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Predictive Visual Feedback control with Eye-in-Hand System via Stabilizing Receding Horizon Approach

Predictive Visual Feedback Control with Eye-in-Hand System v...

引用

IEEE Conference on Decision and control

作者： Toshiyuki Murao Teruki Yamada Masayuki Fujita Master Program of Information Systems Architecture Advanced Institute of Industrial Technology Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)1424401704;9781424401703

This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with eye-in-hand configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance

关键词： Feedback control control systems Stability Robot sensing systems Nonlinear dynamical systems Nonlinear control systems Cost function Robot vision systems Manipulator dynamics Visual servoing

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An Aeration control for advanced Wastewater Treatment Processes (SICE-ICCAS 2006)

An Aeration Control for Advanced Wastewater Treatment Proces...

引用

SICE Annual Conference

作者： Fukiko Kawail Chikashi Nakazawa Yoshikazu Fukuyama Takashi Ueno Information & Control Technology Department Fuji Electric Advanced Technology Company Limited Tokyo Japan Department of Metropolitan Engineering Fuji Electric Systems Company Limited Tokyo Japan

This paper proposes an aeration control method on advanced wastewater treatment processes for improving stability of a control system. A dissolved oxygen meter and ASM1 (Activated Sludge Model No.l) suggested by IWA (International Water Association) are utilized in the method. The method is compare with an aeration control method with an ammonium nitrogen meter. The simulation results show the effectiveness of the proposed method

关键词： Wastewater treatment Nitrogen Biological system modeling control systems Mathematical model Three-term control systems engineering and theory Stability Maintenance engineering Power engineering and energy

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Robust Super-Exponential Methods for Blind Equalization of MIMO-IIR systems

Robust Super-Exponential Methods for Blind Equalization of M...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： K. Kohno Y. Inouye M. Kawamoto Department of Electronic and Control Systems Engineering Shimane University Shimane Japan Information Technology Research Institute National Institute of Advanced Industrial Science and Technology Ibaraki Japan

The so called "super-exponential" methods (SEMs) are attractive methods for solving multichannel blind deconvolution problem. The conventional SEMs, however, have such a drawback that they are very sensitive to Gaussian noise. To overcome this drawback, the robust super-exponential method (RSEM) were proposed for single-input single-output infinite impulse response (SISO-IIR) channels and for multi-input multi-output (MIMO) static channels (instantaneous mixtures). While the conventional SEMs use the second- and higher-order cumulants of observations, the RSEM uses only the higher-order cumulants of observations. Since higher-order cumulants are insensitive to Gaussian noise, the RSEM is robust to Gaussian noise. We proposed an RSEM extended to the case of MIMO-IIR channels (convolutive mixtures). To show the validity of the proposed RSEM, some simulation results are presented

关键词： Blind equalizers Gaussian noise Noise robustness MIMO Deconvolution Independent component analysis Signal processing Industrial electronics Centralized control control systems

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Online Detection and Classification of Disasters by a Multiple-input/single-output Sensor for a Home Security System

Online Detection and Classification of Disasters by a Multip...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： T. Ishigaki T. Higuchi K. Watanabe Department of Statistical Science The Graduate University for Advanced Studies (SOKENDAI) Tokyo Japan System Control Engineering Department Hoxi University Tokyo Japan Prediction and Knowledge Discovery Research Center Research Organization of Information and Systems Tokyo Japan System Control Engineering Department Hosei University Tokyo Japan

Conventional sensors have been designed to minimize noise effects. Any sensor that is designed to detect a certain physical variable is influenced to a certain degree by other physical variables. This suggests that any sensor is potentially tap able of detecting multiple physical variables. In the present study, we consider sensing devices that are easily influenced by several physical variables and make full use of their multi-sensing characteristics through statistical signal processing and machine learning techniques with a wide variety of prior information. The proposed sensor design approach is completely different from the conventional approach with respect to system design and has advantages in terms of cost and system simplification compared to existing approaches. This new idea can be realized by developing a novel multiple-input/single-output sensor that can detect various variables such as pressure, acceleration, temperature and light emission by a single device. The sensor is applied to monitor the symptoms of tire, earthquake and break-in for the purpose of home security. The proposed security system consists of the following three steps: (1) detection of disaster by a probabilistic outlier detection procedure using an auto-regressive model, (2) disaster feature extraction by Kalman filter on a state space model, and (3) disaster classification by multiclass support vector machine.

关键词： Sensor systems Security Sensor phenomena and characterization Temperature sensors Signal processing Machine learning Costs Acceleration Monitoring Tires

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Robust Super-Exponential Methods for Blind Deconvolution of MIMO-IIR systems with Gaussian Noise

Robust Super-Exponential Methods for Blind Deconvolution of ...

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Proceedings of 2006 IEEE International Symposium on Circuits and systems,Volume 7

作者： Kiyotaka Kohno Yujiro Inouye Mitsuru Kawamoto Department of Electronic and Control Systems Engineering Shimane University Matsue Shimane Japan Information Technology Research Institute National Institute of Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

The so called ''super-exponential" methods (SEMs) are attractive methods for salving multichannel blind deconvolution problem. The conventional SEMs, however, have such a drawback that they are very sensitive to Gaussian noise. To overcome this drawback, the robust super-exponential method (RSEM) were proposed for single-input single-output infinite impulse response (SISO-IIR) channels and for multi-input multi-output (MIMO) static channels (instantaneous mixtures). While the conventional SEMs use the second- and higher-order cumulants of observations, the RSEM nses only the higher-order cumulants of observations. Since higher-order cumulants are insensitive to Gaussian noise, the RSEM is robust to Gaussian noise, We proposed an RSEM extended to the case of MIMO-IIR channels (convolutive mixtures). To show the validity of the proposed RSEM, some simulation results are presented.

关键词： Noise robustness Deconvolution Gaussian noise MIMO Independent component analysis Signal processing Robust control Industrial electronics Centralized control control systems

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Experiment and Simulation Studies of Current Distribution in Paralleled Thyristors

Experiment and Simulation Studies of Current Distribution in...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： J. Wu Z. Wang P. R. Palmer A. T. Bryant D. Remy E. Santi J. Hudgins Department of Engineering Centre for Advanced Photonics and Electronics University of Cambridge Cambridge UK Department of Engineering University of Warwick Coventry UK Alstom Power Electrical and Control Systems 3 avenue des Trois Chenes Belfort Cedex France Electrical and Computer Engineering University of South Carolina Swearingen Engineering Center Columbia SC USA Department of Electrical Engineering University of Nebraska-Lincoln Lincoln NE USA

This paper presents the problems regarding to the behaviour of current distribution among paralleled thyristors. They are addressed with the experiment of high current transformer-rectifiers. The system is further implemented in the Power System Blockset, now SimPowerSystem, in MAT-LAB/Simulink. The Fourier-series-based model is employed to study both the system performance and the device internal behaviour. The experiment and simulation reported in this paper offer valuable insight into the parallel operation of thyristors

关键词： Current distribution Thyristors Voltage Power system modeling Power engineering and energy MATLAB Circuits Mathematical model Temperature Power system simulation

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Eigenvector algorithms using reference signals for blind source separation of instantaneous mixtures

Eigenvector algorithms using reference signals for blind sou...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： M. Kawamoto K. Kohno Y. Inouye IBMC Research Center RIKEN Nagoya Japan National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Department of Electronic and Control Systems Engineering Shimane University Matsue Shimane Japan

This paper presents an eigenvector algorithm (EVA) derived from a criterion using reference signals, in which the EVA is applied to the blind source separation (BSS) of instantaneous mixtures. The proposed EVA works such that source signals are simultaneously separated from their mixtures. This is a new result, which has not been clarified by the conventional researches. Moreover, by modifying the criterion, the corresponding EVA which is robust to Gaussian noise is derived. Simulation results show the validity of the proposed EVAs

关键词： Blind source separation Source separation Filters MIMO Gaussian noise Electrical equipment industry Electronics industry Industrial control Industrial electronics Centralized control

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Estimation of current density distributions from EEG/MEG data by maximizing sparseness of spatial difference

Estimation of current density distributions from EEG/MEG dat...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： W. Nakamura S. Koyama S. Kuriki Y. Inouye Laboratory for advanced brain signal processing Brain Science Institute RIKEN Japan Department of electronic and control systems engineering Interdisciplinary faculty of science and engineering Shimane university Japan Lab of electromagnetic sensing Research Institute for electronic science Hokkaido university Japan

Separation of EEG (electroencephalography) or MEG (magnetoencephalography) data into activations of small dipoles or current density distribution is an ill-posed problem in which the number of parameters to estimate is larger than the dimension of the data. Several constraints have been proposed and used to avoid this problem, such as minimization of the L1-norm of the current distribution or minimization of Laplacian of the distribution. In this paper, we propose another constraint that the current density distribution changes at only a small number of areas and these changes can be large. By numerical experiments, we show that the proposed method estimates current distribution well from both data generated by strongly localized current distributions and data generated by currents broadly distributed

关键词： Current density Neurons Electroencephalography Current distribution Data engineering Brain modeling Data analysis control systems systems engineering and theory Signal processing

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Teaching a tele-robot using natural language commands

Teaching a tele-robot using natural language commands

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2005 International Symposium on Micro-NanoMechatronics and Human Science, Eighth Symposium on Micro- and Nano-Mechatronics for Information-Based Society - The 21st Century COE Program

作者： Jayawardena, Chandimal Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

ISBN: (纸本)0780394828

For Internet-based tele operation systems, user-friendly natural interfaces are advantageous because those systems are intended to be used by non-experts. In developing user friendly interfaces, natural language communication is mandatory. This paper presents a system in which a sub-set of natural language is used to command a tele-robot manipulator doing an object sorting task. The paper discusses about referring to objects with natural language commands such as "pick the small red cube". This is achieved by learning individual lexical symbols that refer to colors, shapes, and sizes independently, and then inferring the meaning of a combination of them.

关键词： Robotics

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Neural network learning from hint for the inverse kinematics problem of redundant arm subject to joint limits

Neural network learning from hint for the inverse kinematics...

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作者： Assal, Samy F.M. Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

ISBN: (纸本)0780389123

A novel online inverse kinematics solution of redundant manipulator to avoid joint limits is presented. A Widrow-Hoff neural network (NN) with a learning algorithm derived by applying Lyapunov approach is introduced for this problem. Since the inverse kinematics has infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector to guide the output of the NN within the self-motion. This FNN is designed based on cooperatively controlling each joint angle of the manipulator. The joint velocity limits as well as the joint limits are incorporated into this method. Experiments are conducted for the PA-10 redundant arm to demonstrate the efficacy of the proposed control system. A comparative study is made with the gradient projection method. © 2005 IEEE.

关键词： Redundant manipulators

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