A method of computing a reference input to achieve a desired finite output trajectory is presented. The technique is equally applicable to minimum, non-minimum phase, stable, and unstable systems. The approach is base...
详细信息
A method of computing a reference input to achieve a desired finite output trajectory is presented. The technique is equally applicable to minimum, non-minimum phase, stable, and unstable systems. The approach is based on the singular value decomposition (SVD) of the system's input-output matrix. A SISO formulation is introduced which forms the basis for an extension to MIMO systems.
In analyzing the behavior of refinery heaters, it turns out that the process dynamics is slow and can be cast into the form of input-output discrete-time controlled autoregressive and integrated moving-average (CARIMA...
详细信息
In analyzing the behavior of refinery heaters, it turns out that the process dynamics is slow and can be cast into the form of input-output discrete-time controlled autoregressive and integrated moving-average (CARIMA) model with large time-lag which poses difficulties in control design. To overcome these difficulties, modified Diophantine equations are introduced in this paper to facilitate the development of filtered outlet temperature predictions so that the closed-loop system (the refinery heater model with a recursive predictive controller) have desired stability properties. Simulation studies on a pilot-scale process heaters have illustrated the flexibility and computational effectiveness of the developed predictive control algorithm.
Based on information produced by a 200 kHz ultrasonic echo device developed for robotics and other industrial purposes, a method for object identification was developed and is presented in this paper. Interpretation o...
详细信息
Based on information produced by a 200 kHz ultrasonic echo device developed for robotics and other industrial purposes, a method for object identification was developed and is presented in this paper. Interpretation of the echos from the reflecting objects, complexity analysis and information extraction were made by system identification methods such as impulse response analysis and state-space realization. A clustering-type discrimination of different objects based on the echo identification result was made in a subsequent step using the least-squares method. Experimental evaluation showed that the method is effective for object recognition.
This paper describes the evaluation of an application of the ARTMAP neural network model to the diagnosis of cancer from fine-needle aspirates of the breast. The network has previously demonstrated very high performan...
详细信息
ISBN:
(纸本)3540600256
This paper describes the evaluation of an application of the ARTMAP neural network model to the diagnosis of cancer from fine-needle aspirates of the breast. The network has previously demonstrated very high performance when used with high-quality data provided by an expert pathologist. New performance results are provided for its use with "noisy" data provided by an inexperienced pathologist. Additionally, ARTMAP supports the extraction of symbolic rules from a trained network and the validity of these autonomously-acquired rules is discussed. It is concluded that the symbolic rules provide an appropriate mapping of input features to category classes in the domain. However, the network in its present form is only suitable for use as a decision-support tool by a senior pathologist, since its performance deteriorated greatly with poor-quality data provided by a junior pathologist. The implications of the findings are discussed.
An application of the ARTMAP neural network model to the early diagnosis of acute myocardial infarction is described. Performance results are given for 10 individual ARTMAP networks, and for combinations of the networ...
详细信息
ISBN:
(纸本)3540600256
An application of the ARTMAP neural network model to the early diagnosis of acute myocardial infarction is described. Performance results are given for 10 individual ARTMAP networks, and for combinations of the networks using "pooled" decision making (the so-called voting strategy). Category nodes are pruned from the trained networks in different ways so as to improve accuracy, sensitivity and specificity respectively. The differently pruned networks are employed in a novel "cascaded" variation of the voting strategy. This allows a partitioning of the test data into predictions with a high and a lower certainty of being correct, providing the diagnosing clinician with an indication of the reliability of an individual prediction.
For nonlinear systems in extended strict feedback form, where unmeasured states enter linearly, we construct dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference tr...
详细信息
For nonlinear systems in extended strict feedback form, where unmeasured states enter linearly, we construct dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness.
We develop tools for backstepping with Lyapunov functions and control laws which are locally Lipschitz but not differentiable. We use Clarke’s generalized gradient and its associated calculus to show that the locally...
详细信息
We develop tools for backstepping with Lyapunov functions and control laws which are locally Lipschitz but not differentiable. We use Clarke’s generalized gradient and its associated calculus to show that the locally Lipschitz backstepping construction is essentially the same as the differentiable one. Our recursive method is constructive and yields an explicit expression for the control law.
Intelligent manufacturing processes require intelligent sensor integration. For automated assembly this means integration of three-dimensional scene perception. Existing approaches use or to reconstruct the 3-D object...
详细信息
Intelligent manufacturing processes require intelligent sensor integration. For automated assembly this means integration of three-dimensional scene perception. Existing approaches use or to reconstruct the 3-D objects. In this paper the 3-D objects are reconstructed by their planar surfaces. The extraction of these surfaces is done using a with . The object planes are estimated by intersecting the generating cones for the projected disks and the image ellipses. The new method is especially addressed to problems arising in robotics and assembly tasks, where it is necessary to recognize a priori known objects and to estimate their pose.
This paper deals with simultaneous control of acceleration transmission, wheel load fluctuation, suspension deflection and sprung mass displacement. The control theory is based on the robust H/sub /spl infin// control...
详细信息
This paper deals with simultaneous control of acceleration transmission, wheel load fluctuation, suspension deflection and sprung mass displacement. The control theory is based on the robust H/sub /spl infin// control theory with the consideration of the modeling errors lumped into an unstructured uncertainty acting on the unperturbed plant. The design method is new and powerful for electronic car suspension's control systems, as it presents a new approach to the designers for the computation of a controller maintaining robust stability while guaranteeing the performance in a wide frequency range, even in the case of the controller is applied to the actual plant. Additionally, the paper emphasizes that the assumptions in the modeling step may lead to unrealistic control designs and, as an example, the effect of the rigidity assumption on the behavior of the open loop system is discussed.
By a hybrid system we mean a discrete controller in interaction with a physical environment. This paper discusses methodologies for incorporating physically grounded models in representations of hybrid systems. To thi...
详细信息
暂无评论