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Kinematic Modeling of Omni-Directional Mobile Robots as Parallel Manipulator

IFAC Proceedings Volumes 2001年第4期34卷 165-171页

作者： Byung-Ju Yi Whee Kuk Kim School of Electrical Engineering and Computer Science Hanyang Univ. Korea Department of Instrumentation and Control Engineering Korea Univ. Korea

Omni-directional mobile robots have been popularly employed in several applicationareas. However, the kinematics and singularity analysis for these systems has not been clearly identified. This paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Throughsimulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoiance, input-load saving, and exploiting several subtasks are presented.

关键词： kinematic modeling mobile robot redundant actuation

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New development on tracking algorithm with derivation measurement

New development on tracking algorithm with derivation measur...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Yaping Dai Guanghui Yu Kotaro Hirasawa Department of Electrical and Electronic System Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Japan Department of Automatic Control Beijing Institute of Technology China

We present a new observation model to improve the state estimation and prediction in a target tracking problems. There are two distinguished points in this approach. First, the measurement equation is set up in the polar coordinate and even combines the derivation measurement (range rate, azimuth rate, and elevation rate) with the usual position measurements (range, azimuth angle, and elevation angle). Next, the observation noise of sensor data is considered as a colored one and is being set up as a model of AR(1), by means of a pseudo measurement equation, and the requirement of Kalman filter can be satisfied. As a result, the accuracy of both the observation and prediction is increased.

关键词： Noise measurement Equations Coordinate measuring machines Colored noise Position measurement Target tracking Azimuth Radar tracking White noise Electric variables measurement

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A 2D systems approach to iterative learning control based on nonlinear adaptive control techniques

A 2D systems approach to iterative learning control based on...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： M. French E. Rogers H. Wibowo D.H. Owens Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

ISBN: (纸本)0780366859

We consider the iterative learning control problem from a 2D systems/adaptive control viewpoint. In particular, it is shown how some fundamental results from nonlinear adaptive control can be successfully applied in the iterative learning control domain under very weak assumptions. Some areas for further research are also briefly discussed.

关键词： Iterative methods Nonlinear control systems control systems Adaptive control automatic control Iterative algorithms computer science Systems engineering and theory Robots Manipulators

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On some aspects of discrete equivalents of differential linear repetitive processes

On some aspects of discrete equivalents of differential line...

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IEEE Conference on Decision and control

作者： J. Gramacki A. Gramacki K. Galkowski E. Rogers D.H. Owens Department of Electronics and Computer Science University of Zielona Góra Poland Department of Electronics and Computer Science University of Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield UK

ISBN: (纸本)0780370619

Differential linear repetitive processes are a distinct sub-class of 2D continuous-discrete linear systems which pose problems that cannot (except in a few very restrictive special cases) be solved by the direct application of standard (1D) systems theory and hence by the direct use of a large number of currently-available tools for computer-aided analysis/design. One such area is the construction of discrete approximations to their dynamics. In this paper, we investigate some problems which arise during the discretization of differential linear repetitive processes and develop solutions to them.

关键词： computer science Linear systems computer aided analysis Orbital robotics Robotics and automation Software engineering automatic control Systems engineering and theory Stability

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Sliding mode speed control of a shifted fully pitched switched reluctance machine

Sliding mode speed control of a shifted fully pitched switch...

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International Conference on electrical Machines and Systems (ICEMS)

作者： H. Ashour B. Williams Department of Electrical & Control Engineering Arab Academy for Science Technology and Maritime Transport Alexandria Egypt Department of Computer Science and Electrical Engineering Heriot-Watt University Edinburgh UK

An experimental speed control drive system for the shifted WIN pitched switched reluctance machine, using the C167 embedded controller, is presented. Methods of speed control and acceleration estimation are discussed. System performance is tested for speed step change, speed reversal, speed tracking and load disturbance responses using proportional plus integral (PI) control and sliding mode (SLM) control. A comparison between proportional plus integral and sliding mode speed control, using Slotine's approach, is experimentally carried out and the robustness of sliding mode control is shown.

关键词： Velocity control Sliding mode control control systems Pi control Proportional control Reluctance machines Acceleration System performance System testing Robust control

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Jitter compensation for real-time control systems

Jitter compensation for real-time control systems

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Real-Time Systems Symposium (RTSS)

作者： P. Marti J.M. Fuertes G. Fohler K. Ramamritham Automatic Control Department Universitat Poliltècnica de Catalunya Barcelona Spain Department of Computer Engineering Mälardalen University Vasteras Sweden Computer Science and Engineering Department IIT Mumbai India

ISBN: (纸本)0769514200

In this paper, we first identify the potential violations of control assumptions inherent in standard real-time scheduling approaches (because of the presence of jitters) that causes, degradation in control performance and may even lead to instability. We then develop practical approaches founded on control theory to deal with these violations. Our approach is based on the notion of compensations wherein controller parameters are adjusted at runtime for the presence of jitters. Through time and memory overhead analysis, and by elaborating on the implementation details, we characterize when offline and on-line compensations are feasible. Our experimental results confirm that our approach does compensate for the degraded control performance when EDF and FPS algorithms are used for scheduling the control tasks. Our compensation approach provides us another advantage that leads to better schedulability of control tasks. This derives from the potential to derive more flexible timing constraints, beyond periods and deadlines necessary to apply EDF and FPS. Overall, our approach provides guarantees offline that the control system will be stable at runtime-if temporal requirements are met at runtime-even when actual execution patterns are not known beforehand. With our approach, we can address the problems due to (a) sampling jitters, (b) varying delays between sampling and actuation, or (c) both-not addressable using traditional EDF and FPS based scheduling, or by previous real-time and control integration approaches.

关键词： Jitter Real time systems control systems Degradation Sampling methods control theory Runtime Scheduling algorithm Timing Delay

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On the new filtering technique of noise attenuation in color images

On the new filtering technique of noise attenuation in color...

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International Symposium on Image and Signal Processing and Analysis

作者： M. Szczepanski B. Smolka K. Wojciechowski A. Plataniotis A.N. Venetsanopoulos Department of Automatic Control Silesian University of Technology Gliwice Poland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto Canada

ISBN: (纸本)9539676940

A new filter class for multichannel image processing is introduced and analyzed. The new technique of image enhancement is capable of reducing impulsive and Gaussian noise and it significantly outperforms the standard methods of noise reduction. In the paper, a smoothing operator, based on a random walk model and on a fuzzy similarity measure between pixels connected by a digital geodesic path, is introduced. The efficiency of the proposed method was tested on standard color images using objective image quality measures. Obtained results show that the new method not only outperforms standard noise reduction algorithms, but has some interesting features useful for segmentation of noisy color images.

关键词： Filtering Colored noise Attenuation Color Noise reduction Level measurement Filters Image processing Image analysis Image enhancement

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On the efficiency of random walk approach to noise reduction in color images

On the efficiency of random walk approach to noise reduction...

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IEEE International Conference on Image Processing

作者： B. Smolka M. Szczepanski K.N. Plataniotis A.N. Venetsanopoulos Department of Automatic Control Silesian University of Technology Gliwice Poland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto Canada

We propose a new algorithm of noise reduction in color images. The new technique of multichannel image enhancement is capable of reducing impulse and Gaussian noise and it outperforms the basic methods based on vector median used for noise reduction in color images. A new smoothing operator, based on a random walk model and on a fuzzy similarity measure between pixels connected by a digital geodesic path is introduced. The efficiency of the proposed method was tested on the standard color images using the widely used objective image quality.

关键词： Noise reduction Color Filters Gaussian noise Level measurement Filtering Image enhancement Smoothing methods Testing Measurement standards

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On simulation based analysis and synthesis of hierarchical network sturctures 6

On simulation based analysis and synthesis of hierarchical n...

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6th European control Conference, ECC 2001

作者： Tanevska, Dijana J. Dimirovski, Georgi M. Stankovski, Mile J. Jing, Yuanwei Makedonski Telekomunikacii AD Orce Nikolov Str. b.b. SkopjeMK-91000 Macedonia Inst. of Automation and Systems Engg. Faculty of Electrical Engg. SS Cyril and Methodius University SkopjeMK-1000 Macedonia Department of Computer Engg. Faculty of Engineering DOGUS University Kadikoy-IstanbulTR-81010 Turkey Dept. of Automatic Control and Control Eng. School of Information Science and Engineering Northeastern University Shenyang Liaoning110006 China

ISBN: (纸本)9783952417362

Analysis of complex systems such as hierarchically structured network systems that are employed in modelling and analysis various aspects and issues of control and management in telecommunications is investigated. Theory of graphs and binary matrices appear to be most suitable tools for modelling the overall structure of complex systems, in general, and of systemic hierarchies, in particular. A systematic methodology has been developed for computer simulation analysis and detecting general hierarchies in communications networking as well as for synthesis of system hierarchies. This methodology is an improved extension of Warfield's technique. © 2001 EUCA.

关键词： Discrete event simulation

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Uplink Power control in Bluetooth Transceiver

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IFAC Proceedings Volumes 2001年第22期34卷 366-371页

作者： Soo Young Shin Wook Hyun Kwon Hong Seong Park ERC-A Cl School of Electrical Engineering & Computer Science Seoul National University Seoul Korea Department of Control & Instrumentation Engineering Kangwon National University Chuncheon Kangwon-Do Korea

In this paper, a new method that controls the uplink transmit power in Bluetooth transceiver is suggested. Two closed loop power control (CLPC) algorithms are proposed. One is the fixed step power control (FSPC). The other is the dynamic step power control (DSPC). The proposed power control algorithms are simulated under indoor radio propagation model. Simulation results show that power consumption of Bluetooth devices is reduced using the proposed power control algorithms.

关键词： Bluetooth uplink closed loop power control (CLPC) fixed step power control (FSPC) dynamic step power control (DSPC) indoor propagation power consumption

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