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IEEE International Conference on Robotics and Automation (ICRA)

作者： Eui-jung Jung Ho Yul Lee Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Shin'ichi Yuta School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent Systems Research Institute Ubiquitous Functions Research Group AIST Japan Department of Control and Instrumentation Engineering Korea University South Korea Institute of Engineering Mechanics and Systems University of Tsukuba Japan

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

关键词： Navigation Mobile robots Wheels Kinematics computer science Position measurement Roads Robotics and automation USA Councils Motion planning

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Fast Moving Window Algorithm for QR and Cholesky Decompositions

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IFAC Proceedings Volumes 2008年第2期41卷 10106-10111页

作者： Wuxing Liang Uwe Kruger Xun Wang Lei Xie Tim Littler School of Electronics Electrical Engineering and Computer Science Queen's University Belfast BT9 5AH U.K. Department of Electrical Engineering The Petroleum Institute P.O. Box 2533 Abu Dhabi U. A. E. Institute of Advanced Process Control Zhejiang University Hangzhou 310027 P.R. China

This paper proposes a fast moving window algorithm for QR and Cholesky decompositions by simultaneously applying data updating and downdating. The developed procedure is based on inner products and entails a similar downdating to that of the Chambers’ approach. For adding and deleting one row of data from the original matrix, a detailed analysis shows that the proposed algorithm outperforms existing ones in terms or computational efficiency, if the number of columns exceeds 7. For a large number of columns, the proposed algorithm is numerically superior compared to the traditional sequential technique.

关键词： Cholesky factorization QR decomposition adaptive algorithms update and downdate recursive algorithms

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engineering education societies becoming global

Engineering education societies becoming global

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2008 ASEE Annual Conference and Exposition

作者： Morell, Lueny Borri, Claudio Rajala, Sarah Ramakrishna, Seeran Quadrado, Jose Carlos Petrie, Maria M. Larrondo Fraser, Duncan Laporte, Bruno Garboan, Adriana Fouger, Xavier Hoyer, Hans Hewlett-Packard Department of Chemical Engineering University of Puerto Rico Mayagüez Puerto Rico Universita' di Firenze Department of Computational Mechanics of Structures University of Florence Italy SEFI IFEES Within Socrates II Mississippi State University Department of Electrical and Computer Engineering Mississippi State University National University of Singapore Instituto Superior de Engenharia de Lisboa Portugal ISEL Research and Project Center on Electrical Machines Control and Applications Florida Atlantic University Academic and International Affairs for the College of Engineering and Computer Science Florida Atlantic University International Federation of Engineering Education Societies Latin American and Caribbean Consortium of Engineering Institutions University of Cape Town Academic Development Faculty of Engineering and the Built Environment UCT World Bank Human Development Development Group World Bank Institute Politechnica University of Bucharest Politehnica University of Bucharest Faculty of Electronics and Telecommunications Dassault Systemes Dassault Systemes Global Learning Leads the PLM Academy American Society for Engineering Education International Programs and Strategy ASEE

Globalization is making both developed and developing countries think about effective and efficient strategies that will advance their economies and social development. Throughout the history of civilization, engineering has played a critical role in economic development. Engineers are key not only in solving local problems but also in knowledge creation and knowledge transfer. Thus, it is imperative that technical know-how be supplemented with professional skills to develop an 'adaptive leader' who is capable of addressing the multiple challenges of an ever changing world. The key-question posed by the 21st century global economy to engineering educators and stake-holders is this: "How can education in science and technology help to reduce poverty, boost socio-economic development, and take the right decisions for sustainable and environmental compatible development?" To answer these questions, a global approach is needed: and this can only be accomplished by a "team" which has its roots in all regions of the world, i.e. which is enabled to think globally and then act locally. There's a need to establish effective engineering education processes of high quality around the world to assure a global supply of well-prepared engineering graduates. This paper describes the reasons for the creation in October 2006 of IFEES - the International Federation of engineering Education Societies. It will describe the vision, mission, and key strategies of IFEES. It will also describe some of the initiatives currently underway and how the various engineering education stakeholders can leverage and benefit from engaging with IFEES, thus strengthening the organizational capacity of engineering education societies throughout the world. The paper will share plans to help members learn from each other's best practices and even failures and how those organizations that have been in existence for quite some time (ASEE was founded in the late 19th century) can contribute to the institutio

关键词： engineering education

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An EEG-based subject- and session-independent drowsiness detection

An EEG-based subject- and session-independent drowsiness det...

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International Joint Conference on Neural Networks (IJCNN)

作者： Chin-Teng Lin Nikhil R. Pal Chien-Yao Chuang Tzyy-Ping Jung Li-Wei Ko Sheng-Fu Liang Department of Electrical & Control Engineering and Brain Research Center National Chiao Tung University Hsinchu Taiwan Department of Brain Research Center National Chiao Tung University Calcutta India Department of Brain Research Center National Chiao Tung University Taiwan Department of Electrical & Control Engineering and Brain Research Center National Chiao-Tung University and Institute for Neural Computation University of California San Diego La Jolla CA USA Department of Electrical & Control Engineering and Brain Research Center National Chiao Tung University Taiwan Department of Brain Research Center National Chiao-Tung University and the Department of Computer Science and Information Engineering National Cheng Kung University Tainan Taiwan

Monitoring and predicting human cognitive state and performance using physiological signals such as Electroencephalogram (EEG) have recently gained increasing attention in the fields of brain-computer interface and cognitive neuroscience. Most previous psychophysiological studies of cognitive changes have attempted to use the same model for all subjects. However, the relatively large individual variability in EEG dynamics relating to loss of alertness suggests that for many operators, group statistics cannot be used to accurately predict changes in cognitive states. Attempts have also been made to build a subject-dependent model for each individual based on his/her pilot data to account for individual variability. However, such methods assume the cross-session variability in EEG dynamics to be negligible, which could be problematic due to electrode displacements, environmental noises, and skin-electrode impedance. Here first we show that the EEG power in the alpha and theta bands are strongly correlated with changes in the subjectpsilas cognitive state reflected through his driving performance and hence his departure from alertness. Then under very mild and realistic assumptions we derive a model for the alert state of the person using EEG power in the alpha and theta bands. We demonstrate that deviations (computed by Mahalanobis distance) of the EEG power in the alpha and theta bands from the corresponding alert models are correlated to the changes in the driving performance. Finally, for detection of drowsiness we use a linear combination of deviations of the EEG power in the alpha band and theta band from the respective alert models that best correlates with subjectpsilas changing level of alertness, indexed by subjectpsilas behavioral response in the driving task. This approach could lead to a practical system for noninvasive monitoring of the cognitive state of human operators in attention-critical settings.

关键词： Electroencephalography Brain modeling Brain models Distance measurement Correlation Spectral analysis Data models

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Input/state/output modeling and control of dynamical systems with active singularities: Single- and multi-impact sequences

Input/state/output modeling and control of dynamical systems...

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IEEE Conference on Decision and control

作者： Joseph Bentsman Boris M. Miller Evgeny Ya. Rubinovich Sudip K. Mazumder Department of Mechanical Science and Engineering University of Illinois Urbana-Champaign Urbana IL USA School of Mathematical Sciences Monash University Clayton VIC Australia Institute of Information Transmission Problems Russian Academy of Science Moscow Russia Institute of Control Sciences RAS Moscow Russia Department of Electrical and Computer Engineering University of Illinois Chicago Chicago IL USA

A general controller synthesis setting for systems with active, or controlled, singularities under incomplete information is extended to the cases of the single-impact and the multi-impact sequences - the main cases o... 详细信息

ISBN: (纸本)9781424431236

关键词： control system synthesis Optimal control control systems Elasticity Power system faults Power system control Power systems Sensor systems and applications Actuators Mobile robots

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Output feedback control of linear systems with input and output quantization

Output feedback control of linear systems with input and out...

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IEEE Conference on Decision and control

作者： Daniel Coutinho Minyue Fu Carlos E. de Souza Group of Automation and Control Systems Faculty of Engineering Pontifícia Universidade Católica do Rio Grande do Sul Porto Alegre Brazil School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Systems and Control Laboratory Nacional de Computação Científica Petropolis Rio de Janeiro Brazil

ISBN: (纸本)9781424431236

A considerable amount of research has been done on the use of logarithmic quantizers for networked feedback control systems. However, most results are developed for the case of a single quantizer (either measurement or control signal quantization). In this paper, we investigate the case of simultaneous input and output quantization for SISO linear output feedback systems. Firstly, we show that the problem of quadratic stabilization via quantized feedback can be addressed with no conservativeness by means of the sector bound approach. Secondly, we provide a bound on the maximal admissible sector bound via a scaled H ¿ optimization problem.

关键词： Output feedback Linear feedback control systems control systems Linear systems Quantization Communication system control Feedback control Communication channels Digital control Bandwidth

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Improved Rotor Position Estimation employing Voltage Distortion Compensation for Sensorless PMSM Drives at Low Speed

Improved Rotor Position Estimation employing Voltage Distort...

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39th IEEE Power Electronics Specialists Conference (PESC 2008), vol.9

作者： Shin-Myung Jung Jin-Sik Park Hag-Wone Kim Myung-Joong Youn Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea Department of Information and Control Chungju National University (CITC) Chungli Taiwan

The PMSM is inherently electronically controlled and requires rotor position information for proper drives. However, the problems of the space, cost, and reliability of rotor position sensors have motivated research in the area of position sensorless PMSM drives. Numbers of rotor position sensorless control techniques have been proposed for PMSM drives, but most rely on the estimation of the rotor flux linkage vector. The performance of this method, however, is poor at low speed region due to the voltage distortions caused by the nonlinear behavior of a pulse width-modulation (PWM) voltage source inverter (VSI). In this paper, a new online voltage distortion compensation method is employed to overcome this problem. To prove effectiveness of the voltage distortion compensation method to the improvement of the rotor position estimation, the proposed method is applied to PMSM drive system and implemented in a digital manner using a digital signal processor.

关键词： Rotors Couplings Estimation Observers Stator windings Pulse width modulation Stators

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A Study on Stable Torque control in Overmodulation Region for High Speed PMSM Systems

A Study on Stable Torque Control in Overmodulation Region fo...

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39th IEEE Power Electronics Specialists Conference (PESC 2008), vol.5

作者： Jin-Sik Park Shin-Myoung Jung Hag-Wone Kim Myoung-Joong Youn Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea Department of Information and Control Chungju National University Chungbuk South Korea

This paper presents a study on a stable torque current control near the overmodulation region. In order to increase dynamic response and extend speed limit, overmodulation method is generally used. Overmodulation helps to increase inverter output voltage, but generate 6-th harmonic. Because of torque ripple, it is hard to apply to the low speed region. In case of high speed region has two problems in this approach. The first is windup and bump transfer phenomenon near limited DC voltage. The second is high order harmonic component by overmodulation. An anti-windup and bumpless transfer is applied to the torque control to solve these problems, and ripple estimator is used for reducing 6-th harmonic in overmodulation region. It is shown that application of this method leads to stable torque control in overmodulation region for high speed pmsm systems under limited DC voltage.

关键词： Inverters Harmonic analysis Power harmonic filters Voltage control Current control Trajectory Torque

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Calculation of core loss using the Jiles-Atherton model incorporated into magnetic field analysis

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Archives of electrical engineering 2007年第219-1期56卷 57-69页

作者： Jagiela, Mariusz Institute of Electromechanical Systems and Industrial Electronics Faculty of Electrical Engineering Automatic Control and Computer Science Opole University of Technology

The paper deals with the calculation of hysteresis power loss in cores of electromechanical converters. The analysis was carried out using the Jiles-Atherton model of ferromagnetic hysteresis incorporated into two-dimensional time-stepping finite element model. A vector hysteresis model was constructed by the vectorisation of a scalar model. The total power loss due to hysteresis was split into two component, one originating from the purely alternating magnetic field, and the second being a consequence of the local predomination of vector nature of magnetic field distribution. Two computational examples are presented showing the general applicability of the algorithm for determination of power loss distribution.

关键词： Electric losses

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Front-End Amplifier of Low-Noise and Tunable BW/Gain for Portable Biomedical Signal Acquisition

Front-End Amplifier of Low-Noise and Tunable BW/Gain for Por...

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2008 IEEE International Symposium on Circuits and Systems (ISCAS 2008), vol.8

作者： Chun-Chieh Huang Shao-Hang Hung Jen-Feng Chung Lan-Da Van Chin-Teng Lin Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Computer Science National Chiao Tung University Hsinchu Taiwan

We proposed a novel analog circuit design which is suitable for various biomedical signal acquisitions. In addition to the consideration of low power and low noise, the analog front-end integrated circuit (AFEIC) is presented with design of high common-mode rejection ratio (CMRR) and high power supply ripple rejection ratio (PSRR). It has not only reduced the number of outer components, and enhances a better signal-to-noise ratio (SNR). The chip includes a current-balancing instrumentation amplifier, switched-capacitor filter, non-overlapping clock generator, and a programmable gain amplifier (PGA). It was fabricated by TSMC 0.35 (mu)m CMOS 2P4M standard process, with CMRR 155 dB CMRR, 131 dB of PSRR+, and 127 dB of PSRR- at 50 Hz. The power consumption is about 142.4 (mu)W under +-1.5V supply.

关键词： Low-noise amplifiers Signal to noise ratio Integrated circuit noise Tunable circuits and devices Analog circuits Signal design Analog integrated circuits Power supplies Instruments Filters

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