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

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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SUPPORTING SELF-DIRECTED LEARNERS AND learning COMMUNITIES WITH SOCIOTECHNICAL ENVIRONMENTS

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Research and Practice in technology Enhanced learning 2006年第1期1卷 31-64页

作者： GERHARD FISCHER MASANORI SUGIMOTO Center for LifeLong Learning and Design (L3 D) Department of Computer Science University of Colorado 430 UCB Boulder CO 80309-0430 USA Interaction Technology Lab. Department of Frontier Sciences University of Tokyo 5-1-5 Kashiwanoha Kashiwa Chiba 277-8561 Japan

Making learning part of life is an essential challenge for inventing the future of our societies. Lifelong learning is a necessity rather than a possibility or a luxury to be considered. Self-directed learning (often occurring as learning on demand in response to breakdowns) is the dominant form of lifelong learning. The power of the unaided individual mind is highly overrated. Although society often thinks of creative individuals as working in isolation, learning and creativity result in large part from the interaction and collaboration with other individuals. Much human creativity is social, and learning communities are needed to cope with the challenges of making learning part of life. This paper articulates existing problems in our current and future world requiring lifelong and self-directed learning and learning communities. It defines conceptual frameworks and it describes four innovative computational environments: (1) domain-oriented design environments, (2) critiquing systems, (3) the Envisionment and Discovery Collaboratory, and (4) Caretta. The paper concludes by providing a set of challenges for the future use of technology to enhance learning based on the conceptual frameworks and the experience and assessment of our system development efforts.

关键词： Self-directed learning lifelong learning learning on demand collaborative learning integration of working and learning critiquing breakdowns simulation change symmetry of ignorance gift-wrapping approach of using technology sociotechnical environments meta-design

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A contour-based moving object detection and tracking

A contour-based moving object detection and tracking

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2nd Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance, VS-PETS

作者： Yokoyama, Masayuki Poggio, Tomaso Advanced LSI Design and Development Division SoC Business Center Sony Corporation Tokyo Japan Brain Sciences Department Center for Biological and Computational Learning Massachusetts Institute of Technology Cambridge MA 02139

ISBN: (纸本)0780394240

We propose a fast and robust approach to the detection and tracking of moving objects. Our method is based on using lines computed by a gradient-based optical flow and an edge detector. While it is known among researchers that gradient-based optical flow and edges are well matched for accurate computation of velocity, not much attention is paid to creating systems for detecting and tracking objects using this feature. In our method, extracted edges by using optical flow and the edge detector are restored as lines, and background lines of the previous frame are subtracted. Contours of objects are obtained by using snakes to clustered lines. Detected objects are tracked, and each tracked object has a state for handling occlusion and interference. The experimental results on outdoor-scenes show fast and robust performance of our method. The computation time of our method is 0.089 s/frame on a 900 MHz processor. ©2005 IEEE.

关键词： Object recognition

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Impact of multi-cultural dimensions on multi-modal communication in global teamwork

Impact of multi-cultural dimensions on multi-modal communica...

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2002 ASEE Annual Conference and Exposition: Vive L'ingenieur

作者： Fruchter, Renate Townsend, Alicia Project Based Learning Laboratory Department of Civil Engineering Stanford University Stanford CA 94305-4020 Lrng. Design and Technology Program School of Education Stanford University Stanford CA 94305

A framework and methodology for data collection and analysis of multi-cultural dimensions and initial observations made during the first phase of the ongoing study are discussed. The focus is on the relationship between multi-cultural dimensions and communication channels in a rich multi-modal collaboration and information technology environment deployed in a cross-disciplinary, geographically distributed teamwork course organized by the PBL LAb, at Stanford. An interesting process of compensation through the use of diverse combinations of synchronous and asynchronous communication channels. Further analysis of the data will be performed and continuous validation of the methodology and dimensions is planned for the coming A/E/C generations.

关键词： Information technology

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EDUTELLA: A P2P networking infrastructure based on RDF 02

EDUTELLA: A P2P networking infrastructure based on RDF

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11th International Conference on World Wide Web, WWW '02

作者： Nejdl, Wolfgang Wolf, Boris Qu, Changtao Decker, Stefan Sintek, Michael Naeve, Ambjörn Nilsson, Mikael Palmér, Matthias Risch, Tore Learning Lab. Lower Saxony University of Hannover 30060 Hannover Germany Database Group Stanford University United States DFKI GmbH Kaiserslautern Germany Centre for User Oriented IT Design Royal Institute of Technology Stockholm Sweden Department of Information Science Uppsala University Sweden

ISBN: (纸本)1581134495

Metadata for the World Wide Web is important, but metadata for Peer-to-Peer (P2P) networks is absolutely crucial. In this paper we discuss the open source project Edutella which builds upon metadata standards defined for the WWW and aims to provide an RDF-based metadata infrastructure for P2P applications, building on the recently announced JXTA Framework. We describe the goals and main services this infrastructure will provide and the architecture to connect Edutella Peers based on exchange of RDF metadata. As the query service is one of the core services of Edutella, upon which other services are built, we specify in detail the Edutella Common Data Model (ECDM) as basis for the Edutella query exchange language (RDF-QEL-i) and format implementing distributed queries over the Edutella network. Finally, we shortly discuss registration and mediation services, and introduce the prototype and application scenario for our current Edutella aware peers.

关键词： Metadata

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From domain modeling to collaborative domain construction 95

From domain modeling to collaborative domain construction

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1st Conference on designing Interactive Systems: Processes, Practices, Methods, and Techniques, DIS 1995

作者： Fischer, Gerhard Lindstaedtl, Stefanie Ostwald, Jonathan Stolze, Markus Sumner, Tamara Zimmermamz, Beatrix Department of Computer Science and the Center for LifeLong Learning and Design University of Colorado BoulderCO80309-0430 United States NYNEX Science and Technology 500 Westchester Avenue White PlainsNY10604 United States

ISBN: (纸本)0897916735

Domain-oriented systems offer many potential benefits for end-users such as more intuitive interfaces, better task support, and knowledge-based assistance. A key challenge for system developers constructing domain-oriented systems is determining what the current domain is and what the future domain should be;i.e. what entities should the system embody and how should they be represented. Determining an appropriate domain model is challenging because domains are not static entities that objectively exist, but instead they are dynamic entities that are constructed over time by a community of practice. New software development models and new computational tools are needed that support these communities to create initial models of the domain and to evolve these models over time to meet changing needs and practices. We describe a specific software development model and computational tools that enable domain practitioners to participate in domain construction processes. © 1995 ACM.

关键词： Software design

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CLEER - AN AI-SYSTEM DEVELOPED TO ASSIST EQUIPMENT ARRANGEMENTS ON WARSHIPS

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NAVAL ENGINEERS JOURNAL 1989年第3期101卷 127-137页

作者： ZHOU, HH SILVERMAN, BG SIMKOL, J Dr. H. Harry Zhou:is a research professor at the Institute for Artificial Intelligence of The George Washington University. Dr. Zhou received his master's degree and Ph.D. in computer science from Vanderbilt University in 1984 and 1987 respectively. He did his dissertation in the fields of artificial intelligence analogical reasoning and machine learning. His research interests include: classifier systems genetic algorithms learning by analogy inductive learning adaptive expert systems automated knowledge acquisition and adaption. He is also interested in data base design programming languages mental modeling and software engineering. Dr. Barry G. Silverman:is director of the Institute for Artificial Intelligence and a professor at the Engineering Administration Department of The George Washington University. He is also president of IntelliTek Inc. an AI consulting firm. Dr. Silverman received the B.S.E. M.S.E. and Ph.D. degrees from the University of Pennsylvania. He has been a principal developer of four generic AI products as well as eight AI applications. Since 1979 he has written over 100 papers and reports on these AI efforts. Joel Simkol:is a research scientist currently engaged in designing expert system architectures to support electronic warfare vulnerability analyses threat assessments shipboard topside antenna arrangements and C3countermeasures employment. Mr. Simkol's work in applying expert systems technology to electromagnetic interference and to spectrum management has generated increased interest and participation from all branches of government agencies.

This paper describes a modularized AI system being built to help improve electromagnetic compatibility (EMC) among shipboard topside equipment and their associated systems. CLEER is intended to act as an easy to use integrator of existing expert knowledge and pre-existing data bases and large scale analytical models. Due to these interfaces; to the need for portability of the software; and to artificial intelligence related design requirements (such as the need for spatial reasoning, expert data base management, model base management, track-based reasoning, and analogical (similar ship) reasoning) it was realized that traditional expert system shells would be inappropriate, although relatively off-the-shelf AI technology could be incorporated. In the same vein, the rapid prototyping approach to expert system design and knowledge engineering was not pursued in favor of a rigorous systems engineering methodology. The critical design decisions affecting CLEER's development are summarized in this paper along with lessons learned to date all in terms of “how,” “why,” and “when” specific features are being developed.

关键词： Artificial Intelligence

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Interactivity, Game Creation, design, learning, and Innovation 1

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丛书名： Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

1000年

作者： Anthony L. Brooks Eva Brooks

ISBN: (数字)9783319558349

ISBN: (纸本)9783319558332

This book constitutes the proceedings of two conferences: The 5th International Conference on ArtsIT, Interactivity and Game Creation (ArtsIT 2016) and the First International Conference on design, learning and Innovation (DLI 2016). ArtsIT is reflecting trends in the expanding field of digital art, interactive art, and how game creation is considered an art form. The decision was made to augment the title of ArtsIT to be in future known as “The International Conference on Interactivity, Game Creation, design, learning, and Innovation”.;The event was hosted in Esbjerg, Denmark in May 2016 and attracted 76 submissions from which 34 full papers were selected for publication in this book. The papers represent a forum for the dissemination of cutting-edge research results in the area of arts, design and technology.

关键词： Computer Appl. in Arts and Humanities Media design User Interfaces and Human Computer Interaction Multimedia Information Systems Arts Artificial Intelligence

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learning, design, and technology 1

Learning, Design, and Technology

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1000年

作者： J. Michael Spector Marcus D. Childress Barbara B. Lockee

ISBN: (数字)9783319174617

ISBN: (纸本)9783319174600

The multiple, related fields encompassed by this Major Reference Work represent a convergence of issues and topics germane to the rapidly changing segments of knowledge and practice in educational communications and technology at all levels and around the globe. There is no other comparable work that is designed not only to gather vital, current, and evolving information and understandings in these knowledge segments but also to be updated on a continuing basis in order to keep pace with the rapid changes taking place in the relevant fields. The Handbook is composed of substantive (5,000 to 15,000 words), peer-reviewed entries that examine and explicate seminal facets of learning theory, research, and practice. It provides a broad range of relevant topics, including significant developments as well as innovative uses of technology that promote learning, performance, and instruction. This work is aimed at researchers, designers, developers, instructors, and other professional practitioners.

关键词： Educational technology

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Interactivity, Game Creation, design, learning, and Innovation 1

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丛书名： Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

1000年

作者： Anthony Brooks Eva Irene Brooks

ISBN: (数字)9783030532949

ISBN: (纸本)9783030532932

This book constitutes the refereed post-conference proceedings of two conferences: The 8;EAI International Conference on ArtsIT, Interactivity and Game Creation (ArtsIT 2019), and the 4th EAI International Conference on design, learning, and Innovation (DLI 2019). Both conferences were hosed in Aalborg, Denmark, and took place November 6-8, 2019.

关键词： Computer Systems Organization and Communication Networks Computing Milieux Computer Applications Data Structures and Information Theory

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