检索结果-内蒙古大学图书馆

2008 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS

作者： Ferreira, João P. Crisóstomo, Manuel Coimbra, A. Paulo Institute of Systems and Robotics Dept. of Electrical and Computer Engineering Univ. of Coimbra Portugal Dept. of Electrical Engineering Superior Institute of Engineering of Coimbra Coimbra Portugal

ISBN: (纸本)9781424420582

This paper describes the control of an autonomous biped robot capable to be subjected to external pushing forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robot's body is obtained as the output. The ZMP is obtained be acquiring use of the force distribution on four force sensors placed under each robot's foot. The gait implemented on our biped is similar to a human gait. A human gait was acquired and adapted to the robot size. Some experiments were carried out and the results show that the used gait combined with the TSK neuro fuzzy net is appropriate to be used in the control of a biped robot, with and without an applied external force.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Geophysical Navigation of Autonomous Underwater Vehicles Using Geomagnetic Information *

引用

IFAC Proceedings Volumes 2008年第1期41卷 178-183页

作者： Francisco C. Teixeira António M. Pascoal Institute for Systems and Robotics and Dept. Electrical Engineering Instituto Superior Técnico. Lisbon Portugal

This paper addresses the general problem of Autonomous Underwater Vehicle navigation by exploiting the availability of terrain and geophysics-related data. Geophysical navigation algorithms are derived to estimate the position and velocity of an AUV in the presence of unknown ocean currents and sensor biases. The current implementation merges acoustic and magnetic measurements with dead-reckoning data. One of the main contributions of the paper is the utilization of maps of invariant gradients that can be calculated from prior maps of the geomagnetic field. The results obtained through computer simulations with real data show the effectiveness of the GN approach proposed.

关键词： Geophysical navigation terrain navigation autonoumous underwater vehicles geopotential fields geomagnetism

来源：评论

学校读者我要写书评

暂无评论

Flip-chip integrated soi-cmos-mems fabrication technology

Flip-chip integrated soi-cmos-mems fabrication technology

引用

2008 Solid-State Sensors, Actuators, and Microsystems Workshop

作者： Gilgunn, P.J. Fedder, G.K. Electrical and Computer Engineering Dept. Carnegie Mellon University PittsburghPA United States The Institute for Complex Engineered Systems Carnegie Mellon University PittsburghPA United States The Robotics Institute Carnegie Mellon University PittsburghPA United States

ISBN: (纸本)0964002477

A fully-dry, flip-chip fabrication technology was developed for the integration of high fill factor, silicon-on-insulator (SOI) structures and CMOS-MEMS actuators. An SOI mirror array with a fill factor of 95% and radius of curvature >1.3 m was fabricated on CMOS-MEMS electrothermal actuators using this technology. The unloaded actuators achieved an optical scan range of >92º. Following flip-chip bonding with high temperature epoxy, the structures were released using deep reactive ion etching (DRIE). Aspect ratio dependent etching (ARDE) modulated local structural silicon thickness on the CMOS-MEMS actuators and reduced notching and microtrenching on the posts of the SOI mirrors. © 2008 TRF.

关键词： Aspect ratio

来源：评论

学校读者我要写书评

暂无评论

Geophysical navigation of autonomous underwater vehicles

Geophysical navigation of autonomous underwater vehicles

引用

作者： Teixeira, Francisco Curado Pascoal, António Manuel Institute for Systems and Robotics Dept. Electrical Engineering Instituto Superior Técnico Lisbon Portugal

ISBN: (纸本)9783902661623

The paper addresses the problem of Geophysical Navigation (GN) of Autonomous Underwater Vehicles (AUVs). The objective is to use bathymetric and geomagnetic information to estimate the position and velocity of an AUV in the presence of unknown ocean currents. The navigation estimator derived mechanizes a sequential Bayesian estimation strategy consisting of a novel particle filter algorithm that we name Smooth Kernel Particle Filter. The estimator relies essentially on the AUV kinematics. It integrates measurements derived from the terrain with dead-reckoning based on Doppler and attitude sensors. Central to the strategy derived is the concept of maps of invariant gradients of the geomagnetic field as an efficient form of representing geomagnetic terrain information. The results obtained through computer simulations show the effectiveness of the GN approach proposed. Copyright © 2007 IFAC.

关键词： Autonomous underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

GEOPHYSICAL NAVIGATION OF AUTONOMOUS UNDERWATER VEHICLES

引用

IFAC Proceedings Volumes 2007年第17期40卷 117-122页

作者： Francisco Curado Teixeira António Manuel Pascoal Institute for Systems and Robotics and Dept. Electrical Engineering Instituto Superior Técnico. Lisbon Portugal

关键词： Geophysical navigation particle filters autonomous underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

NONLINEAR NETWORK STRUCTURES FOR FEEDBACK CONTROL

引用

Asian Journal of Control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

来源：评论

学校读者我要写书评

暂无评论

LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR CONTROL

引用

Asian Journal of Control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

来源：评论

学校读者我要写书评

暂无评论

Fractional order fourier spectra in robotic manipulators with vibrations

Fractional order fourier spectra in robotic manipulators wit...

引用

作者： Lima, Miguel F. M. Tenreiro Machado, J.A. Crisóstomo, Manuel Dept. of Electrical Engineering School of Technology Polytechnic Institute of Viseu Portugal Dept. of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto Portugal Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9783902661128

This paper presents a fractional system perspective in the study of signals captured during impacts and vibrations of mechanical manipulators. In order to acquire and study the signals an experimental setup was developed. The system acquires data from the sensors, in real time, and, in a second phase, processes it through an analysis package. The experimental study provides useful information that can assist in the design of a control system to be used in eliminating or reducing the effect of vibrations. Copyright © 2006 IFAC.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Windowed fourier transform of experimental robotic signals with fractional behavior

Windowed fourier transform of experimental robotic signals w...

引用

2006 IEEE International Conference on Computational Cybernetics, ICCC

作者： Lima, Miguel F. M. Tenreiro Machado, J.A. Crisóstomo, Manuel Dept. of Electrical Engineering Superior School of Technology Polytechnic Institute of Viseu 3504-510 Viseu Portugal Dept. of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal Institute of Systems and Robotics University of Coimbra Polo II 3030-290 Coimbra Portugal

ISBN: (纸本)1424400716

This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. The signals are treated through signal processing tools such as the fast Fourier transform and the windowed Fourier transform. The Fourier spectrum of several signals presents a non integer behavior. The experimental study provides useful information that can assist in the design of a control system to deal with the unwanted effects of vibrations.

关键词： Fast Fourier transforms

来源：评论

学校读者我要写书评

暂无评论

FRACTIONAL ORDER FOURIER SPECTRA IN ROBOTIC MANIPULATORS WITH VIBRATIONS

引用

IFAC Proceedings Volumes 2006年第11期39卷 361-366页

作者： Miguel F.M. Lima J.A. Tenreiro Machado Manuel Crisóstomo Dept. of Electrical Engineering School of Technology Polytechnic Institute of Viseu Portugal Dept. of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto Portugal Institute of Systems and Robotics University of Coimbra Portugal

关键词： Vibrations Impacts Acquisition System robotics Sensors Real Time Fractional Order systems

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：