the experiments must be carefully designed. The selection of optimal robot configurations for the experiments is also part of the design. Different parameter estimators are compared and experimental results show the usefulness of the proposed identification procedure. The weighted logarithmic least squares estimator achieves the best result and the identified model gives a good global description of the dynamics in the frequency range of interest.

关键词： System identification multivariable systems nonlinear systems closed-loop identification frequency response methods industrial robots

来源：评论

学校读者我要写书评

暂无评论

Experimental Comparison of Methods for Multivariable Frequency Response Function Estimation

引用

IFAC Proceedings Volumes 2008年第2期41卷 15359-15366页

Nonparametric estimation methods for the multivariable frequency response function are experimentally evaluated using closed-loop data from an industrial robot. Three classical estimators (H 1 , joint input-output, arithmetic mean) and two estimators based on nonlinear averaging techniques (harmonic mean, geometric/logarithmic mean) are considered. The estimators based on nonlinear averaging give the best results, followed by the arithmetic mean estimator, which gives a slightly larger bias. The joint input-output estimator, which is asymptotically unbiased in theory, turns out to give large bias errors for low frequencies. Finally, the H 1 estimator gives the largest bias for all frequencies.

关键词： System identification frequency response methods multivariable systems non-parametric identification closed-loop identification industrial robots

来源：评论

学校读者我要写书评

暂无评论

SeReCon: A Trusted Environment for SoPC Design

SeReCon: A Trusted Environment for SoPC Design

引用

International Conference on Dependability of Computer Systems (DepCos-RELCOMEX)

作者： Krzysztof Kepa Fearghal Morgan Krzysztof Kosciuszkiewicz Tomasz Surmacz Department of Electronic Engineering National University of Ireland Galway Nun's Island Galway Ireland Institute of Computers Control and Robotics Wroclaw University of Technology Wroclaw Poland

Problems of fraud, theft, impersonation and counterfeiting have migrated into computing and digital communication technology. Reconfigurable computing (RC) (e.g., FPGA) systems blur the boundary between hardware and software. As reconfigurable computing systems become more popular, concerns arise about their security and privacy. Run-time partial reconfiguration provides the flexibility of hardware, but at the same time may compromise security and integrity of the embedded system design. This paper discusses potential threats to such systems and describes SeReCon, a secure reconfiguration controller, as a countermeasure. SeReCon supports intellectual property protection within the FPGA and provides secure run-time management of designs within FPGA. The fundamentals of the SeReCon trusted computing base are described. Various IP Block processing scenarios are proposed. Early implementation results are reported.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Fabrication of Bucky Gel Actuator/Sensor Devices Based on Printing Method

Fabrication of Bucky Gel Actuator/Sensor Devices Based on Pr...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 526-1042

作者： Norihiro Kamamichi Toshiharu Maeba Masaki Yamakita Toshiharu Mukai Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Chiyoda Tokyo Japan Institute of Physical and Chemical Research Bio-mimetic Control Research Center Nagoya Japan Department of Control and Systems Engineering School of Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Riken Japan BMC Riken Japan

ISBN: (纸本)9781424420575

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In this paper, we demonstrate an automatic fabrication method of the bucky gel devices based on a printing method. By using a dispensing machine, we construct the printing system, and manual forming process is replaced with automatic printing. We investigate the printing of complicated shapes and 3D electrode pattern through experiments.

关键词： Printing Gels Printing process Printing system fabrication FORMING PROCESSES electromotive forces Low voltage

来源：评论

学校读者我要写书评

暂无评论

Passivity-based Dynamic Visual Force Feedback control for Fixed Camera Systems

Passivity-based Dynamic Visual Force Feedback Control for Fi...

引用

IEEE International Symposium on Intelligent control (ISIC)

作者： Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Master Program of Information Systems Architecture Advanced Institute of Industrial Technology Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781424422241

This paper investigates passivity based 3D dynamic visual force feedback control for fixed camera systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this paper is to show that the 3D dynamic visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the passivity of the visual feedback system are preserved. Finally simulation results on 3 DOF planar manipulator are presented to verify the stability of the 3D dynamic visual force feedback system and understand our proposed method simply.

关键词： Intelligent control control systems USA Councils

来源：评论

学校读者我要写书评

暂无评论

A Benchmark Problem for Robust control of a Multivariable Nonlinear Flexible Manipulator

引用

IFAC Proceedings Volumes 2008年第2期41卷 1206-1211页

作者： Stig Moberg Jonas Öhr Svante Gunnarsson ABB AB – Robotics SE-721 68 Västerås Sweden Optimation SE-753 20 Uppsala Sweden Division of Automatic Control Department of Electrical Engineering Linköping University SE-581 83 Linköping Sweden

A benchmark problem for robust feedback control of a manipulator is presented. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions. The gear transmission is described by nonlinear friction and elasticity. The system is uncertain according to a parametric uncertainty description and due to uncertain disturbances affecting both the motors and the tool. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. The control problem concerns only disturbance rejection. The proposed model is validated by experiments on a real industrial manipulator.

关键词： Robust control control benchmark examples manipulators disturbance rejection flexible arms robotics

来源：评论

学校读者我要写书评

暂无评论

On Feedback Linearization for Robust Tracking control of Flexible Joint Robots

引用

IFAC Proceedings Volumes 2008年第2期41卷 12218-12223页

作者： Stig Moberg Sven Hanssen ABB AB – Robotics SE-721 68 Västerås Sweden Division of Automatic Control Department of Electrical Engineering Linköping University SE-581 83 Linköping Sweden Department of Solid Mechanics Royal Institute of Technology SE-100 44 Stockholm Sweden

Feedback linearization is one of the major academic approaches for controlling flexible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic three-axis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are available. The feedback linearization approach is compared to a feedforward approach.

关键词： robotics manipulators control feedforward feedback linearization discrete-time flexible joints

来源：评论

学校读者我要写书评

暂无评论

Robust adaptive control of a twin-roaor Aircraft

Robust adaptive control of a twin-roaor Aircraft

引用

IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Q. Lam IntelliTech MicroSystems Inc. Bowie MD USA Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA Orbital Sciences Corporation Dalles VA USA

We propose robust adaptive control designs for a twin-rotor aircraft with specific focus on attaining good disturbance attenuation properties to facilitate operation in a shipboard environment wherein the aircraft is subject to severe aerodynamic disturbances including ship airwake, deck vortices, and rotor downwash especially during ship roll and pitch motions. Furthermore, the controllers can operate on their own or can gracefully co-exist with a baseline controller in a control augmentation fashion thus minimizing flight software change impact. The performance of the proposed controllers was validated through extensive simulation studies.

关键词： Robust control Adaptive control Aircraft Aerospace control Aerodynamics Marine vehicles Three-term control Error correction Motion control Attenuation

来源：评论

学校读者我要写书评

暂无评论

Robust Adaptive Fault-Tolerant control of the F-14 Aircraft under Sensor Failures

引用

IFAC Proceedings Volumes 2008年第2期41卷 10172-10177页

作者： Sajjad Fekri Dawei Gu Ian Postlethwaite Michael Athans Control & Instrumentation Research Group Department of Engineering University of Leicester U.K. (Tel: +44-116-2522567 Fax: +44-116-2522619 Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal also Professor of EE&CS (emeritus) MIT Cambridge MA U.S.A.

This paper presents a novel fault detection and isolation (FDI) architecture applied to the lateral-directional axis of an F-14 aircraft during powered approach to landing under sensor failures. The fault-tolerant architecture employed is based on the so-called “Robust Multiple-Model Adaptive control” (RMMAC) and hence is referred to as “RMMAC/FDI”. The results demonstrate successful stability and performance of the RMMAC/FDI architecture.

关键词：

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：