检索结果-内蒙古大学图书馆

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Seok-Hee Lee Whee-Kuk Kim Se-Min Oh Byung-Ju Yi Department of Control and Instrumentation Engineering University of Korea South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea

ISBN: (纸本)0780389123

A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

关键词： Kinematics Wrist Gears Actuators Instruments computer science Research and development Drives Closed-form solution Coaxial components

来源：评论

学校读者我要写书评

暂无评论

Global optimization in complex circuits design

Global optimization in complex circuits design

引用

International Symposium on Signals, Circuits and Systems (ISSCS)

作者： C. Pruteanu D. Galea C.-G. Haba Faculty of Automatic Control and Computer Science Gheorghe Asachi Technical University of Iasi Iasi Romania Faculty of Electrical Engineering Gheorghe Asachi Technical University of Iasi Iasi Romania

Today's circuit design process is become a complex task. Sequential logic synthesis is an important part of the circuit design flow. The logic synthesis phase is a bottleneck during the overall design process since heuristic techniques which take a considerable amount of time are often used during this phase. A good solution is realized in a constrained design space by using global optimization techniques. The purpose of this paper is to develop a robust optimization algorithm, that searches the solution space as efficiently as possible in order to find a global optimization of the internal states of a specified circuit, as a global solution to a high level synthesis problem.

关键词： Design optimization Circuit synthesis Constraint optimization Logic design Sequential circuits Process design automatic control computer science Robustness High level synthesis

来源：评论

学校读者我要写书评

暂无评论

A new ZMP constraint equation with application to motion planning of humanoid using kinematic redundancy

A new ZMP constraint equation with application to motion pla...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Byung Rok So Je Youn Choi Byung-Ju Yi Wheekuk Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Department of Control and Instrumentation Engineering Korea University South Korea

The human body exploits "redundant degree of freedom" to execute various motions in a suitable fashion. This work deals with development of effective redundancy resolution algorithms for the motion control of humanoid. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the human body motion in order to guarantee the system stability. For this, a geometric constraint equation is derived by reshaping the existing ZMP equation. This constraint equation is formed like a second order kinematic equation, which enables one to plan the ZMP trajectory in a feedforward fashion. This constraint equation and the kinematic equation of the humanoid model are solved together. A sequential redundancy resolution algorithm exploiting the remaining kinematic redundancy is also proposed to optimize several secondary criteria such as joint limit index and manipulability. The feasibility of the proposed algorithms is verified by simulating a stable standing up motion and a planar walking motion though planar 5 DOF and 6 DOF humanoid models.

关键词： Equations Kinematics Legged locomotion Humans Motion control Biological system modeling Service robots Mobile robots Humanoid robots Acceleration

来源：评论

学校读者我要写书评

暂无评论

A survey on delayed feedback control of chaos

引用

控制理论与应用（英文版） 2005年第4期3卷 311-319页

作者： Yuping TIAN Jiandong ZHU Guanrong CHEN Department of Automatic Control Southeast University Nanjing Jiangsu 210096 China School of Mathematics and Computer Science Nanjing Normal University Nanjing Jiansu China Department of Electronic Engineering City University of Hong KongChina

This paper introduces the basic idea and provides the mathematical formulation of the delayed feedback control （DFC） methodology, which has been widely used in chaos control. Stability analysis including the well-known odd number linfitation of the DFC is reviewed. Some new developments in characterizing the limitation of the DFC are presented. Various modified DFC methods, which are developed in order to overcome the odd number limitation, are also described. Finally, some open problems in this research field are discussed.

关键词： Delayed feedback control Chaos control Stability Odd number limitation Stabilization

来源：评论

学校读者我要写书评

暂无评论

Reference command tracking for a linearized model of an air-breathing hypersonic vehicle

Reference command tracking for a linearized model of an air-...

引用

AIAA Guidance, Navigation, and control Conference 2005

作者： Groves, Kevin P. Sigthorsson, David O. Serrani, Andrea Yurkovich, Stephen Bolender, Michael A. Doman, David B. Collaborative Center of Control Science Ohio State University Columbus OH 43210 United States Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States Department of Electrical and Computer Engineering 2015 Neil Ave United States AIAA United States Department of Electrical and Computer Engineering 2015 Neil Ave Columbus OH United States AFRL VACA 2210 Eighth St. United States

ISBN: (纸本)1563477378

The focus of this paper is on control design and simulation for an air-breathing hypersonic vehicle. The challenges for control design in this class of vehicles lie in the inherent coupling between the propulsion system, and the airframe dynamics, and the presence of strong flexibility effects. Working from a highly nonlinear, dynamically-coupled simulation model, control designs are presented for velocity, angle-of-attack, and altitude command input tracking for a linearized version of a generic air-breathing hypersonic vehicle model linearized about a specific trim condition. control inputs for this study include elevator deflection, total temperature change across the combustor, and the diffuser area ratio. Two control design methods are presented, both using linear quadratic techniques with integral augmentation, and are implemented in tracking control studies. The first approach focuses on setpoint tracking control, whereas in the second, a regulator design approach is taken. The effectiveness of each control design is demonstrated in simulation on the full nonlinear model of the generic vehicle. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Hypersonic aerodynamics

来源：评论

学校读者我要写书评

暂无评论

SET MEMBERSHIP ESTIMATION OF PARAMETERS AND VARIABLES IN DYNAMIC NETWORKS BY RECURSIVE ALGORITHMS WITH MOVING MEASUREMENT WINDOW

引用

IFAC Proceedings Volumes 2005年第1期38卷 21-26页

作者： Kazimierz Duzinkiewicz Mietek A. Brdys Department of Electronic Electrical an Computer Engineering School of Engineering The University of Birmingham Birmingham B15 2TT UK Department of Automatic Control Gdansk University of Technology G. Narutowicza 11/12 80 9 52 Gdansk Poland

The paper considers a set-membership joint estimation of variables and parameters in complex dynamic networks based on parametric uncertain models and limited hard measurements. The recursive estimation algorithm with moving measurement window is derived that is suitable for on line network monitoring. The window allows stabilising the classic recursive estimation algorithm and significantly improves the estimate tightness. The estimator is validated on a case study water distribution network. Tight set estimates of unmeasured pipe flows, nodal heads and pipe resistances are obtained.

关键词： set membership estimation uncertainty complexity networks water

来源：评论

学校读者我要写书评

暂无评论

Development of a Hybrid Element by using Sponge Core Soft Rubber Actuator

Development of a Hybrid Element by using Sponge Core Soft Ru...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Y. Hayakawa S.R. Pandian Department of Electrical and Control Engineering Nara National College of Technology Yamato-Koriyama Nara Japan Department of Electrical Engineering and Computer Science Tulane University New Orleans LA USA

In this paper, we investigate a new type of hybrid element to realize a human-friendly support device. The element is a flexible actuator (called Sponge Core Soft Rubber Actuator) and its structure is a soft mechanism in which a sponge rubber is covered with silicone rubber. In addition to its actuation capability, the element can estimate external forces by making use of the relation between inner pressure and external force. Therefore, the element can be used as a hybrid element that has both actuator and force sensor functions. This paper discusses the hybrid element design, actuator characteristics, and force control and sensing abilities of the element. Experimental results are presented to illustrate the practical effectiveness of the proposed hybrid element.

关键词： Rubber Senior citizens Pneumatic actuators Humans Bones Pneumatic systems Pressure control Force sensors Force control Compressors

来源：评论

学校读者我要写书评

暂无评论

Reduced-order model-based feedback controller design for subsonic cavity flows

Reduced-order model-based feedback controller design for sub...

引用

43rd AIAA Aerospace sciences Meeting and Exhibit

作者： Yuan, X. Caraballo, E. Yan, P. Özbay, H. Serrani, A. DeBonis, J. Myatt, J.H. Samimy, M. Collaborative Center of Control Science Ohio State University United States Department of Electrical and Computer Engineering Department of Mechanical Engineering United States Bilkent Univ. Dept. of Electrical and Electronics Eng. Ankara Turkey NASA Glenn's Quiet Aircraft Technology Program United States Air Force Research Laboratory Air Vehicles Directorate WPAFB United States

This paper explores feedback controller design for cavity flows based on reduced-order models derived using Proper Orthogonal Decomposition (POD) along with Galerkin projection method. Our preliminary analysis shows that the equilibrium of the POD model is unstable and a static output feedback controller cannot stabilize it. We develop Linear Quadratic (LQ) optimal state feedback controllers and LQ optimal observers for the linearized models. The linear controllers and observers are applied to the nonlinear system using simulations. The controller robustness is numerically tested with respect to different POD models generated at different forcing frequencies. An estimation for the region of attraction of the linear controllers is also provided.

关键词： Subsonic flow

来源：评论

学校读者我要写书评

暂无评论

Sub-Nyquist Nonuniform Sampling and Perfect Reconstruction of Speech Signals

Sub-Nyquist Nonuniform Sampling and Perfect Reconstruction o...

引用

IEEE Region 10 International Conference TENCON

作者： Heyoung Lee Zeungnam Bien Department of Control and Instrumentation Engineering Seoul National University of Technology Seoul South Korea Department of Electrical Engineering and Computer Science KAIST Taejon South Korea

The discrete-time speech signals obtained by Nyquist uniform sampling (NUS) have two kinds of redundant samples. One originates from the time-varying instantaneous bandwidth. The other originates from non-compactness of spectral support (SS) in time-frequency domain (TFD). In this paper, the sub- Nyquist nonuniform sampling (SNNS) and the perfect reconstruction (PR) formula are proposed for removing the redundant samples due to the time-varying instantaneous bandwidth (IB) in speech signals. In the proposed method, the instantaneous sampling frequency (ISF) varies, depending on the least upper boundary of spectral support of a speech signal in TFD. The definition of the IB, which determines the ISF and is used for generating the set of samples that represent continuous- time signals perfectly, is given.

关键词： Nonuniform sampling Sampling methods Signal sampling Signal generators Speech analysis Bandwidth Signal processing Time frequency analysis Data mining Frequency domain analysis

来源：评论

学校读者我要写书评

暂无评论

Iterative learning control for cross-coupled contour motion systems

Iterative learning control for cross-coupled contour motion ...

引用

IEEE International Conference on Mechatronics and Automation

作者： HongSheng Li Xingpeng Zhou YangQuan Chen Department of Automatic Control South-East University Nanjing Jiangsu China Center for Self-Organizing and Intelligent Systems Department of Electrical and Computer Engineering Utah State University Logan UT USA

Iterative learning control (ILC) is a powerful control concept that iteratively improves the behavior of processes that are repetitive in nature and cross-coupled control (CCC) has been developed to effectively reduce the contouring error. This paper proposes an integrated controller which combines ILC and CCC to achieve a better performance. In the presented preliminary simulation study, smaller contour error and tracking error can be achieved and moreover, contouring error is less oscillatory because CCC suppresses the inter-axis mismatch "cross error".

关键词： Motion control control systems Error correction computer errors computer numerical control Feedback loop automatic control Adaptive control Feedforward systems Tracking loops

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：