检索结果-内蒙古大学图书馆

Annual Conference of Industrial Electronics Society

作者： Keigo Watanabe Guang Lei Liu Maki K. Habib Kiyotaka Izumi Department of Advanced Systems Control Engineering Saga University Saga Japan

Two types of neural oscillators with the degree of adaptation, Matsuoka oscillator and McMillen oscillator, are compared each other, and their differences in the system structure are discussed. The Hopf bifurcation analysis is revisited in detail to a half-center oscillator in the latter oscillator. Simulation results are compared each other when the both oscillators are applied as central pattern generator (CPG) controllers for controlling a bipedal robot with five links and six joints.

关键词： Legged locomotion Oscillators Neurons Robots Equations Bifurcation Centralized control Page description languages Fatigue Industrial Electronics Society

来源：评论

学校读者我要写书评

暂无评论

A solution to the SLAM problem based on fuzzy Kalman filter using pseudolinear measurement model

A solution to the SLAM problem based on fuzzy Kalman filter ...

引用

SICE Annual Conference

作者： Chandima Dedduwa Pathiranage Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Saga University Saga Japan

This paper proposes a fuzzy logic based solution to the SLAM problem. Less error prone vehicle process model is proposed to improve the accuracy and the faster convergence of state estimation. Evolution of vehicle motion is modeled using dead-reckoned odometry measurements as control inputs. Nonlinear process model and observation model are formulated as pseudolinear models and approximated by local linear models according to the T-S fuzzy model. Linear Kalman filter equations are then used to estimate the state of the approximated local linear models. Combination of these local state estimates results in global state estimate. The above system is implemented and simulated with Matlab to claim that the proposed method yet finds a better solution to the SLAM problem. The proposed method shows a way to use nonlinear systems in Kalman filter estimator without using Jacobian matrices. It is found that a fuzzy logic based approach with the pseudolinear models provides a demanding solution to state estimation.

关键词： Simultaneous localization and mapping Mathematical model State estimation Fuzzy logic Vehicles Linear approximation Motion measurement Motion control Nonlinear equations Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

CAD/CAM-based position/force control for a ball-end abrasive tool and its application to an industrial robot

CAD/CAM-based position/force control for a ball-end abrasive...

引用

4th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2007

作者： Nagata, Fusaomi Hase, Tetsuo Haga, Zenku Omoto, Masaaki Watanabe, Keigo Department of Electronics and Computer Science Tokyo University of Science Yamaguchi Japan Research and Development Center Meiho Co. Ltd. Japan Department of Advanced Systems Control Engineering Saga University Japan

control of robotic mold polishing is considered in this paper. CAD/CAM-based position/force controller that simultaneously performs stable force control and exact pick feed control along curved surface is presented for industrial robots. The force feedback loop controls the polishing force consisting of the contact force and kinetic friction force. During mold polishing, the position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that the abrasive tool doesn't deviate from the desired trajectory and keeps a constant pick feed. When a mold polishing robot with the controller runs, cutter location (CL) data with normal vectors are used for not only a desired trajectory of tool translational motion but also desired contact directions given to a mold. The CL data allow the robot to realize a complete non-taught operation of the position and contact direction. In this paper, a simple experiment is conducted by using an industrial robot with a ball-end abrasive tool in order to evaluate the effectiveness of the proposed method. The target workpiece is an aluminum PET bottle blow mold after NC machining, whose curved surface has small cusp marks with about 0.3 mm height every pick feed. The results show that the proposed mold polishing robot with the CAD/CAM-based position/force controller can uniformly remove the cusp marks and further achieve mirror-like surface quality without undesirable over-polishing.

关键词： Position control

来源：评论

学校读者我要写书评

暂无评论

Behavior generation through interaction in an emotionally intelligent robot system

Behavior generation through interaction in an emotionally in...

引用

International Conference on Industrial and Information systems, ICIIS

作者： Sajal Chandra Banik Chandima Dedduwa Pathiranage Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

This paper deals with the implementation of emotions to generate intelligent behavior among the cooperative and job distributed mobile robots performing a specified task and to develop an easier form of communication. A human emotion model is adapted to multirobot system to achieve their well organized tasks. With the emotional capability, each robot can distinguish the changed environment and can understand colleague robotpsilas state: i.e., it can adapt to and react with changed world. The behavior of a robot is derived from the dominating emotion and emotional interaction in an intelligent manner. Emotional interaction is happened among the robots and a robot is biased by the emotional state of the colleague robot in performing task. Here general emotional interaction rules are used for better understanding to read the colleaguepsilas state, for faster communication and better performance eliminating dead time. The characteristics of behavior obtained through simulation are analyzed. A stochastic model based on Markov theory is developed to model the emotional state of each robot.

关键词： Intelligent robots control systems Multirobot systems Communication system traffic control Robot control Communication system control Centralized control Human robot interaction Robot sensing systems Decision making

来源：评论

学校读者我要写书评

暂无评论

EMG controlled Robotic Elbow Prosthesis as an Inner Skeleton Power Assist System

EMG Controlled Robotic Elbow Prosthesis as an Inner Skeleton...

引用

International Conference on Mechatronics (ICM)

作者： Subrata Kumar Kundu Kazuo Kiguchi Department of Advanced Systems Control Engineering Saga University Saga Saga Japan

This paper presents an actuated artificial elbow prosthesis (robotic elbow prosthesis) for human forearm motion assist that integrates a human and a robot into one system and performs as a joint assistive device for the elderly or physically disabled persons. An example of implantable joint actuator with angular position sensor as an actuated artificial joint is proposed here. The proposed elbow prosthesis is supposed to be implanted inside of the human arm by elbow arthroplasty and acts as an inner skeleton power assist robot. We have designed and developed a prototype of implantable 2 DOT inner skeleton robot (i.e., robotic elbow prosthesis) to assist the elbow flexion-extension motion and forearm supination-pronation motion. The robotic prosthesis is controlled based on the activation patterns of the muscles electromyogram (EMG) signals by applying a fuzzy-neuro control method. The EMG controlled elbow prosthesis can be expected to be an artificial joint for the next generation. The effectiveness of the proposed system has been evaluated by experiment.

关键词： Electromyography Robot control control systems Elbow Prosthetics Skeleton Robot sensing systems Joints Humans Senior citizens

来源：评论

学校读者我要写书评

暂无评论

CPG Based control for Generating Stable Bipedal Trajectories Under External Perturbation

CPG Based Control for Generating Stable Bipedal Trajectories...

引用

SICE Annual Conference

作者： Guang Lei Liu Maki K. Habib Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

ISBN: (纸本)4907764278

This paper presents a system of central pattern generators (CPGs) made of a network of mutually coupled Matsuoka nonlinear neural oscillators. The CPG based controller is used to generate human like rhythmic motion for biped robots. The new design has been investigated through interaction between the dynamics of the coupled CPGs and the dynamics of a five-link musculoskeletal robot model with six DOFs. The scaled outputs of the mutually inhibited oscillators are utilized as torques to actuate the relevant joints of the robot during walking. The effectiveness of the proposed approach is examined through simulations and the results are compared to those of Taga's CPG model, where better and efficient generation of stable rhythmic walking trajectories is shown under external perturbation to disturbances.

关键词： Oscillators Legged locomotion Neurons Mathematical model Differential equations Nonlinear dynamical systems Robustness Robot control Couplings Biological system modeling

来源：评论

学校读者我要写书评

暂无评论

Energy region design using projection for three-link underactuated manipulators

Energy region design using projection for three-link underac...

引用

SICE Annual Conference

作者： Keisuke Ichida Kiyotaka Izumi Keigo Watanabe Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.

关键词： Manipulator dynamics Actuators control systems Torque control Fuzzy control Fuzzy systems Nonlinear control systems control engineering Design engineering Power engineering and energy

来源：评论

学校读者我要写书评

暂无评论

Task Allocation with a Cooperative Plan for an Emotionally Intelligent System of Multi-Robots

Task Allocation with a Cooperative Plan for an Emotionally I...

引用

SICE Annual Conference

作者： Sajal Chandra Banik Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

This paper deals with an emotion-based approach to the task allocation of multi-robots, in which one robot requests the assistance of another robot in order to complete a task. A stochastic model of emotion is adapted to achieve a method for well organization of team work. With the emotional capability, each robot can distinguish the changed environment and can react with it with adaptability and also can understand colleague robot's state. The proposed computational architecture to model emotion is based on Markov modeling theory. In our approach, emotional state plays a role in the task allocation among the robots of a team in a productive and efficient manner.

关键词： Intelligent systems Multirobot systems Intelligent robots Humans Robustness Fault tolerance Orbital robotics control engineering Stochastic processes Computer architecture

来源：评论

学校读者我要写书评

暂无评论

Minimization of expected cycle time in manufacturing cells with uncontrollable behavior

Minimization of expected cycle time in manufacturing cells w...

引用

3rd IEEE International Conference on Automation Science and engineering, IEEE CASE 2007

作者： Kobetski, Avenir Richardsson, Johan Åkesson, Knut Fabian, Martin Chalmers Automation Department of Signals and Systems Chalmers University of Technology SE-412 96 Göteborg Sweden Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation SE-405 31 Göteborg Sweden

ISBN: (纸本)1424411548

Finding optimal working sequences for flexible manufacturing systems (FMS) is a challenging task, especially if uncontrollable events, such as machine breakdowns, can occur in these systems. In this paper, we continue our previous work within the area of FMS scheduling by extending our methods to uncontrollable systems. For this sake, the ideas of probabilistic finite automata are combined with the modeling formalism of extended finite automata. Next, an A*-based scheduling algorithm, minimizing the expectation value of the FMS cycle time is designed. © 2007 IEEE.

关键词： Flexible manufacturing systems

来源：评论

学校读者我要写书评

暂无评论

The Mimo Predictive Pid controller Design

引用

Asian Journal of control 2008年第4期4卷

作者： M.H. Moradi M.R. Katebi M.A. Johnson Department of Electronic and Electrical Engineering University of Strath-clyde Glasgow GI 1QE UK. Dr. Moradi is a Lecturer in the Department of Electronic and Electrical Engineering University of Bu-Ali Sina in Iran. He obtained the BSc and MSc in 1991 and 1993 from the Sharif University of Technology and Tarbiat Modarres University respectively. Dr. Moradi joined the Bu-Ali Sina University in 1993. In 2002 he obtained his PhD degree from the University of Strath-clyde Glasgow Scotland. His theoretical research interests include predictive PID control advanced classical control generalised predictive control system identification and fault monitoring robust control design computer networks and more recently control through networks. His industrial interests are in the areas of large-scale systems especially power systems and power plant modelling and control supervisory control and process control. Dr. Moradi has published a number of Journal and Conference papers. Dr. Katebi is a senior lecturer in the Department of Electronic and Electrical Engineering University of Strathclyde. His theoretical research interests are currently focused on Non-linear Control and Filtering for Complex Systems Autonomous Control Design System integration and Fault monitoring and Reconfiguration Plant Monitoring through the Internet Discrete Event Simulation Process Optimisation and Robust Control Design. The industrial research interests are in the area of Hot and Rolling for Steel and Aluminium Power Plant Modelling and Control Marine Control Systems Process Control and Wastewater Treatment Control. Dr Katebi is the author/co-author of four books and more than 150 papers and industrial reports. Professor Johnson's academic education began at Coventry University (1969) and continued under the supervision of Professor Greyham Bryant in the field of Control Systems at Imperial College London. He obtained the DIC MSc and PhD from Imperial College leaving for industry in 1978. Subsequent experience was in the

This paper is concerned with the design of Multi-Inputs and Multi-Outputs (MIMO) predictive PID controllers, which have similar performance to that obtainable from model-based predictive controllers. A new PID control structure is defined which incorporates the prediction of future outputs and uses future set point. A method is proposed to calculate the optimal values of the PID gains from generalised predictive control results. A decentralized version of the predictive PID controllers is presented and the stability of the closed loop system is studied. Simulation studies demonstrate the superior performance of the proposed controller compared with a conventional PID controller. The results are also compared with generalised predictive control solutions.

关键词： PID control design predictive PID MIMO controller optimisation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：