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Grasping simulation of an underactuated finger mechanism for larm hand

International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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On the Fractional-Order Distributed Parameter Low-Pass Filter

On the Fractional-Order Distributed Parameter Low-Pass Filte...

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2010 49th IEEE Conference on Decision and Control

作者： Yan Li Hu Sheng YangQuan Chen School of Control Science and Engineering Shandong University Jinan 250061 China Department of Electronic Engineering Dalian University of Technology Dalian 116024 China Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University 4120 Old Main Hill Logan UT 84322 USA

ISBN: (纸本)9781424477456

In this paper, we derive the analytical impulse response of a fractional-order distributed parameter low-pass filter of the form integral from x=a to x=b of 1/Ts~(alpha)+1 dT, where 0 <= a <= b and alpha E (0,1). The asymptotic properties of the impulse responses are obtained. Moreover, based on the derived analytical impulse response, we present a technique to perform the discretization of the above fractional-order filter. Finally, a number of illustrated figures are presented to validate the concepts.

关键词： Fractional-order filter Distributed parameter Complex path integral Discretization method

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Robust appearance based visual route following for navigation in large-scale outdoor environments

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International Journal of robotics Research 2009年第3期28卷 331-356页

作者： Zhang, Alan M. Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VA 3800 Australia

In this paper we present a navigation algorithm that enables mobile robots to retrace routes previously taught under the control of human operators in outdoor environments. Possible applications include robot couriers, autonomous vehicles, tour guides and robotic patrols. The appearance-based approach presented in the paper is provably convergent, computationally inexpensive compared with map-based approaches and requires only odometry and a monocular omnidirectional vision sensor. A sequence of reference images is recorded during the human-guided route-teaching phase. Before starting the autonomous phase, the robot needs to be positioned at the beginning of the route. During the autonomous phase, the measurement image is compared with reference images using image cross-correlation performed in the Fourier domain to recover the difference in relative orientation. Route following is achieved by compensating for this orientation difference. Over 18 km of experiments performed under varying conditions demonstrate the algorithm's robustness to lighting variations and partial occlusion. Obstacle avoidance is not included in the current system.

关键词： Navigation

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FRACTIONAL DIFFERENTIAL EQUATION AND CONTINUOUS TIME RANDOM WALK (CTRW) IN ANOMALOUS DIFFUSIOIN MODELING

FRACTIONAL DIFFERENTIAL EQUATION AND CONTINUOUS TIME RANDOM ...

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The Third International Conference on Dynamics,Vibration and Control(第三届国际动力学、运动与控制学术会议)

作者： H.G.SUN W.CHEN Y.Q.CHEN Institute of Soft Matter Mechanics Department of Engineering MechanicsHohai University No.1 XiKang Road NanjingJiangsu 210098China Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer EngineeringUtah State University4160 Old Main HillLoganUT84322-4160USA Institute of Soft Matter MechanicsDepartment of Engineering MechanicsHohai University No.1 XiKang Road NanjingJiangsu 210098China Center for Self-Organizing and Intelligent Systems (CSOIS)Department of Electrical and Computer EngineeringUtah State University4160 Old Main HillLoganUT84322-4160USA

In the recent decades anomalous diffusion have attracted much attention thanks to its extreme importance in many physical fields, *** transport through porous media, turbulence [1], nuclear proliferation, chemistry, biology, environmental sciences, even in economics and *** mean square displacement (MSD) of a diffusing particle can be stated as < x2 (t) >∝ t in the normal diffusion, but the MSD has been observed exhibiting < x 2 (t) >∝tα, in anomalous diffusion and can be a constant[2], larger or smaller than 1.

关键词： Anomalous diffusion fractional differential equation CTRW power law mean square displacement

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A class of fractional dynamic systems with fuzzy order

A class of fractional dynamic systems with fuzzy order

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World Congress on intelligent Control and Automation (WCICA)

作者： HongGuang Sun XiaoNa Song YangQuan Chen Institute of Soft Matter Mechanics Department of Engineering Mechanics Hohai University HHU Nanjing Jiangsu China Center for Self-Organizing and Intelligent Systems (CSOIS) in the Department of Electrical and Computer Engineering Utah State University Logan UT USA School of Automation Nanjing University of Science and Technology of PLA Nanjing Jiangsu China

Differentiation and integration of non-integer order have drawn increasing attention in research community. Fractional order dynamic systems have been recognized as effective tools for characterizing the real-world phenomena around and inside us. From the notion of fuzzy logic, it is natural to quest the potential of fractional dynamic systems with fuzzy orders. In this paper, for the first time, we propose the basic framework of fractional order dynamic system with fuzzy order. This basic idea is to adopt fuzzy system to characterize the differential order in a class of variable-order or constant-order fractional dynamic systems. Examples are included to illustrate the operating process.

关键词： Output feedback Integrated circuit modeling Irrigation Mathematical model

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On Distributed Order Low-Pass Filter

On Distributed Order Low-Pass Filter

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2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： Yan Li Hu Sheng YangQuan Chen School of Control Science and Engineering Shandong UniversityJinan Shandong 250061 P. R. China. Department of Electronic Engineering Dalian University of TechnologyDalian 116024 P. R. China. Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer En

In this paper, we derive the impulse response of the fractional distributed order low-pass filters. Based on the derived analytical impulse response, a method on how to perform the discretization of the above distribu... 详细信息

关键词： computer languages

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An integrated control of shading blinds, natural ventilation, and HVAC systems for energy saving and human comfort

An integrated control of shading blinds, natural ventilation...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Biao Sun Peter B. Luh Qing-Shan Jia Ziyan Jiang Fulin Wang Chen Song Center of Intelligent and Networked Systems (CFINS) Tsinghua National Laboratory of Information Science and Technology Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs CT USA Department of Building Science Tsinghua University Beijing China Safety and Control Systems China and the Tsinghu-UTC Research Institute of Integrated Building Energy United Technologies Research Center Inc. Beijing China

Improving the control of shading blinds, lights, natural ventilation, and HVAC systems while satisfying human comfort requirements can result in significant energy cost savings with time-of-day electricity pricing. Traditionally, the above-mentioned devices are controlled separately. In this paper, a novel formulation for the integrated control and the corresponding solution methodology are presented. The problem is to minimize daily energy costs of lights and HVAC systems while satisfying equipment capacities, system dynamics, and human comfort. The problem is complicated since 1) individual rooms are coupled as they compete for the HVAC with limited capacity and nonlinear characteristics, and 2) the problem is believed to be NP-hard in view that decision variables are all discrete. A solution methodology that combines Lagrangian relaxation and stochastic dynamic programming is developed within the surrogate optimization framework to obtain near-optimal strategies. These strategies are further refined to become novel control rules for easy practical implementation. Numerical simulation results show that both of the above strategies can effectively reduce the total energy cost, and that the integrated control works better than selected traditional control strategies.

关键词： Ventilation Humidity Equations Optimization Heating Humans

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A two-stage neural network classifier for condition-based maintenance in wireless sensor networks

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International Journal of COMADEM 2010年第2期13卷 17-26页

作者： Ramani, A. McMurrough, C. Middleton, M. Ballal, P. Athamneh, A. Lee, W. Kwan, C. Lewis, F. Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth TX 76118-7115 United States Energy Systems Research Center University of Texas at Arlington 416 S. College St Arlington TX 76019-0048 United States Signal Processing Inc. 13619 Valley Oak Circle Rockville MD 20850-3572 United States Computer Science Engineering University of Texas at Arlington United States Electrical Engineering Department United States

Motor failures in aerospace applications can lead to serious compromises in safety, overall effectiveness, and maintenance costs. In mission critical applications, it is important that motor fault signatures are identified before a failure occurs. It is known that 40% of mechanical failures occur due to bearing faults. Bearing faults can be identified from the motor vibration signatures. Three key contributions are outlined in this paper. First, we develop a low cost test bed for simulating bearing faults in a motor. Second, we develop a wireless sensor module for collection of vibration data from the test bed. Finally, we use a novel two stage neural network to classify various bearing faults using the Generalized Hebbian Algorithm (GHA) in the first stage and a supervised learning vector quantization network (SLVQ) with a self organizing map approach for fault classification in the second stage. © 2010 COMADEM International.

关键词： Wireless sensor networks

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Fault diagnostics and security of critical infrastructure systems

Fault diagnostics and security of critical infrastructure sy...

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作者： Polycarpou, Marios M. KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus

ISBN: (纸本)9783902661463

Modern societies have reached a point where everyday life relies heavily on the reliable operation and intelligent management of critical infrastructures, such as electric power systems, telecommunication networks, water distribution networks, and transportation systems. Monitoring and controlling such systems is becoming increasingly more challenging as their size, complexity and interactions are steadily growing. Moreover, these critical infrastructures are susceptible to natural disasters, frequent failures, as well as malicious attacks. There is a need to develop a common system-theoretic framework for modelling the behavior of critical infrastructure systems and for designing algorithms for intelligent monitoring, control and security of such systems. The goal of this presentation is to motivate the key role of fault diagnostics and fault tolerant control methodologies in securing the reliable operation of critical infrastructure systems, and to provide a framework for achieving early detection, isolation and accommodation of faults in large-scale nonlinear dynamic systems. Various ideas based on distributed fault diagnostics and adaptive approximation techniques with learning algorithms will be presented, and directions for future research will be discussed. © 2009 IFAC.

关键词： Critical infrastructures

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On the varying benefit of communication between mobile agents in a decentralized team

On the varying benefit of communication between mobile agent...

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2009 IEEE International Conference on Control Applications, CCA '09

作者： Liao, Yan Minai, Ali A. Polycarpou, Marios M. Department of Electrical and Computer Engineering University of Cincinnati Cincinnati OH 45221-0030 United States KIOS Research Center for Intelligent Systems and Networks Dept. of Electrical and Computer Engineering University of Cyprus 75 Kallipoleos Nicosia 1678 Cyprus

ISBN: (纸本)9781424446025

Cooperative behavior in decentralized mobile agents requires communication among them. However, such communication can also have negative consequences for a variety of reasons, and the benefits of communication can vary over the course of the agent team's task or mission. In this paper, we compare the benefits of communication over time for a team of mobile agents performing a general search-and-engage mission. Monte Carlo simulations show that communication provides variable benefit at different times and under different circumstances. In particular, communication can sometimes lead to poorer performance if agents have imperfect sensors. © 2009 IEEE.

关键词： Mobile agents

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