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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Hamid D. Taghirad Meyer A. Nahon Advanced Robotics and Automated Systems (ARAS) Department of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Center for Intelligent Machines (CIM) Department of Mechanical Engineering McGill University Montreal QUE Canada

In this paper the kinematic analysis of a macro-micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of large adaptive reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable-driven. Inverse and forward kinematic analysis of this structure is presented in this paper. It is shown that unique closed form solution to the inverse kinematic problem of such structure exists. However, the forward kinematic solution is derived using numerical methods, and simulation results are reported to illustrate the integrity and accuracy of the solution.

关键词： Kinematics Optical design Councils Telescopes Winches Radio astronomy Frequency Reflector antennas Antenna accessories Receiving antennas

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Adaptive Iterative Learning for Classification based on Feature Selection and Combination Voting

Adaptive Iterative Learning for Classification based on Feat...

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International Joint Conference on Neural Networks (IJCNN)

作者： Haibo He Xiaoping Shen Center for Intelligent Networked Systems (iNetS) Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ USA Department of Mathematics Ohio University Athens OH USA

Feature selection is an active research area in machine learning for high dimensional dataset analysis. The idea is to perform the learning process solely on the top ranked feature spaces instead of the entire original feature space, and therefore to improve the understanding of the inherent characteristics of such dataset as well as reduce the computational cost. While most of the research efforts are focused on how to select the proper features for machine learning, we studied the following important problem in this paper: can the "unimportant features" (low rank features) also provide useful information to improve the overall learning capability? In this paper, we proposed an adaptive iterative learning mechanism based on feature selection and combination voting (AdaFSCV) to address this issue. Unlike the conventional way of discarding the unselected low rank features, we iteratively build classifiers in those feature spaces as well. Such iterative process will adaptively learn information in different feature spaces, and automatically stop when one classify can not provide better information than a random guess. Finally, a probability voting algorithm is proposed to combine all the votes from different classifiers to provide the final prediction results. Simulation results on the MNIST database of handwritten digits show this method can improve the classification accuracy and robustness with certain levels of trade-off of the computational cost.

关键词： Voting Machine learning Computational efficiency Feature extraction Pattern recognition Filters Machine learning algorithms Learning systems Testing Data analysis

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Bootstrap Methods for Foreign Currency Exchange Rates Prediction

Bootstrap Methods for Foreign Currency Exchange Rates Predic...

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International Joint Conference on Neural Networks (IJCNN)

This paper presents the research of using bootstrap methods for time-series prediction. Unlike the traditional single model (neural network, support vector machine, or any other types of learning algorithms) based time-series prediction, we propose to use bootstrap methods to construct multiple learning models, and then use a combination function to combine the output of each model for the final predicted output. In this paper, we use the neural network model as the base learning algorithm and applied this approach to the foreign currency exchange rate predictions. Six major foreign currency exchange rates including Australia dollars (AUD), British pounds (GBP), Canadian dollars (CAD), European euros (EUR), Japanese yen (JPY) and Swiss francs (CHF) are used for prediction (base currency is US Dollar). Simulations on the most recently available exchange rate data (January 01, 2003 to December 27, 2006) on both daily prediction and weekly prediction indicate that the proposed method can significantly improve the forecasting performance compared to the traditional single neural network based approach.

关键词： Exchange rates Neural networks Predictive models Bagging Boosting Support vector machines Error analysis Backpropagation Australia Support vector machine classification

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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An All-Digital Low-Power Structural Health Monitoring System

An All-Digital Low-Power Structural Health Monitoring System

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IEEE Conference on Technologies for Homeland Security

作者： Jina Kim Benjamin L. Grisso Dong S. Ha Daniel J. Inman Department of Electrical and Computer Engineering Virginia Tech Virginia Technology VLSI for Telecommunications Laboratory Blacksburg VA USA Department of Mechanical Engineering Virginia Tech Center for Intelligent Material Systems and Structures Blacksburg VA USA

Structural health monitoring is desirable in many fields to provide a means of damage detection on a variety of structures. Unfortunately, the ability to equip structures with health monitoring systems is limited by the development of adequate hardware. Previously, prototypes using the impedance-based health monitoring method have been developed to lay a foundation for permanent structural damage detection. These prototypes served their purposes, but has shortcomings such that large size and high power consumption. In this paper, all-digital excitation and sensing techniques are developed to reduce both the size and power dissipation. The digital techniques are implemented onto a new prototype, which achieves substantial reduction in size and power consumption. Validation of the new hardware on a representative structure is presented and compared with traditional techniques for structural health monitoring.

关键词： Frequency conversion Hardware Power dissipation Voltage Signal generators Prototypes Impedance measurement Frequency measurement computerized monitoring Energy consumption

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Stable grasp of a 2D rigid object through rolling with soft fingers

Stable grasp of a 2D rigid object through rolling with soft ...

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IEEE International Conference on robotics and Biomimetics

作者： Morio Yoshida Suguru Arimoto Ji-Hun Bae Zhi-Wei Luo Bio-Mimetic Control Research Center RIKEN Nagoya Aichi Japan Pohang Institute of Intelligent Robotics PIRO Nam Gyeongbuk South Korea Department of Computer and Systems Engineering Kobe University Kobe Hyogo Japan

ISBN: (纸本)9781424417612;1424417619

This paper first proposes a testbed problem of control for dynamic grasp or immobilization of a 2D rigid object for the sake of gaining a physical insight into stable grasp of an object by soft fingers. Such a problem may play a principal role in understanding the methodology of sensory feedback stabilization similarly to the role of "inverted pendulum on a cart" problems in stabilization and control of mechanical systems. Second a class of coordinated control signals is proposed and shown to be effective for realizing stable grasp of a 2D rigid object in a blind manner without using the knowledge of object kinematics or external sensings. It is shown that rolling contact constraints around the centers of contact areas between soft finger-tips and object surfaces treated as nonholonomic constraints play an essential role in stabilization of a dynamic grasp with force/torque balance.

关键词： Fingers Robot kinematics Torque Testing Feedback Control systems Mechanical systems Robot sensing systems intelligent robots Biomimetics

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Modeling, parameters identification, and control of an electronic throttle control (ETC) system

Modeling, parameters identification, and control of an elect...

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International Conference on intelligent and Advanced systems, ICIAS

作者： R. N. K. Loh T. Pornthanomwong J. S. Pyko A. Lee M. N. Karsiti Center for Robotics and Advanced Automation Department of Electrical and Computer Engineering Oakland University Rochester MI USA Electrical & Electronic Systems Architecture CIMS 484-08-06 Chrysler LLC Auburn Hills MI USA Electrical & Electronic Engineering Universiti Teknologi Petronas Bandar Seri Iskandar Tronoh Perak Malaysia

The modeling, parameters identification, and linear and nonlinear feedback control designs of an electronic throttle control (ETC) system is considered. A commercially available ETC system made by Bosch is selected for our investigation. The unknown parameters identified are used in designing linear and nonlinear controllers. Simulations and extensive experiments were conducted. A real-time linear controller was implemented with the xPC Target. The ETC model is then extended to a separately excited nonlinear DC motor model. The nonlinear controller is designed using the input-output feedback linearization technique; the extension proves to be of solid theoretical value. The results presented in this paper can be considered as an interesting and important case study encompassing system modeling, parameters identification, linear and nonlinear controller designs, and real-time control. The techniques and methodology developed are applicable to similar and/or other types of systems.

关键词： DC motors Torque Mathematical model Springs Friction Biological system modeling Real time systems

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Digital Wideband Excitation Technique for Impedance-Based Structural Health Monitoring systems

Digital Wideband Excitation Technique for Impedance-Based St...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Jina Kim Benjamin L. Grisso Dong S. Ha Daniel J. Inman VTVT (Virginia Tech VLSI for Telecommunications) Lab Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA Center for Intelligent Material Systems and Structures Department of Mechanical Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

With ever increasing complexity in new mechanical structures, as well as aging structures in operation, locating damage with structural health monitoring techniques is becoming increasingly important. Permanent deployment of structural health monitoring systems is limited by the availability of sensor technology. Previous efforts to miniaturize the hardware required for the impedance method of structural health monitoring resulted in prototypes reliant on a DAC for providing excitation to the structure of interest. In this paper, a new excitation technique using wideband digital signals is proposed to eliminate the power dissipated by a DAC in the system. An experiment is performed to compare performance of the proposed technique and previous excitation techniques. Results are presented and reveal no loss in damage detection performance while reducing the power dissipation.

关键词： Wideband Monitoring Aging Mechanical sensors Sensor systems Hardware Impedance measurement Prototypes Performance loss Power dissipation

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A schematic-based design model for microphone and circuit integration

A schematic-based design model for microphone and circuit in...

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International Microsystems, Packaging, Assembly and Circuits Technology (IMPACT)

作者： Jen-Yi Chen Shu-Sheng Lee Peter Chang Chun-Hsun Chu Tamal Mukherjee Gary K. Fedder Microsystems Technology Center Industrial Technology and Research Institute Taiwan Department of Systems and Naval Architecture Engineering National Taiwan Ocean University Taiwan Department of Electrical and Computer Engineering USA Carnegie Mellon University Pittsburgh PA USA The Robotics Institute Case Western Reserve University USA

The transistor-level elements for condenser microphone design have been implemented in an IC design environment. Arbitrary diaphragm shapes can be composed and simulated by using our basic elements. The sensitivity and frequency response are obtained by co-simulation with the microphone and the readout circuit using Cadence/Spectre reg simulator. The new model is capable of dealing with the multi-field coupling effects including acoustical, mechanical and electrostatic behavior. Comparing to the ANSYS static simulation by using shell63 elements, our design model gives matched results based on the same mesh condition. Both the finite element analysis and theoretical calculated natural frequency agree with the nodal simulation results. Co-simulation enables trade-off analysis between the acousto-electro-mechanical and electronic design parameters. Furthermore, this platform provides a unified design interface between mechanical and electrical engineers, which is critical for top-down design of monolithic microsystems.

关键词： Microphones Circuit simulation Shape Frequency response Coupling circuits Electrostatics Finite element methods Analytical models Acoustical engineering Design engineering

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Stability Analysis and Control of Repetitive Trajectory systems in the State-Domain: Roller Coaster Application

Stability Analysis and Control of Repetitive Trajectory Syst...

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IEEE International Symposium on intelligent Control (ISIC)

作者： Hyo-Sung Ahn YangQuan Chen Kevin L. Moore Wonpil Yu Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Center of Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA Division of Engineering Colorado Schml of Mines Golden CO USA Intelligent Robot Research Division Electronics and Telecommunications Research Institute Daejeon South Korea

This paper discusses the concepts of stability and asymptotic stability for state-dependent repetitive trajectory systems. An adaptive compensation method is proposed to compensate for disturbances that are a function of the system state. It will be shown that Lyapunov stability analysis can be performed in the state-domain if certain conditions are satisfied. The main theoretical contribution of the paper is to show that stability analysis can be carried out not only along the time axis but also in the state domain and that state-dependent disturbances or uncertainty can be successfully rejected. The motion dynamics of a roller coaster system is simulated to illustrate the practical importance of the proposed compensation method.

关键词： Stability analysis Control systems Friction Asymptotic stability Motion control Programmable control Adaptive control Lyapunov method Performance analysis Velocity control

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