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检索条件"机构=Dept. of Control Engineering and Robotics"

共 161 条记录，以下是121-130 订阅

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Modeling, Simulation and control of a Spincopter

Modeling, Simulation and Control of a Spincopter

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： M. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak Laboratory for Robotics and Intelligent Control Systems - LARICS Dept. of Control and Computer EngineeringFaculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.

关键词： Aircraft Mathematical model Engines Propellers Force Atmospheric modeling

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An analysis of sensitivity distribution using two differential excitation potentials in ECT

An analysis of sensitivity distribution using two differenti...

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2011 5th International Conference on Sensing Technology, ICST 2011

作者： Mohamad, Elmy Johana Faizan Marwah, Omar M. Rahim, Ruzairi Abdul Ling, Leow Pei Dept. of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Dept. of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

ISBN: (纸本)9781457701672

The investigation of this work is to analysis the sensitivity distributions using two differential excitation potentials, in order to improve the situation of: (1) non-uniform sensitivity distribution: (2) less sensitivity in the central area and (3) non-linear change in ECT (Electrical Capacitance Tomography) system. Simulation using COMSOL Multiphysics is developed in order to obtain the changes in capacitance inter-electrodes and the permittivity of the dielectric material when two differential excitation potentials were injected. The MATLAB simulation is used to obtain the sensitivity distribution inside the closed pipe from the sensor. Generated phantoms and measured values are presented. Simulation is verified using available experimental data through the existing system, 16- segmented ECT sensor electrodes by PROTOM Research Group UTM, MALAYSIA. By using this technique the linear relationship between the capacitances measured to inter-electrodes and the permittivity dramatically improved and the sensitivity distribution for an opposing electrode pair was increased thus gives the sensitivity distribution in the central area increased. The use of this technique does increase the level of detection signals and the SNR(signal noise to ratio) compared to those achieved using standard single-voltage source method. © 2011 IEEE.

关键词： Multiphysics

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Virtual nano-hand: A stable pushing strategy in AFM based sensorless nanomanipulation

Virtual nano-hand: A stable pushing strategy in AFM based se...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

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Robust Tracking by Reduced-order Disturbance Observer: Linear Case

Robust Tracking by Reduced-order Disturbance Observer: Linea...

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IEEE Conference on Decision and control

作者： Juhoon Back Hyungbo Shim Nam H. Jo Jung-Su Kim School of Robotics Kwangwoon University Seoul Korea School of Electrical Engineering and Computer Science Seoul National University Seoul Korea School of Electrical Engineering Soongsil University Seoul Korea Dept. of Control and Instrumentation Engineering Seoul National University of Science and Technology Seoul Korea

ISBN: (纸本)9781612848006

The disturbance observer (DOB) is one of the widely-used control methods for robust tracking under plant uncertainties and external disturbances. Typically it is implemented by two (so-called) Q-filters as well as an inverse model for the nominal plant. Observing that these two Q-filters have identical dynamics, we propose a reduced-order implementation of the conventional DOB configuration. Moreover, we analyze this newly proposed configuration and claim that the robust stability condition, which has been found for the conventional configuration, still holds for the reduced-order case, and the robust transient performance can also be maintained as before with a saturation function introduced in the feedback loop.

关键词： disturbance observer Feedback loop Inverse method control Methods Steady state tracking Transient performance external disturbance

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Modeling and analyzing nano-rod pushing with an AFM

Modeling and analyzing nano-rod pushing with an AFM

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Hou, Jing Wu, Chengdong Liu, Lianqing Wang, Zhidong Dong, Zaili Dept. of Electrical and Computer Engineering Northeastern University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

ISBN: (纸本)9781424470334

In developing nano-devices and nano-structures, traditional methodologies on MEMS meet the difficulty from the scale restriction. With the strategy of objects assembly, using AFM to handle nano-rods and other nano-objects is considered as an important and high potential technology in constructing nanostructures. However most of AFM only has one tip as the end effector and cannot control both translational and rotational motions during manipulation, this makes it be difficult to realize posture controllable manipulation especially in nano environment. In this paper, the behavior of nano-rod under pushing is theoretically analyzed and modeled. Viscous friction is incorporated in the model and the two situations that the pivot of the nanorod is either inside or outside the rod are addressed. By modeling, the pivot can be determined at each manipulation in real time, and the pushing points can be planned to realize posture controllable manipulation by using nano-hand strategy which is inspired by stable pushing theory of object manipulation in macro world, and to improve the reliability and the precision of manipulation. ©2010 IEEE.

关键词： Nanorods

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An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation

An extended PI model for hysteresis and creep compensation i...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School of Chinese Academy of Sciences Beijing 100001 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China

ISBN: (纸本)9781424493173

One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities. © 2010 IEEE.

关键词： Creep

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Bell-shaped potential functions for multi-agent formation control in cluttered environment

Bell-shaped potential functions for multi-agent formation co...

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Mediterranean Conference on control and Automation (MED)

作者： Kristian Hengster-Movrić Stjepan Bogdan Ivica Draganjac Automation & Robotics Research Institute University of Texas Arlington USA Automatin&Robotics Research Institute University of Texas at Arilington USA Dept. of Control and Computer Engineering University of Zagreb CROATIA Croatia

In this paper we analyze stability properties of multi-agent control system in a cluttered environment with an artificial potential based on bell-shaped functions. In our approach attractive and repulsive forces created by potential gradient have the same form which allows definition of target formation that is parameter invariant. Due to the fact that agents are identical, the proposed structure of formation potential is invariant to the interchange of agents configurations, hence, target in which particular agent would eventually end up, depends only on formation initial condition and environment structure (obstacles). We show that position of unwanted stable equilibria can be controlled by parameters that define elementary potential functions. This fact has been used for synthesis of an adaptation algorithm, such that arrival of agents at required formation is guarantied. Simulation results, presented at the end of the paper, confirm correctness of the proposed control scheme.

关键词： Navigation Stability analysis Force Lead Trajectory Geometry

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Verification of Markov models of ageing power equipment

Verification of Markov models of ageing power equipment

引用

10th International Conference on Probabilistic Methods Applied to Power Systems, PMAPS 2008

作者： Sugier, Jaroslaw Anders, George Inst. of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Dept. of Microelectronics of the Technical University of Lodz Poland

ISBN: (纸本)9781934325216

Markov models are a well established technique widely used for modeling deterioration processes of the electric power equipment and in reliability analysis. Recently, several papers using Markov and semi-Markov models have been published addressing the issue of the calculation of the rlife, future failure rates and the probability of failure of power equipment. This paper focuses on one such model and addresses an issue of accuracy of Markov model analysis. The paper presents a method of model adjustment and discusses implementation of three numerical algorithms solving the problem of parameter approximation. A practical example confirms validity of the approach and illustrates its efficiency.

关键词： Reliability analysis

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Vibration-based terrain classification for electric powered wheelchairs

Vibration-based terrain classification for electric powered ...

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4th IASTED International Conference on Telehealth and Assistive Technologies, Telehealth/AT 2008

作者： Coyle, Eric Collins, Emmanuel G. DuPont, Edmond Dan, Ding Hongwu, Wang Cooper, Rory A. Grindle, Garrett Dept. of Mechanical Engineering at FAMU-FSU Center for Intelligent Systems Control and Robotics Tallahassee FL 32310 United States Dept. of Rehabilitation Science and Tech. Human Engineering Research Laboratory Univ. of Pittsburgh Pittsburgh PA 15261 United States

ISBN: (纸本)9780889867406

Automated terrain classification for electric powered wheelchairs (EPWs) has two primary motivations. First, certain terrains (e.g., sand and gravel) make wheelchair mobility more difficult. To alleviate this problem the wheelchair control system can be manually tuned for maximum speeds and/or accelerations to help adapt to various terrains. Terrain classification can then be used to automate the switch from one control mode to another. Second, terrain classification can help yield a better understanding of the surfaces traversed by various groups of wheelchair users. This can provide the data needed to develop wheelchairs geared to specific groups of users. This paper presents an algorithm for vibration-based terrain classification on EPWs. This algorithm has been shown to be highly accurate in offline analysis of experimental data. Future work will stress online implementation and algorithm improvements.

关键词： Wheelchairs

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Image segmentation using decision trees method

Image segmentation using decision trees method

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作者： Kubik, T. Sugisaka, M. Institute of Computer Engineering Control and Robotics Wroclaw Univ. of Technology Janiszewskiego 11/17 Wroclaw 50-372 Poland Dept. of Electrical and Electronic Engineering Oita Univ. 700 Dannoharu Oita 870-1124 Japan

ISBN: (纸本)9784990288020

The image segmentation method aimed at segmentation of orthophoto maps is discussed. The method makes use of ID-3 algorithm by its adjustment for different types of land cover classification. The segmentation method proposed consists of some processing steps. It starts with the initial filtering, followed by the color quantization, and the decision tree building. The decision tree is used then as a classifier in the final segmentation step. To build the classifier some patterns made up of orthophoto maps and corresponding raster images segmented by an expert were prepared. The method was tested on the images not used for classifier building. ©ISAROB 2008.

关键词： Decision trees

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