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Operational space robot control for motion performance and safe interaction under Unintentional Contacts

Operational space robot control for motion performance and s...

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European Control Conference (ECC)

作者： Yiannis Karayiannidis Leonidas Droukas Zoe Doulgeri Dept. of Signals and Systems Chalmers University of Technology Gothenburg Sweden Center for Autonomous Systems Royal Institute of Technology (KTH) Stockholm Sweden Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece Academic Research Associate at Center for Research and Technology Hellas (CERTH) Thessaloniki Greece

A control law achieving motion performance of quality and compliant reaction to unintended contacts for robot manipulators is proposed in this work. It achieves prescribed performance evolution of the position error under disturbance forces up to a tunable level of magnitude. Beyond this level, it deviates from the desired trajectory complying to what is now interpreted as unintentional contact force, thus achieving enhanced safety by decreasing interaction forces. The controller is a passivity model based controller utilizing an artificial potential that induces vanishing vector fields. Simulation results with a three degrees of freedom (DOF) robot under the control of the proposed scheme, verify theoretical findings and illustrate motion performance and compliance under an external force of short duration in comparison with a switched impedance scheme.

关键词： Robots Collision avoidance Switches Force Trajectory Safety

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Modeling method of execution timing of operation to analyze the reaction time from judgment to execution of operation

Modeling method of execution timing of operation to analyze ...

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Annual Conference of Industrial Electronics Society

作者： Kohjiro Hashimoto Shinji Doki Kae Doki Dept. of Control and Information Systems Engineering National Institute of Technology Kumamoto College 2659–2 Suya Koshi Kumamoto Dept. of Electrical Engineering and Computer Science Nagoya University C3-1(631) Furo-cho Chikusa-ku Nagoya Aichi Dept. of Electrical Engineering Aichi Institute of Technology Toyota Aichi

In this study, we aim to evaluate a driver skill based on the driver behavior model generated by the operation and environment data under driving vehicle. When skill of driver is reduced, the operator behavior is delayed, it takes along time of operation, and execution timing of operation is no reproducibility. These mean that reducing skill of driver affects time information of the driver operation. Therefore, we study on the model structure incorporated time information expresses the execution timing of driver's operation to evaluate driver's skill. In particular, we propose a new model structure incorporated timing probabilistic distribution expresses the time until the execution of next operation. Moreover, we propose a modeling method of operator behavior according to proposed model structure. It is considered that the reaction time from the decision to execution of operation and ambiguity of the decision can be read from the timing probabilistic distribution. In this paper, the above usefulness is examined through some experimental results. Moreover, the applicability of the driving skill evaluation based on the proposed operation model is examined.

关键词： Computational modeling Hidden Markov models Time series analysis

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Distributed power mismatch estimation in smart grid

Distributed power mismatch estimation in smart grid

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International Conference on Emerging Technologies, ICET

作者： Shah Faisal Salman Ahmed Salim ur Rehman Dept. of Electrical Engineering Sarhad University of Science and Info. Tech Peshawar Pakistan Dept. of Computer Systems Engineering University of Engineering and Technology Peshawar Pakistan Sarhad University of Science and Info. Tech. Peshawar Peshawar Pakistan

ISBN: (纸本)9781509035533

Computation of power mismatch between power demand and generation is one of the meaningful issue in smart grid. Power mismatch occurs due to various factors but some of the important factors are change in load, transmission losses and generator dynamics. Traditionally, power mismatch is computed in a central control room, which has its own advantages and disadvantages. This paper proposes an algorithm to estimate the power mismatch in smart grid in a fully distributed fashion. The proposed algorithm overcomes the limitations which can occur in a centralized system. In the proposed algorithm, each generation unit and consumer estimates the full power generation, the consumers entire load and the power mismatch in the smart grid. Simulation results prove that the suggested algorithm is efficient.

关键词： Smart grids Estimation Algorithm design and analysis Power generation Power demand Generators Mathematical model

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Adaptive optimization for active queue management supporting TCP flows

Adaptive optimization for active queue management supporting...

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American Control Conference

作者： Simone Baldi Elias B. Kosmatopoulos Andreas Pitsillides Marios Lestas Petros A. Ioannou Yiming Wan Delft Center of Systems and Control Netherlands Dept. of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Computer Science Department University of Cyprus (UCY) Nicosia Cyprus Department of Electrical Engineering Frederick University Nicosia Cyprus Department of Electrical Engineering University of Southern California Los Angeles USA

ISBN: (纸本)9781467386838

An adaptive decentralized strategy for active queue management of TCP flows over communication networks is presented. The proposed strategy solves locally, at each link, an optimal control problem, minimizing a cost composed of residual capacity and buffer queue size. The solution of the optimal control problem exploits an adaptive optimization algorithm aiming at adaptively minimizing a suitable approximation of the Hamilton-Jacobi-Bellman equation associated with the optimal control problem. Simulations results, obtained by using a fluid flow based model of the communication network and a common network topology, show improvement with respect to the Random Early Detection strategy. Besides, it is shown that the performance of the proposed decentralized solution is comparable with the performance obtained with a centralized strategy, which solves the optimal control problem via a central unit that maintains the flow states of the entire network.

关键词： Protocols Communication networks Optimal control Mathematical model Delays Optimization networks(communications) Optimal control rotation management adaptive optimization protocols Mathematical Model Telecommunications Tritolyl Phosphates tactical command post Network topology delay Residual Volume fluid flow

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Active power control of wind turbines for ancillary services: A comparison of pitch and torque control methodologies

Active power control of wind turbines for ancillary services...

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American Control Conference

作者： Jacob Aho Paul Fleming Lucy Y. Pao Dept. of Electrical Computer and Energy Engineering University of Colorado Boulder USA National Renewable Energy Laboratory's National Wind Technology Center Boulder USA

ISBN: (纸本)9781467386838

As wind energy generation becomes more prevalent in some regions, there is increased demand for wind power plants to provide ancillary services, which are essential for grid reliability. This paper compares two different wind turbine control methodologies to provide active power control (APC) ancillary services, which include derating or curtailing power generation, providing automatic generation control (AGC), and providing primary frequency control (PFC). The torque APC controller provides all power control through the power electronics whereas the pitch APC controller uses the blade pitch actuators as the primary means of power control. These controllers are simulated under various wind conditions with different derating set points and AGC participation levels. The metrics used to compare their performance are the damage equivalent loads (DELs) induced on the structural components and AGC performance metrics, which are used to determine the payments for AGC services by system operators in the United States. The simulation results show that derating the turbine reduces structural loads for both control methods, with the APC pitch control providing larger reductions in DELs, lower AGC performance scores, and higher root-mean-square pitch rates. Providing AGC increases the structural loads when compared to only derating the turbine, but even the AGC DELs are generally lower than those of the baseline control system. The torque APC control methodology also allows for more sustained PFC responses under certain derating conditions.

关键词： Wind turbines Automatic generation control Wind power generation Torque Frequency control Torque control

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SAR image classification based on CRFs with object structure priors

SAR image classification based on CRFs with object structure...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Yongke Ding Weiwei Guo Juanping Zhao Yuanxiang Li Weidong Xiang Zenghui Zhang Wenxian Yu Center for Advanced Sensing Technology Shanghai Jiao Tong University Dept. of Electrical & Computer Engineering University of Michigan University of Michigan Ann Arbor MI US

ISBN: (纸本)9781509033331

Fine-scale classification in form of object extraction or segmentation for high resolution SAR images is a challenging task due to the existing local noises, object deformation and part missing. A novel SAR classification method based on CRFs which combines low-level features, label context and object structure priors is presented in this paper. Local label pattern is proposed in this paper to model the object structures by measuring the local label configuration on the grid layer of SAR images. We build a new CRFs model with label context and object structure priors for image classification. Besides, we adopt Mean Field approximation for efficient inference of our CRFs model. This work intends to implement an efficient classification framework by integrating high-level label context and object priors and apply it to fine-scale object extraction of SAR images. The framework demonstrates good performance in both accuracy and efficiency for object extraction or segmentation of simulated images and high resolution SAR images.

关键词： Context Feature extraction Image classification Context modeling Computational modeling Image color analysis Synthetic aperture radar

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Discharge pattern discrimination for composite insulation system in vacuum interrupter

Discharge pattern discrimination for composite insulation sy...

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International Symposium on Discharges and electrical Insulation in Vacuum

作者： F. Kong H. Kojima T. Kimura M. Tsukima N. Hayakawa Dept. Electrical Engineering and Computer Science Nagoya University Nagoya Japan Advanced Technology R&D Center Mitsubishi Electric Corporation Amagasaki Japan

ISBN: (纸本)9781509003204

For the development of vacuum interrupters (VI) for their higher voltage application in power transmission systems, the investigation and clarification of discharge characteristics in a composite insulation system with a shield (floating) electrode and a solid insulator in vacuum are necessary. The discharge phenomena and patterns at internal insulation failures in VI are complex and various. In this paper, based on the discharge development characteristics, we proposed a novel discrimination method of the discharge pattern in vacuum. In addition, we executed iterative verification tests of the proposed discrimination method by using a model which simulates the insulation system of VI. The results revealed that 50 discharge events with 5 patterns were discriminated in the total 54 tests. Therefore, the discrimination success rate reached 93%, and the effectiveness of the proposed discrimination method for discharge patterns in VI was confirmed.

关键词： Discharges (electric) Cathodes Anodes Electric potential Insulators

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A DUAL-FUNCTION MIMO RADAR-COMMUNICATIONS SYSTEM USING PSK MODULATION

A DUAL-FUNCTION MIMO RADAR-COMMUNICATIONS SYSTEM USING PSK M...

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European Signal Processing Conference

作者： Aboulnasr Hassanien Moeness G. Amin Yimin D. Zhang Braham Himed Center for Advanced Communications Villanova University Dept. Electrical and Computer Engineering Temple University RF Technology Branch Air Force Research Lab (AFRL/RYMD)

ISBN: (纸本)9781509018918

In this paper, we develop a new technique for information embedding into the emission of multiple-input multiple-output (MIMO) radar using dual-functionality platforms. A set of orthogonal waveforms occupying the same band is used to implement the primary MIMO radar operation. The secondary communication function is implemented by embedding one phase-shift keying (PSK) communication symbol in each orthogonal waveform, i.e., the number of embedded communication symbols during each radar pulse equals the number of transmit antennas. We show that the communication operation is transparent to the MIMO radar operation. The communication receiver detects the embedded PSK symbols using standard ratio testing. The achievable data rate is proportional to the pulse repetition frequency, the number of transmit elements, and the size of the PSK constellation. The performance of the proposed technique is investigated in terms of the symbol error rate. Simulations examples demonstrate that data rates in the range of several Mbps can be embedded and reliably detected.

关键词： Data transfer rates Phase shift keying PS-K MIMO radar Radar pulses communications receivers embedding PULSE REPETITION RATE multiple input multiple output systems transmitting antennas

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Real-time 3D tumor tracking based on 2D projections of implanted markers 31

Real-time 3D tumor tracking based on 2D projections of impla...

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31st International Conference on computers and Their Applications, CATA 2016

作者： Mao, Songan Wu, Huanmei Lu, Minghui Cheng, Chee-Wai Dept. of Electrical and Computer Engineering Purdue University IndianapolisIN46202 United States School of Engineering and Technology IUPUI School of Informatics and Computing IUPUI IndianapolisIN46202 United States PerkinElmer Medical Imaging Inc. Santa ClaraCA95054 United States UH Case Medical Center 11100 Euclid Ave ClevelandOH44106 United States

ISBN: (纸本)9781943436026

In cancer radiation therapy, the treatment effectiveness is degraded greatly by the tumor respiratory motion during treatment delivery, induced by patient free breathing and organ motions. Advance treatment delivery techniques with image guidance helps to address the tumor motion challenges. However, real-time tumor localization is still a big concern as the respiratory motion dynamically changes its motion velocities, directions, and amplitude during treatment delivery. In this project, an optimized internal marker 3D localization method was proposed by combining the use of onboard kiovoltage (kV) beam and megavoltage (MV) imaging systems. Two sets of 2D projection images from any pair of kV-kV, kV-MV or MV-MV with different gantry rotation angles will be utilized to derive the 3D tumor positions. This approach transforms the projection 2D images to the original 3D location without requirements of the two imaging systems to be orthogonal. The accuracy of the proposed method was validated by several evaluation metrics. The average 3D Euclidean difference is between 0.21 mm to 0.56 mm, which is within the range of clinical applications. Further study will be carried out to evaluate the system comprehensively and integrate to the existing treatment delivery system for better communications among different systems. It potentially will improve the treatment accuracy and provide better health care to cancer patients. Copyright ISCA.

关键词： Tumors

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Ensemble statistical and subspace clustering model for analysis of autism spectrum disorder phenotypes

Ensemble statistical and subspace clustering model for analy...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Khalid Al-jabery Tayo Obafemi-Ajayi Gayla R. Olbricht T. Nicole Takahashi Stephen Kanne Donald Wunsch Electrical & Computer Engineering Dept. Missouri University of Science & Technology Rolla Missouri Mathematics & Statistics Dept. Missouri University of Science & Technology Rolla Missouri Thompson Center for Autism & Neurodevelopmental Disorders University of Missouri Columbia Missouri

Heterogeneity in Autism Spectrum Disorder (ASD) is complex including variability in behavioral phenotype as well as clinical, physiologic, and pathologic parameters. The fifth edition of the Diagnostic and Statistical Manual of Mental Disorders (DSM-5) now diagnoses ASD using a 2-dimensional model based social communication deficits and fixated interests and repetitive behaviors. Sorting out heterogeneity is crucial for study of etiology, diagnosis, treatment and prognosis. In this paper, we present an ensemble model for analyzing ASD phenotypes using several machine learning techniques and a k-dimensional subspace clustering algorithm. Our ensemble also incorporates statistical methods at several stages of analysis. We apply this model to a sample of 208 probands drawn from the Simon Simplex Collection Missouri Site patients. The results provide useful evidence that is helpful in elucidating the phenotype complexity within ASD. Our model can be extended to other disorders that exhibit a diverse range of heterogeneity.

关键词： Correlation Indexes Autism Analytical models Clustering algorithms Sociology

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