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2005 IEEE International Conference on Robotics and automation

作者： Liu, Yun-Hui Wang, Hesheng Lam, Kinkwan Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong Joint Center for Intelligent Sensing and Systems National University of Defense Technology Hunan China

ISBN: (纸本)078038914X

This paper presents a new adaptive controller for dynamic image-based visual servoing of a robot manipulator when the intrinsic and extrinsic parameters of the camera are not calibrated. To cope with nonlinear dependence of the image Jacobian on the unknown parameters, this controller employs a matrix called nonscaled image Jacobian which does not depend on the scale factors determined by the dept.s of feature points. By removing the scale factors, the camera parameters appear linearly in the close-loop dynamics so that a new algorithm, different from Slotine and Li's, is developed to estimate their values on-line. In the parameter adaptation, in addition to the regressor term, our algorithm also uses the errors between the real and estimated projections of the feature points on the image plane so as to guarantee the convergence of the estimated parameters to the real values up to a scale. A new Lyapunov function is introduced to prove asymptotic convergence of the image errors based on the robot dynamics. Experiments have been conducted to demonstrate the performance of the proposed controller. ©2005 IEEE.

关键词： Robots

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Kim, Jong-Hae Okuma, Shigeru Kim, Young-Woo Hwang, Don-Ha Kim, Min-Huei Kim, Dong-Hee Dept. of Electrical Engineering and Computer Science Graduate School of Engineering Nagoya University Japan Space Robotics Research Center Toyota Technological Institute Nagoya City Japan Changwon Korea Republic of Dept. of Electrical and Automation Eng. Yeungnam College of Sci. and Tech. Daegu Korea Republic of Dept. of Electrical Engineering Yeungnam University Kyongsan Kyungbuk Korea Republic of

ISBN: (纸本)0780387384

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver's stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver's sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the 'control low' according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's stopping maneuver. © 2005 IEEE.

关键词： Behavioral research

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Adaptive image-based trajectory tracking of robots

Adaptive image-based trajectory tracking of robots

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2005 IEEE International Conference on Robotics and automation

作者： Wang, Hesheng Liu, Yun-Hui Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong Joint Center for Intelligent Sensing and Systems National University of Defense Technology Changsha Hunan China

ISBN: (纸本)078038914X

This paper presents a new and novel controller for dynamic image-based trajectory tracking of a robot manipulator in uncalibrated environments. The controller is designed to cope with the case when the homogenous transformation matrix between the root and the vision system is unknown. A new adaptive algorithm, different from the Slotine and Li's method, has been developed to estimate a set of parameters corresponding to the unknown transformation matrix. With a full consideration of dynamic responses of the robot manipulator, we employed the Lyapunov method to prove the convergence of the image errors of the trajectory to zero and the convergence of the estimated parameters to the real values up to a scale. Simulations and experiments have been conducted to demonstrate good convergence of the trajectory errors of the robot and the estimated parameters under the control of the proposed method. © 2005 IEEE.

关键词： Tracking (position)

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Approximated optimal control of singularly perturbed systems via Haar wavelets

Approximated optimal control of singularly perturbed systems...

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作者： Karimi, H.R. Jabedar, Maralani P. Moshiri, B. Lohmann, B. Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran Institute of Automation University of Bremen Otto-Hahn-Allee NW1 D-28359 Bremen Germany

ISBN: (纸本)008045108X

This paper deals with the implementation of Haar wavelet to the optimal control of linear singularly perturbed systems. The approximated composite control and the slow and fast trajectories with respect to a quadratic cost function by solving only the linear algebraic equations are calculated. The results are illustrated with a simple example. Copyright © 2005 IFAC.

关键词： Cost functions

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Improvements to the conventional layer-by-layer BP algorithm

Improvements to the conventional layer-by-layer BP algorithm

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International Conference on Intelligent Computing, ICIC 2005

作者： Li, Xu-Qin Han, Fei Lok, Tat-Ming Lyu, Michael R. Huang, Guang-Bin Institute of Intelligent Machines Chinese Academic of Sciences PO Box 1130 Hefei Anhui 230031 China Department of Automation University of Science and Technology of China Hefei 230027 China Information Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong Computer Science and Engineering Dept. Chinese University of Hong Kong Shatin Hong Kong School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

This paper points out some drawbacks and proposes some modifications to the conventional layer-by-layer BP algorithm. In particular, we present a new perspective to the learning rate, which is to use a heuristic rule to define the learning rate so as to update the weights. Meanwhile, to pull the algorithm out of saturation area and prevent it from converging to a local minimum, a momentum term is introduced to the former algorithm. And finally the effectiveness and efficiency of the proposed method are demonstrated by two benchmark examples. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Algorithms

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New E-learning tools for DC-DC converters

New E-learning tools for DC-DC converters

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2005 European Conference on Power Electronics and Applications

作者： Hamar, J. Funato, H. Ogasawara, S. Nagy, I. Ogasawara and Funato Laboratory Dept. of Electrical and Electronic Engineering Utsunomiya University 7-1-2 Yoto Utsunomiya-shi Tochigi 321-8585 Japan Budapest University of Technology and Economics Department of Automation and Applied Informatics Goldmann György tér 3 H-1111 Budapest Hungary Computer and Automation Institute Hungarian Academy of Sciences Hungary

ISBN: (纸本)9075815085

The paper gives an overview of the Yoto project, a novel e-learning initiative to build up an electrical engineering knowledge base. It also presents a new e-module of the project relating to the steady-state operation of dc-dc converters. The multimedia rich module contains numerous interactive tools promoting the high level education in the academy sector and the vocational trainings in the industry. The interactive tools also highly support the circuit design process by enabling fast calculation and access to relevant circuit quantities and waveforms (voltages and currents) in steady-state without long simulations.

关键词： DC-DC converters

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Towards modeling human expertise: Am empirical case study

Towards modeling human expertise: Am empirical case study

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Recent Advances in Artifical Intelligence - Eighteenth International Florida Artificial Intelligence Research Society Conference, FLAIRS 2005

作者： Knauf, Rainer Tsuruta, Setsuo Gonzalez, Avelino J. Faculty of Computer Science and Automation Ilmenau Technical University PO Box 100565 98684 Ilmenau Germany School of Information Environment Tokyo Denki Unversity 2-1200 Musai-gakuendai Inzai Chiba 270-1382 Japan Dept. of Electrical and Computer Engineering University of Central Florida Orlando FL 32816-2450 United States

ISBN: (纸本)1577352343

The success of TURING Test technologies for system validation depends on the quality of the human expertise behind the system. The authors developed models of collective and individual human expertise, which are shortly outlined here. The focus of the paper is an experimental work aimed at determining the quality of these models. The models have been used for both solving problem cases and rating (other agents') solutions to these cases. By comparing the models' solutions and ratings with those of the human original we derived assessments of their quality. An analysis revealed both the general usefulness and some particular weaknesses. Copyright © 2005, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Human computer interaction

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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APPROXIMATED OPTIMAL CONTROL OF SINGULARLY PERTURBED SYSTEMS VIA HAAR WAVELETS

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IFAC Proceedings Volumes 2005年第1期38卷 353-358页

作者： H.R. Karimi P. Jabedar Maralani B Moshiri B Lohmann Control and Intelligent Processing Center of Excellence Dept. of Electrical and Computer Engineering University of Tehran Tehran Iran Institute of Automation University of Bremen Otto-Hahn-Allee NW1 D-28359 Bremen Germany

关键词： Singularly perturbed systems Haar wavelet and optimal control

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ROBUST ADAPTIVE CONTROL OF TRANSVERSE FLUX PERMANENT MAGNET MACHINES USING NEURAL NETWORKS

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IFAC Proceedings Volumes 2005年第1期38卷 169-174页

作者： A Babazadeh H.R. Karimi N Parspour Institute of Electrical Drives Power Electronics and Devices University of Bremen Bremen Germany Control and Intelligent Processing Center of Excellence Dept. of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran DAAD Scholarship Holder at the Institute of Automation University of Bremen Germany

This paper deals with modelling and adaptive output tracking of a Transverse Flux Permanent Magnet Machine (TFPM) as a non-linear system with unknown nonlinearities by utilizing High Gain Observer (HGO) and Radial Basis Function (RBF) networks. The technique of feedback linearization and H ∞ control are used to design an adaptive control law for compensating the unknown nonlinearity parts, such the effect of cogging torque, as a disturbance is decreased onto the rotor angle and angular velocity tracking performances. Finally, the capability of the proposed method is shown in the simulation results.

关键词： High gain observer transverse flux permanent magnet machine H ∞ control RBF neural network output tracking

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