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Neural modeling for hysteresis in piezoelectrical actuator

Neural modeling for hysteresis in piezoelectrical actuator

引用

5th International Conference on control and automation, ICCA'05

作者： Zhao, Xinglong Tan, Yonghong A0303222 Department of Automation Shanghai Jiaotong University Shanghai 200030 China Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China

ISBN: (纸本)0780391381

A neural network based method of modeling hysteresis in piezo-electrical actuator is proposed. In this method, a hysteretic operator is introduced to transform the multi-valued mapping of hysteresis into a one-to-one mapping so that neural networks can be utilized to approximate the characteristic of hysteresis. The result of modeling the hysteresis exists in a piezo-electrical actuator using the proposed method is finally presented. © 2005 IEEE.

关键词： Hysteresis

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Automobile lane detection system-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

引用

9th International Symposium on Consumer electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a system-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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Self calibrating procedure for a 3D force observer

Self calibrating procedure for a 3D force observer

引用

44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Gámez García, J. Robertsson, A. Ortega, J. Gómez Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Department Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)0780395689

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently In order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system Identification. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Modelling and optimal digital tracker for analog neutral delay systems

Modelling and optimal digital tracker for analog neutral del...

引用

7th IASTED International Conference on control and Applications, CA 2005

作者： Tsai, Tzong J. Tsai, Jason S. H. Guo, Shu M. Chen, Guanrong Control System Laboratory Department of Electrical Engineering National Cheng Kung University Tainan 701 Taiwan Department of Computer Science and Information Engineering National Cheng Kung University Tainan 701 Taiwan Department of Electronic and Engineering City University of Hong Kong Kowloon Hong Kong

ISBN: (纸本)0889865027

This paper presents a new, practical, and realizable methodology and scheme for an optimal hybrid tracking control problem for continuous neutral time-delay system. A continuous-time linear quadratic cost function that has a high-gain property is used for tracking control specification. Two interpolation formulas together with an extended state vector are applied to directly convert the original analog optimal tracking problem into an equivalent digital optimal regulator problem. Then, using the discrete-time optimal control theory and an indirect digital redesign technique with a predictive feature, an effective low-gain digital tracker, without losing the pre-specified high-quality performance in the continuous domain, is designed for the original analog neutral time-delay system.

关键词： control system analysis

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Inharmonic theoretical models for photopolymers gratings formation

Inharmonic theoretical models for photopolymers gratings for...

引用

Photorefractive Effects, Materials, and Devices, PEMD 2005

作者： Dovolnov, Eugene A. Sharangovich, Sergey N. Sheridan, John T. Tomsk State University of Control System and Radioelectronics MQR department 40 Lenin Avenue 634050 Tomsk Russia Department of Electronic and Electrical Engineering Faculty of Engineering and Architecture University College Dublin National University of Ireland Belfield Dublin D-4 Ireland

ISBN: (纸本)1557527938

We present an analytical model of the dynamics of spatial harmonics of holographic grating profiles, taking into consideration record mechanisms (polymerization and components diffusion), absorption, interference pattern contrast and optional photopolymerization nonlinearity. On the basis of numerical simulation we compare the model presented with the non-local polymerization driven diffusion model. The results of fitting experimental data with the model results are also presented. © 2005 OSA/PEMD 2005.

关键词： Photopolymerization

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Theoretical and experimental investigation of photopolymer chirped gratings formation

Theoretical and experimental investigation of photopolymer c...

引用

Photorefractive Effects, Materials, and Devices, PEMD 2005

ISBN: (纸本)1557527938

In the work an analytical model of transmission holographic grating formation by light beams with non-uniform phase-amplitude profiles is presented. The model takes into consideration influence of light absorption of a photopolymer with dye-sensitizer and nonlinearity of photo-polymerization on the spatial profiles and diffraction properties of the chirped grating. The model of diffraction efficiency and selective properties of chirped gratings is also presented. The results of fitting experimental data and numerical ones are shown and discussed. © 2005 OSA/PEMD 2005.

关键词： Light absorption

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Hierarchical multiple models adaptive decoupling controller applied to the wind tunnel system

Hierarchical multiple models adaptive decoupling controller ...

引用

作者： Wang, Xin Li, Shao-Yuan Wang, Zhong-Jie Center of Electrical and Electronic Technology Institute of Information and Control Technology Shanghai Jiao Tong University Shanghai 200030 China Institute of Automation Shanghai Jiao Tong University Shanghai 200030 China Department of Control Science and Engineering Tongji University 200092 China

ISBN: (纸本)008045108X

For the biggest wind tunnel in Asia, during the aerodynamic research on the scale models, it is difficult to keep the Mach number in the test section and the stagnation pressure constant strictly because the interaction is strong, the operation conditions change abruptly and the transient response's requirements are high. To cope with these problems, a Hierarchical Multiple Models Adaptive Decoupling controller (HMMADC) is presented in this paper. The controller is composed of multiple fixed controller models and two adaptive controller models. Multiple models are used to improve the transient response of the wind tunnel. Hierarchical structure is presented to reduce the number of the fixed models greatly. Adaptive Decoupling controller not only decouples the system dynamically but also places the poles of the closed loop system arbitrarily. The significance of the proposed method is that it is applicable to a MIMO system with a much small number of models. The global convergence is obtained. Finally, several simulation examples in a wind tunnel experiment are given to show both effectiveness and practicality of the proposed method. Copyright © 2005 IFAC.

关键词： Wind tunnels

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Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Automatic Calibration Procedure for a Robotic Manipulator Fo...

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University Jaen Spain Department of Automatic Control Lund University Lund Sweden

In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Calibration Robotics and automation Manipulators Robot sensing systems Force sensors Accelerometers Robust stability Service robots Fuses Motion estimation

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Self Calibrating Procedure for a 3D Force Observer

Self Calibrating Procedure for a 3D Force Observer

引用

IEEE Conference on Decision and control

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University. Campus Las Lagunillas Jaen Spain Dept. of Automatic Control Lund University Lund Sweden System Engineering and Automation Department Jaen University Jaen Spain

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Manipulator dynamics Robot sensing systems Service robots Force measurement Torque measurement Wrist End effectors Fuses Accelerometers

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Modeling earth albedo for satellites in earth orbit

Modeling earth albedo for satellites in earth orbit

引用

AIAA Guidance, Navigation, and control Conference 2005

作者： Bhanderi, Dan D.V. Bak, Thomas Aalborg University Fredrik Bajers Vej 7C DK-9220 Aalborg Oest Denmark Danish Institute of Agricultural Sciences Schüttesvej 17 DK-8700 Horsens Denmark Department of Control Engineering Denmark Research Group Department of Automation and System Technology

ISBN: (纸本)1563477378

Many satellite are influenced by the Earth's albedo, though very few model schemes exist, in order to predict this phenomenon. Earth albedo is often treated as noise, or ignored completely. When applying solar cells in the attitude hardware, Earth albedo can cause the attitude estimate to deviate with as much as 20 deg. Digital Sun sensors with Earth albedo correction in hardware exist, but are expensive. In addition, albedo estimates are necessary in thermal calculations and power budgets. We present a modeling scheme based on Earth reflectance, measured by NASA's Total Ozone Mapping Spectrometer, in which the Earth Probe Satellite has recorded reflectivity data daily since mid 1996. The mean of these data can be used to calculate the Earth albedo given the positions of the satellite and the Sun. Our results show that the albedo varies highly with the solar angle to the satellite's field of view, and that the longitude of the satellite position is significant to the model output. The results also show that the calculated albedo is generally lower than it would be expected based only on the reflectivity data. Copyright © 2005 by Aalborg University.

关键词： Space applications

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