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ANFIS based Jacobian for a parallel manipulator mobility assistive device

ANFIS based Jacobian for a parallel manipulator mobility ass...

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UKACC International Conference on control (control)

作者： Ahmed Asker Omar Salah Ahmed M. R. Fath El-Bab Ahmed A. Ramadan Samy M. F. Assal Salvatore Sessa Ahmed Abo-Ismail School of Innovative Design Engineering Egypt-Japan University for Science and Technology Alexandria Egypt Mechanical Engineering Dept Assiut University Assiut Egypt Computer and Automatic Control Dept Tanta University Tanta Egypt Dept. of Production Engineering and Mechanical Design Tanta University Tanta Egypt

Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. computer simulations show relatively good results of the proposed system.

关键词： Jacobian matrices Kinematics Actuators Joints Manipulators Equations Mathematical model

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Comparative study of robot kinematic calibration algorithms using a unified geometric framework

Comparative study of robot kinematic calibration algorithms ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yuanqing Wu Cheng Li Jing Li Zexiang Li Dept. Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong P.R. China Dept. Control Science and Engineering The Jiang University Hang Zhou P. R. China

In this paper, we conduct a comparative study of three well known robot kinematic calibration algorithms, namely the Denavit-Hartenberg (DH) parameter algorithm, the product of exponentials (POE) algorithm, and the local POE (LPOE) algorithm. To cope with distinct formulations associated to different algorithms, we propose a unified geometric framework which is based on POE kinematics and a novel Adjoint error model. The Adjoint error model offers us an extremely efficient way to benchmark the aforesaid calibration algorithms, and also compare them to a novel calibration algorithm based on the Adjoint error model.

关键词： Calibration Joints Kinematics Jacobian matrices Robot kinematics Manipulators

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Class specific dictionary learning for face recognition

Class specific dictionary learning for face recognition

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International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)

作者： Bao-Di Liu Bin Shen Yu-Xiong Wang College of Information and Control Engineering China University of Petroleum Qingdao China Dept. of Computer Science Purdue University West Lafayette IN USA School of Computer Science Carnegie Mellon University Pittsburgh PA USA

Recently, sparse representation based classification (SRC) has been successfully used for visual recognition and showed impressive performance. Given a testing sample, SRC computes its sparse linear representation with respect to all the training samples and calculates the residual error for each class of training samples. However, SRC considers the training samples in each class contributing equally to the dictionary in that class, i.e., the dictionary consists of the training samples in that class. This may lead to high residual error and instability. In this paper, a class specific dictionary learning algorithm is proposed. First, by introducing the dual form of dictionary learning, an explicit relationship between the bases vectors and the original image features is represented, which enhances the interpretability. SRC can be thus considered to be a special case of the proposed algorithm. Second, blockwise coordinate descent algorithm and Lagrange multipliers are then applied to optimize the corresponding objective function. Extensive experimental results on three benchmark face recognition datasets demonstrate that the proposed algorithm has achieved superior performance compared with conventional classification algorithms.

关键词： Dictionaries Training Testing Support vector machines Face recognition Linear programming Face

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Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU

Collision avoidance with potential fields based on parallel ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Knut B. Kaldestad Sami Haddadin Rico Belder Geir Hovland David A. Anisi Faculty of Technology and Science University of Agder Norway Institute of Automatic Control Leibniz University Hanover (LUH) Hanover Germany Robotics and Mechatronics Center Wessling DLR Germany Dept. of Technology & Innovation ABB Norway

In this paper we present an experimental study on real-time collision avoidance with potential fields that are based on 3D point cloud data and processed on the Graphics Processing Unit (GPU). The virtual forces from the potential fields serve two purposes. First, they are used for changing the reference trajectory. Second they are projected to and applied on torque control level for generating according nullspace behavior together with a Cartesian impedance main control loop. The GPU algorithm creates a map representation that is quickly accessible. In addition, outliers and the robot structure are efficiently removed from the data, and the resolution of the representation can be easily adjusted. Based on the 3D robot representation and the remaining 3D environment data, the virtual forces that are fed to the trajectory planning and torque controller are calculated. The algorithm is experimentally verified with a 7-Degree of Freedom (DoF) torque controlled KUKA/DLR Lightweight Robot for static and dynamic environmental conditions. To the authors knowledge, this is the first time that collision avoidance is demonstrated in real-time on a real robot using parallel GPU processing.

关键词： Collision avoidance Robot sensing systems Service robots Three-dimensional displays Graphics processing units Force

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The challenge of cloud control 8

The challenge of cloud control

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8th International Workshop on Feedback Computing

作者： Kihl, Maria Elmroth, Erik Tordsson, Johan Årzén, Karl Erik Robertsson, Anders Dept. of Electrical and Information Technology Lund University Sweden Dept. of Computer Science Umeå University Sweden Dept of Automatic Control Lund University Sweden

Today's cloud data center infrastructures are not even near being able to cope with the enormous and rapidly varying capacity demands that will be reality in a near future. So far, very little is understood about how to transform today's data centers (being large, power-hungry facilities, and operated through heroic efforts by numerous administrators) into a self-managed, dynamic, and dependable infrastructure, constantly delivering expected QoS with reasonable operation costs and acceptable carbon footprint for large-scale services with sometimes dramatic variations in capacity demands. In this paper, we discuss some of the major challenges for resource-optimized cloud data center. We propose a new research area called Cloud control, which is a control theoretic approach to a range of cloud management problems, aiming to transform todaýs static and energy consuming cloud data centers into self-managed, dynamic, and dependable infrastructures, constantly delivering expected quality of service with acceptable operation costs and carbon footprint for large-scale services with varying capacity demands. © 8th International Workshop on Feedback Computing 2013. All rights reserved.

关键词： Carbon footprint

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BLOCKWISE COORDINATE DESCENT SCHEMES FOR SPARSE REPRESENTATION

BLOCKWISE COORDINATE DESCENT SCHEMES FOR SPARSE REPRESENTATI...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Bao-Di Liu Yu-Xiong Wang Bin Shen Yu-Jin Zhang Yan-Jiang Wang Coll. of Information and Control Engineering China University of Petroleum Qingdao 266580 China School of Computer Science Carnegie Mellon University Pittsburgh PA 15213 USA Dept. of Computer Science Purdue University West Lafayette IN 47907 USA Dept. of Electronic Engineering Tsinghua University Beijing 100084 China

ISBN: (纸本)9781479928941

The current sparse representation framework is to decouple it as two subproblems, i.e., alternate sparse coding and dictionary learning using different optimizers, treating elements in bases and codes separately. In this paper, we treat elements both in bases and codes homogenously. The original optimization is directly decoupled as several blockwise alternate subproblems rather than above two. Hence, sparse coding and bases learning optimizations are coupled together. And the variables involved in the optimization problems are partitioned into several suitable blocks with convexity preserved, making it possible to perform an exact block coordinate descent. For each separable subproblem, based on the convexity and monotonic property of the parabolic function, a closed-form solution is obtained. Thus the algorithm is simple, efficient and effective. Experimental results show that our algorithm significantly accelerates the learning process.

关键词： Convexity Alkali descent Elements Sparse coding Learning processes Base materials Bases DECOUPLING Alternate Codes

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controller Modification Applied for Active Fault Detection

Controller Modification Applied for Active Fault Detection

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American control Conference

作者： Henrik Niemann Jakob Stoustrup Niels Kjolstad Poulsen Dept. of Electrical Engineering Automation and Control Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark Dept. of Electronic Systems Automation & Control Aalborg University DK-9220 Aalborg Denmark Dept. of Applied Mathematics and Computer Science Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark

ISBN: (纸本)9781479932757

This paper is focusing on active fault detection (AFD) for parametric faults in closed-loop systems. This auxiliary input applied for the fault detection will also disturb the external output and consequently reduce the performance of the controller. Therefore, only small auxiliary inputs are used with the result that the detection and isolation time can be long. In this paper it will be shown, that this problem can be handled by using a modification of the feedback controller. By applying the YJBK-parameterization (after Youla, Jabr, Bongiorno and Kucera) for the controller, it is possible to modify the feedback controller with a minor effect on the external output in the fault free case. Further, in the faulty case, the signature of the auxiliary input can be optimized. This is obtained by using a band-pass filter for the YJBK parameter that is only effective in a small frequency range where the frequency for the auxiliary input is selected. This gives that it is possible to apply an auxiliary input with a reduced amplitude. An example is included to show the results.

关键词： Active fault detection parametric faults feedback controllers YJBK parameterization controller modification

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Hardware implementation on FPGA of two modulation techniques for three phase inverters

Hardware implementation on FPGA of two modulation techniques...

引用

2013 IEEE 9th International Conference on Intelligent computer Communication and Processing, ICCP 2013

作者： Alecsa, B. Onea, A. Dept. of Automatic Control and Computer Engineering Technical University of Iaşi Iaşi Romania

ISBN: (纸本)9781479914937

This paper presents two modern modulation techniques applied to three phase inverters from a hardware implementation point of view. The considered techniques are the sinusoidal pulse width modulation with zero sequence injection and the space vector modulation. Both these techniques conduct to the same result regarding supply voltage usage efficiency and harmonic content of the resulted signals. The implementation was developed in Matlab-Simulink using the System Generator software, and validated through simulation. Both the modulation algorithms were implemented in hardware on a low cost FPGA, and the resulted designs are compared for resource usage efficiency, obtained speed and easiness of integration within a complex AC drive control system. © 2013 IEEE.

关键词： Pulse width modulation

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Minimizing communication delay in RFID-based wireless rechargeable sensor networks

Minimizing communication delay in RFID-based wireless rechar...

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IEEE Communications Society Conference on Sensor and Ad Hoc Communications and Networks (SECON)

作者： Yuanchao Shu Peng Cheng Yu Gu Jiming Chen Tian He State Key Laboratory of Industrial Control Technology Zhejiang University China Singapore University of Technology and Design Singapore SG Dept. of Computer Science and Engineering University of Minnesota USA

Integrated with low-power micro-controllers and sensors, RFID-based wireless rechargeable sensor node is a very promising platform for applications such as inventory management, supply chain monitoring etc. Among other major research challenges, one of the most essential problems in such wireless rechargeable sensor networks is how to minimize the communication delay among RFID readers and RFID-based rechargeable nodes. While the existing works have mostly focused on the collision avoidance among RFID-based nodes, in this work we study an orthogonal approach which focuses on how to optimally plan the movement of the reader so as to minimize the communication delay in the network. To solve this problem, we introduce both an optimal solution for the linear reader movement pattern and an approximation solution for the generic two-dimensional reader move pattern with a provable approximation ratio. In addition, we also provide a solution for guaranteeing the quality of communication while minimizing the communication delay. We verify our observations through testbed experiments and extensively evaluate our design by both emulations and large-scale simulations. The results show our design can effectively reduce communication delay in wireless rechargeable sensor networks when compared with baseline solutions.

关键词： Delays Wireless sensor networks Wireless communication Radiofrequency identification Approximation methods Minimization

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Petri net approach for deadlock prevention in robot planning

Petri net approach for deadlock prevention in robot planning

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2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013

作者： Kloetzer, Marius Mahulea, Cristian Colom, Jose-Manuel Dept. of Automatic Control and Applied Informatics Technical University Gh. Asachi of Iasi Romania Dept. of Computer Science and Systems Engineering Univ. of Zaragoza Spain

ISBN: (纸本)9781479908622

This paper provides a strategy for supervising the motion of some mobile robots that evolve in the same environment. Some regions of the environment are assumed to have a limited capacity in terms of the number of robots that can simultaneously occupy them, and a set of possible trajectories is available for each robot. The solution comprises the construction of a specific Petri net model for the available trajectories, and the use of resource-allocation techniques based on restricted-capacity regions and on deadlock-free execution. © 2013 IEEE.

关键词： Petri nets

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