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Path following of a piezo-driven miniature robot based on fuzzy logic

Path following of a piezo-driven miniature robot based on fu...

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International Conference on Industrial Mechatronics and automation, ICIMA

作者： Qiliang Du Lianfang Tian Qin Zhang Hisayuki Aoyama School of Electronic and Information Engineering South China University of Technology Guangzhou China College of Automation Science and Technology South China University of Technology Guangzhou China Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan

ISBN: (纸本)9781424476534

This paper studied the path following case of a PZT-driven electromagnetic miniature robot which is used as a locomotion platform in a “Desktop Micro Robots Factory”. Considering the nonlinearity of the locomotive characteristics according to the difference equation describing the position and orientation changes of the robot, a fuzzy logic controller was designed to calculate the driven voltage amplitude applied to the two piezoelectric elements to fulfill the task. To overcome the overshoot when the robot joined the path from a far starting position, an improved method, which introduced a simple coarse initial pose error adjustment before the fuzzy controller took action, was proposed, resulting in a tracking error reduction preferably.

关键词： Fuzzy logic Orbital robotics Intelligent robots Paper technology Production facilities Microscopy Robotics and automation Nanobioscience Robotic assembly Automotive engineering

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An Improved Particle Swarm Optimizer for IIR Digital Filter Design

An Improved Particle Swarm Optimizer for IIR Digital Filter ...

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The 2010 International Conference on Intelligent systems and Knowledge engineering(第五届智能系统与知识工程国际会议)

作者： Xuzhen Zhang Pingui Jia Junying Guo Department of Electronic Information North China Institute of Science and Technology Yanjiao East of Institute of Automation Chinese Academy of Sciences Beijing China Civil Engineering Department Zhejiang Forestry University Hangzhou Zhejiang China

This paper proposed an improved particle swarm optimization (PSO) algorithm called redistributing PSO (RPSO) for designing IIR digital filters. The proposed RPSO avoids the stagnation problem by automatically triggering particles redistributing when premature convergence is detected. Every particle is redistributed either within the whole problem space or around the mean between the global best and its current position. This mechanism helps particles escape from local convergence regions and continue progress toward true global optimum. The simulation results of low-pass and band-pass filters show that RPSO is better than PSO, quantum particle swarm optimization (QPSO), chaos particle swarm optimization (CPSO), and differential cultural (DC) algorithm with better mean performance and more stability and is an efficient method for IIR digital filter design.

关键词： Digital filters Algorithm design and analysis IIR filters Convergence Band pass filters Particle swarm optimization Filtering algorithms

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A Fair-Oriented Two-Level Scheduling Scheme for Downlink Traffic in WiMAX Network

A Fair-Oriented Two-Level Scheduling Scheme for Downlink Tra...

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International Conference on Information technology Convergence and Services (ITCS)

作者： Wei Nie Naixue Xiong Jong Hyuk Park Sang-Soo Yeo School of Automation Engineering University of Electronic Science and Technology Chengdu China Department of Computer Science Georgia State University Atlanta GA USA Department of Computer Science and Engineering Seoul National University of Technology South Korea Division of Computer Engineering Mokwon University Daejeon South Korea

The IEEE 802.16 standard is proposed to provide a wide-range broadband wireless service, but it leaves the implementation of the wireless resource scheduler as an open issue. We study the scheduling algorithm and propose a fairoriented two-level scheduling scheme for downlink traffic in a WiMAX network. A central controller (Base Station) has a number of users, and different mobile subscriber stations have different channel conditions. Even the same mobile subscriber station has different service requirements in the WiMAX network. Our design improves throughput and alleviates the delay and also ensures fairness in the network. Our results show our scheduling algorithm can increase the network throughput, maintain the relative fairness, and lower delay compared with the round robin algorithm.

关键词： Quality of service Downlink WiMAX Scheduling Bandwidth Scheduling algorithm IEEE 802.16 Standards

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Notice of Retraction: Crank block steering mechanism optimization for forklift truck based on PSO

Notice of Retraction: Crank block steering mechanism optimiz...

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International Conference on Computer engineering and technology, ICCET

作者： Chaoli Sun Jianchao Zeng Jengshyang Pan Yuanfang Tao Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology Taiyuan Shanxi China Department of Electronic Engineering National Kaohsiung University of Applied Sciences Kaohsiung Taiwan Mechanical & Electronic Engineering College Taiyuan University of Science and Technology Taiyuan Shanxi China

This article has been retracted by the publisher.

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Local entropy difference-fast marching method for leak diagnosis and localization

Local entropy difference-fast marching method for leak diagn...

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

作者： Ling Zhao Tao Wang Wei Fan Nan Ge Tong Zhao Guangzheng Peng School of Automation Complicated System of Intelligent Control and Decision Key Laboratory of Education Ministry Beijing Institute of Technology Beijing China Department of Engineering Physics Tsinghua University Beijing China

In this paper, an effective technique for leak diagnosis and localization which couples the local entropy difference method (LEDM) to the fast marching method (FMM) is proposed. A computer-based system is described to combine a specific pneumatic circuit with an on-line infrared camera which is used to test the air-tightness of a test vessel. The test object is charged with cryogenic compressed air and its temperature field is acquired by infrared thermography in this system. Then, both the leakage point and its edge can be identified by means of the designed LED-FM method. An experiment is conducted that confirms that the leak diagnosis and localization method presented in this paper is effective in diagnosing leakage points and in extracting accurate leakage edges, in spite of the presence of surface defects.

关键词： Entropy Pixel Image edge detection Level set Cameras Equations Probes

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An Improved Multiple Instance Learning Algorithm for Object Extraction

An Improved Multiple Instance Learning Algorithm for Object ...

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Chinese Conference on Pattern Recognition (CCPR)

作者： Mengyue Wang Changlin Zhang Yan Song Department of Electronic Engineering & Information Science University of Science and Technology Hefei China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

Based on MILES algorithm, we propose a novel multiple instance learning approach which regards visual word dictionary as feature space, and combines segmentation for object detection and extraction in the process of instance classification. This approach uses "Bag of Words" model. The whole image is considered as a multiple instance bag. The visual words that represent the image are regarded as the instances in the bag. The approach maps each bag into a feature space defined by visual vocabulary via the histogram over visual words. Next, 1-norm SVM is applied to select important features as well as classify images simultaneously. Then we will classify instances coming from the bags classified as positive, and take the positive instances for object "seed" points. After that segmentation is combined to realize object extraction. Experiments on Caltech101 dataset show that this approach achieves high efficiency.

关键词： Computer vision Visualization Conferences Support vector machines Bismuth electronic mail Feature extraction

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A novel DoubleMinOver classifier based On second-order tensor

A novel DoubleMinOver classifier based On second-order tenso...

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International Conference on Natural Computation (ICNC)

作者： Zhe Wang Rui Han Zhisong Pan Xuelei Ni Department of Computer Science & Engineering East China University of Science and Technology Shanghai China Department of Information & Communication Engineering Huaian College of Information and Technology Jiangsu China Institute of Command Automation People''s Liberation Army University of Science and Technology Nanjing China Department of Information System Shanghai Automotive Industry Corporation Shanghai China

It is well-known that the DoubleMinOver classifier as an extendibility of MinOver was developed to provide a maximum margin solution with a bias. But, it can be found that the DoubleMinOver algorithm only classifies the vector pattern and fails to work in the pattern represented with the second-order tensor. In this paper, we propose a novel DoubleMinOver classifier named STDoubleMinOver that can directly classify the second-order tensor pattern. Compared with the existing DoubleMinOver with only one weight w, the proposed STDoubleMinOver induces two weight vectors u and v so as to deal with the second-order tensor. The experiments here have demonstrated that the proposed STDoubleMinOver has a superior classification to the vectorized DoubleMinOver.

关键词： Tensile stress Feature extraction Accuracy Artificial neural networks Training Lenses Iris

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Extraction of image semantic features with spatial-range mean shift clustering algorithm

Extraction of image semantic features with spatial-range mea...

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International Conference on Signal Processing Proceedings (ICSP)

In recent years, the Bag-of-visual Words image representation has led to many significant results in visual object recognition and categorization. However, experiments show that the unsupervised clustering of primitive visual features tends to result in the limited discriminative ability of the visual codebook, since it does not take the spatial relationship between visual primitives into consideration. This paper aims at generating descriptive higher-order semantic features, which are extracted from visual word sets clustered by spatial-range mean shift and are a better representation for images. This method first uses mean shift algorithm to cluster visual words for an image from the spatial and color space, then uses FP-growth algorithm to mine the meaningful spatially concurrent groups of visual words in all images and regards the high frequency visual word combinations which can represent parts of objects as semantic features. The experiments on Caltech 101 dataset demonstrate that the proposed higher-order semantic features can achieve good results.

关键词： Visualization Semantics Feature extraction Image color analysis Kernel Clustering algorithms Bandwidth

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Method for measuring the twist angle of an optically compensation bend by using the heterodyne interferometry

Method for measuring the twist angle of an optically compens...

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IEEE Instrumentation and Measurement technology Conference

作者： Shinn-Fwu Wang Wesley Lai Jyh-Shyan Chiu Rih-Huei Yeh Heng-Cheng Tseng Wei-Chou Chen Department of Electronic Engineering Ching Yun University of Technology Taoyuan Taiwan Institute of Computer Communication and System Engineering Ching Yun University of Technology Taoyuan Taiwan Research & Development Center Hannstar Display Corporation Tainan Taiwan

ISBN: (纸本)9781424428328

A new measuring method based on the common-path heterodyne interferometry is used to determine the twist angle, pre-tilt angle, and cell gap of an optically compensation bend (OCB) liquid crystal (LC) cell. In this paper, the twist angle of an OCB LC cell can be determined by measurement the phase difference instead of the reflectance difference. Because the measuring system is based on the common-path heterodyne interferometry, it can provide the most sensitive way to measure the twist angle of an OCB LC cell against the air turbulence and environmental vibrations. The method has some merits, e.g., a simple setup, in real-time test and reliability, etc.

关键词： Optical interferometry Goniometers Optical mixing Liquid crystal displays Electrooptic modulators Light sources Optical retarders Optical sensors Phase measurement Vibration measurement

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Advanced contouring error compensation in high performance motion control systems

Advanced contouring error compensation in high performance m...

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International Workshop on Advanced Motion Control (AMC)

作者： Dongjun Zhang Zexiang Li Shuang Cong Hong Wu PKU-HKUST Shenzhen Hong Kong Institution Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Department of Automation University of Science and Technology China Googol Technology HK Limited Hong Kong China

ISBN: (纸本)9781424466689;9781424466696

Because of nonlinearities, uncertainties and inherent performance limitations of the mechatronic system, there is a trade-off between tracking error minimization and robust stabilization. This implies that the tracking error is unavoidable in practice. Fortunately, in the path following motion control system, it is the geometric error that measures the quality of the product. Since the tracking error gives an upper bound on the geometric error, by the principle of uncertainty, more preference can be given to the geometric error dynamics to improve the quality of the product. For generic parametric tool path, although the geometric error is hard to be computed numerically, it can be estimated by a projection operator on the tracking error vector. Then the tasks of contouring error compensation are twofold: to internally stabilize the feedback system, and to minimize the estimated contouring error. A novel multiple-loop structure is proposed in this paper. By using this structure, the internal stability of the feedback system is guaranteed, if the norm of the compensator is less than a function value on the infinity norm of the tracking error dynamics. Experiments were done on milling machines to verify the feasibility of the proposed structure. Low order compensators were designed and compared with each other. In the experiments, the estimated contouring error was reduced by more than 20%, while the tracking error did not change too much.

关键词： Error compensation Motion control Feedback Mechatronics Robustness Error correction Motion measurement Upper bound Stability H infinity control

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