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IEEE Conference on Decision and control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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ONLINE MODEL AND ACTUATOR FAULT TOLERANT control FOR AUTONOMOUS MOBILE ROBOT

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Chinese Journal of Mechanical engineering 2007年第3期20卷 29-33页

作者： SONG Qi JIANG Zhe HAN Jianda Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Auto-Control Shenyang Institute of Aeronautical Engineering Shenyang 110136 China

A novel fault-tolerant adaptive control methodology against the actuator faults is proposed. The actuator effectiveness factors （AEFs） are introduced to denote the healthy of actuator, and the unscented Kalman filter （UKF） is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control （IDC） methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.

关键词： Unscented Kalman filter Active model Fault tolerance Inverse dynamic control

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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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2007 Mediterranean Conference on control and Automation, MED

作者： Panagiotakis, G.E. Koumboulis, F.N. Paraskevopoulos, P.N. Halkis Institute of Technology Department of Automation 34400 Psahna Evias Greece National Technical University of Athens Division of Signals Control and Robotics Department of Electrical and Computer Engineering 15773 Zographou Athens Greece

ISBN: (纸本)142441282X

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived. © 2007 IEEE.

关键词： Timing circuits

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Closed loop glucose control in critical care patients: Previous study for clinical essays

Closed loop glucose control in critical care patients: Previ...

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4th International Summer School and Symposium of Medical Devices and Biosensors, ISSS-MDBS 2007

作者： Alexandra Oliveros, V. Vehi, Josep Gutierrez, Alfredo García-Gabín, Winston IEEE Universidad del Norte Department of Electrical Engineering Barranquilla Colombia Intelligent Systems and Control Engineering group Department of Electronics Informatics and Automatics Universitat de Girona Girona Spain Department of Electrical Engineering Researcher of the Robotics and Intelligent Systems Universidad del Norte Barranquilla Colombia

ISBN: (纸本)142441346X

The feasibility of the design of a closed loop system to control glucose levels in critical care patients is presented in this paper. Considering the basic elements for its construction: The plasma glucose detection using a subcutaneous sensor and a Kalman filter, the model of glucose metabolism, and having special consideration in the method to calculate the optimal insulin infusion designing classical control schemes (PID and PI) and a GPC (predictive controller). © 2007 IEEE.

关键词： Glucose

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Model matching of SISO neutral time delay systems via output feedback

Model matching of SISO neutral time delay systems via output...

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2007 Mediterranean Conference on control and Automation, MED

作者： Koumboulis, F.N. Kouvakas, N.D. Paraskevopoulos, P.N. Halkis Institute of Technology Department of Automation 34400 Psahna Evias Halkis Greece National Technical University of Athens Division of Signals Control and Robotics Department of Electrical and Computer Engineering 15773 Zographou Athens Greece

ISBN: (纸本)142441282X

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input - single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example. ©2007 IEEE.

关键词： Timing circuits

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Active type robotic mobility aid control based on passive behavior

Active type robotic mobility aid control based on passive be...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Oscar Chuy Yasuhisa Hirata Kazuhiro Kosuge Department of Bioengineering and Robotics Graduate School of Engineering Robotics and Control Laboratory Department of Mechanical Engineering FAMU-FSU College of Engineering University of Tohoku Sendai Japan Department of Bioengineering and Robotics Graduate School of Engineering University of Tohoku Sendai Japan

This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept. Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the actual behavior of passive system. This approach uses user intention represented by applied force/torque to derive the mobility aid desired motion. In addition, a guideline in parameter selection of the desired dynamics is also presented. This guideline is used to ensure the stability of the active robotic mobility aid with passive behavior. Experimental results are presented to show the validity of the proposed control method.

关键词： Mobile robots Robot control Legged locomotion Motion control Guidelines Intelligent robots control systems Torque Safety Equations

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Enrichment of qualitative beliefs for reasoning under uncertainty

Enrichment of qualitative beliefs for reasoning under uncert...

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FUSION 2007 - 2007 10th International Conference on Information Fusion

作者： Li, Xinde Huang, Xinhan Dezert, Jean Smarandache, Florentin Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China ONERA 29 Av. de la Division Leclerc 92320 Châtillon France Department of Mathematics University of New Mexico Gallup NM 87301 United States

ISBN: (纸本)0662478304

This paper deals with enriched qualitative belief functions for reasoning under uncertainty and for combining information expressed in natural language through linguistic labels. In this work, two possible enrichments (quantitative and/or qualitative) of linguistic labels are considered and operators (addition, multiplication, division, etc) for dealing with them are proposed and explained. We denote them qe-operators, qe standing for "qualitative- enriched" operators. These operators can be seen as a direct extension of the classical qualitative operators (q-operators) proposed recently in the Dezert-Smarandache Theory of plausible and paradoxist reasoning (DSmT). q-operators are also justified in details in this paper. The quantitative enrichment of linguistic label is a numerical supporting degree in [0,∞), while the qualitative enrichment takes its values in a finite ordered set of linguistic values. Quantitative enrichment is less precise than qualitative enrichment, but it is expected more close with what human experts can easily provide when expressing linguistic labels with supporting degrees. Two simple examples are given to show how the fusion of qualitative-enriched belief assignments can be done, and a simulation application is given to show its advantage in rough navigation map building of mobile robot.

关键词： Mobile robots

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Design of MIMO controller for a manipulator using Tabu Search algorithm

Design of MIMO controller for a manipulator using Tabu Searc...

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International Conference on Intelligent and Advanced Systems, ICIAS

作者： I. Hassanzadeh S. Mobayen H. Kharrati Research Laboratory of Robotics Control Engineering Department Faculty of Electrical & Computer Engineering University of Tabriz Tabriz Iran

In this paper, we present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of the system. A 5-bar-linkage is considered as a case study. We define an objective function including these indexes. Then by minimizing this function using discrete TS algorithm, controller parameters design is performed efficiently and quickly. Superior features of this algorithm are fast tuning of PID parameters, rapid convergence, less computational burden and capability to avoid from local minima. Simulation results demonstrate that our proposed TS method compared with other heuristic method, i.e., the genetic algorithm (GA) is more efficient in terms of improving the step response of the robot.

关键词： Robots Algorithm design and analysis Manipulators Cost function MIMO Mathematical model Heuristic algorithms

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A recursive algorithm for diagnosis in hierarchical finite-state machines

A recursive algorithm for diagnosis in hierarchical finite-s...

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IEEE International Conference on Systems, Man and Cybernetics

作者： R. Mohammadi S. Hashtrudi-Zad Control and Robotics Group Department of Electrical and Computer Engineering Concordia University Montreal QUE Canada

The authors have recently developed a framework for failure diagnosis in hierarchical finite-state machines (HFSMs). This diagnosis method reduces random access memory requirements and changes the complexity of the diagnosis computations from exponential to polynomial if the subsystems of the HFSM do not have common unobservable events. In this paper, a recursive algorithm is provided for diagnosis computations (and more generally, observer design) in multilevel HFSMs. Some of the procedures provided in this work for diagnosis computations are equivalent to those proposed in the authors' previous work. However these computations have been reformulated in terms of an updator function so that they lend themselves better for extension to a recursive algorithm for the more general case of multi-level HFSMs.

关键词： Random access memory Polynomials Algorithm design and analysis Automata State estimation Read-write memory Phase estimation Recursive estimation

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Segmentation and tracking of cells in the image sequences

Segmentation and tracking of cells in the image sequences

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作者： Kubik, Tomasz Sugisaka, Masanori Institute of Computer Engineering Control and Robotics Wroc Law University of Technology Janiszewskiego 11/17 Wroclaw 50-372 Poland Department of Electrical and Electronic Engineering Oita University 700 Dannoharu Oita 870-1124 Japan

ISBN: (纸本)9784990288013

In the paper the method of automated cells tracking in the sequence of images is presented. The method starts with a sequence of images processing by the use of an adaptive threshold operator. Then the cells are detected, labeled and parameterized by their size, position, orientation, bounding box, etc. Each pair of two consecutive images in the sequence is analyzed next in order to find corresponding (i.e. matching) cells. In that way all observed cells might be recognized and traced. The tracking, associated with cells parameters measurements, provides data in a form of time series. This data can be used for a particular cell activity observation, complex interaction modeling of multicellular organisms, etc. Such analysis can give detailed information about cells time-space dynamics. The method proposed is demonstrated on a set of biological data. ©ISAROB 2007.

关键词： Cells

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