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Trajectory planning of space robot system for target berthing and reorientation after capturing

Trajectory planning of space robot system for target berthin...

引用

6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Wenfu, Xu Bin, Liang Wenyi, Qiang Panfeng, Huang Yangsheng, Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China College of Astronautics Northwestern Polytechnical University Xi'An China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)1424403324

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, Genetic Algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation. © 2006 IEEE.

关键词： Mobile robots

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Research on adaptive fuzzy PID control for long time delay systems

Research on adaptive fuzzy PID control for long time delay s...

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Sixth International Symposium on Instrumentation and control Technology: Sensors, Automatic Measurement, control, and computer Simulation

作者： Luo, Wenguang Lan, Hongli Chen, Wenhui Dept. of Electronic Information and Control Engineering Guangxi Univ. of Technology 268 Donghuan Road Liuzhou Guangxi 545006 China Dept. of Computer Engineering Guangxi Univ. of Technology 268 Donghuan Road Liuzhou Guangxi 545006 China

ISBN: (纸本)0819464538

An adaptive fuzzy PID controller is proposed to solve the problem that long time delay systems are difficult to be controlled. The controller is obtained by combining the fuzzy controller with PID controller in series, namely the output of the fuzzy controller is as the input of PID, and the control parameters of PID change nonlinearly with the system error's change. Meanwhile, the output scaling gain Ku of the fuzzy controller can be adaptively regulated. Two regulation methods are presented: one is that the linear function between Ku and the system's error is built up based on the system's dynamical characteristics;the other is that Ku is automatically regulated with the fuzzy inference whose two inputs are the comprehensive performance index and its change, the output is the increment of Ku. In the paper, we combine the controlled system with PID controller as an integrated system, and then build up its discrete state space model in the condition that the system's output delays. Based on these, the system's stability is analyzed with Lyapunov Direct Method. Simulation test results show the method provides good control performances to long time delay systems.

关键词： Three term control systems

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Implementation of GA-trained GRNN for Intelligent Fast Charger for Ni-Cd Batteries

Implementation of GA-trained GRNN for Intelligent Fast Charg...

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CES/IEEE 5th International Power Electronics and Motion control Conference

作者： Panom Petchjatuporn Noppadol Khaehintung Khamron Sunat Phaophak Sirisuk Wiwat Kiranon Dept. of Control and Instrumentation Engineering Faculty of Engineering Dept. of Control and Instrumentation Engineering Faculty of Engineering Dept. of Computer Engineering Faculty of Engineering Dept. of Computer Engineering Faculty of Engineering Dept. of Telecommunication Engineering Faculty of Engineering Mahanakorn University of Technology Bangkok THAILAND 10530

This paper presents the development of an intelligent genetic algorithm (GA) technique for training of a generalized regression neural network (GRNN) controller to achieve a compact network and to decrease battery charging time on a cost-effective RISC microcontroller. The suitable input-output data were selected from GA mechanism to establish GRNN. The computational complexity of GRNN can be reduced replaced by some simple polynomial forms. As a consequence, the fast charging device for Nickel-Cadmium (Ni-Cd) batteries can be efficiently implemented on a low-cost 16F876A RISC microcontroller. Experimental results are shown to demonstrate superiority of the proposed system.

关键词： RISC microcontroller genetic algorithm fast charging the generalized regression neural network radial basis functions

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A novel approach to automatic music composing: Using genetic algorithm

A novel approach to automatic music composing: Using genetic...

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International computer Music Conference, ICMC 2006

作者： Zad, Damon Daylamani Araabi, Babak N. Lucas, Caru Department of Information Systems and Computing Brunel University United Kingdom Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Iran

Artificial music composition is one of the ever rising problems of computer science. Genetic Algorithm has been one of the most useful means in our hands to solve optimization problems. By use of precise assumptions and adequate fitness function it is possible to change the music composing into an optimization problem. This paper proposes a new genetic algorithm for composing music. Considering entropy of the notes distribution as a factor of fitness function and developing mutation and crossover functions based on harmonic rules and trying to keep the melodies intact during these processes would result in a musical piece pleasant to human ears and interesting for human mind. This algorithm does not have the constraints of the previous algorithms. Restraining mutation and crossover functions with a goal of producing melodies based on acceptable melodies composed by humans, this algorithm is not bound to any genre, instrument or melody. The experimental results of this approach show that it is near to the human composing and the results produced from it are more acceptable than the ones produced by its predecessors.

关键词： Genetic algorithms

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A low-power 64-point FFT/IFFT design for IEEE 802.11a WLAN application

A low-power 64-point FFT/IFFT design for IEEE 802.11a WLAN a...

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ISCAS 2006: 2006 IEEE International Symposium on Circuits and Systems

作者： Lin, Chin-Teng Yu, An-Chu Van, Lan-Da Dept. of Electrical and Control Engineering National Chiao Tung University Hsinchu 300 Taiwan Department of Computer Science National Chaio Tung University Hsinchu 300 Taiwan

ISBN: (纸本)0780393902

In this paper, we propose a cost-effective and low-power 64-point fast Fourier transform (FFT)/inverse FFT (IFFT) architecture and chip adopting the retrenched 8-point FFT/IFFT (R8-FFT) unit and an efficient data-swapping method based output buffer unit The whole chip systematic performance concerning about the area, power, latency and pending cycles for the application of IEEE 802.11a WLAN standard has been analyzed. The proposed R8-FFT unit utilizing the symmetry property of the matrix decomposition achieves half computation-complexity and less power consumption compared with the recently proposed FFT/IFFT designs. On the other hand, applying the proposed data-swapping method, a low-cost and low-power output buffer can be obtained. So as to further increase system performance, we propose one scheme: the multiplication-afler-write (MAW) method. Applying MA W method with R8-FFT unit, the resulting FFT/IFFT design not only leads to the balancing pending cycle, but also abbreviating computation latency to 8 clock cycles. Consequently, adopting the above proposed two units and one scheme, the whole chip consumes 22.36mW under 1.2V@20 MHz in TSMC 0.13 1P8M CMOS process. © 2006 IEEE.

关键词： Fast Fourier transforms

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Sagnac quantum key distribution using novel polarization-insensitive phase modulators based on frequency shift

Sagnac quantum key distribution using novel polarization-ins...

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2006 LEOS Summer Topical Meetings

作者： Huang, Lei-Lei Qi, Bing Mong, Roger Qian, Li Lo, Hoi-Kwong Dept. of Electrical and Computer Engineering Center for Quantum Information and Quantum Control University of Toronto Toronto M5S 3G4 Canada

We demonstrate a stable Sagnac quantum key distribution implementing BB84 phase-encoding protocol based on acousto-optic frequency shifters. The quantum bit error rate remains 4-6.5% for at least one hour without reca... 详细信息

ISBN: (纸本)1424400902

关键词： Quantum cryptography

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Online computing model of temperature field of turbine rotor

Online computing model of temperature field of turbine rotor

引用

2006 ASME Power Conference

作者： He, Qing Du, Dongmei Chen, Yuesheng Key Laboratory of Condition Monitoring and Control for Power Plant Equipment Ministry of Education Dept. of Power Engineering Beijing 102206 China Dept. of Computer Science and Technology North China Electric Power University Beijing 102206 China

ISBN: (纸本)0791837769

Computation of temperature field of turbine rotor is a two-dimension axisymmetric problem. A two-dimension computing model of rotor temperature field is obtained by the analysis and simplification of rotor geometry structure and boundary conditions. The finite difference method is used to compute two-dimension temperature field of turbine rotor in this paper, which has enough precision and low amount of computation for online monitoring. By simplifying the structure and boundary conditions of turbine rotor, the fifteen node types of rotor are obtained. The difference calculating formulas for all node types are given. According to the model and difference formulas, an online computing program of temperature field of turbine rotor has been developed and applied to a 200MW turbine. Color cloud picture of temperature field of turbine rotor is released online via Internet. Copyright © 2006 by ASME.

关键词： Rotors

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An intelligent tutoring system based on a domain ontology for the design of lead-lag controllers

An intelligent tutoring system based on a domain ontology fo...

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作者： García, Isaías Benavides, Carmen Villar, José R. Rodríguez, Francisco Aláiz, Héctor Alonso, Ángel Systems Engineering and Control Group Dept. of Electrical and Electronic Engineering University of León Edificio Tecnológico Campus de Vegazana S/n 24071 León Spain Computer Science and Artificial Intelligence Group Dept. of Computer Science Campus de Viesques S/n 33204 Gijón Asturias Spain

ISBN: (纸本)9783902661074

The modeling of domains is today a technique with growing acceptance into the software community. Domain models allow the information to be represented in the computer at higher abstraction levels than in the usual applications, so improving the human to machine and machine to machine interactions. This paper deals with the application of such modeling paradigm to the control engineering education field, showing how the knowledge of this domain can be represented in a conceptual structure called ontology which is used as the base for building an Intelligent Tutoring System, a software tool used in the emerging field of e-learning. Copyright © 2006 IFAC.

关键词： Ontology

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Cutting mechanism of drilling CFRP laminates and effect of ultrasonic torsional mode vibration cutting

Cutting mechanism of drilling CFRP laminates and effect of u...

引用

34th North American Manufacturing Research Conference

作者： Yagishita, H. Dept. of Control and Computer Engineering Head of Cooperative Research and Development Center Numazu National College of Technology 3600 Ooka Numazu-city Shizuoka-pref. 410-8501 Japan

ISBN: (纸本)0872638480

Cutting mechanism of drilling CFRP laminates and effects of ultrasonic torsional mode vibration cutting were investigated. CFRP laminates are made of carbon fiber reinforced/epoxy-resin matrix composite plies. Challenges in drilling CFRP laminates arise because of anisotropy due to carbon fiber orientation. Experimental works were performed to characterize major hole quality parameters and cutting characteristics encountered when conventional drilling CFRP laminates. Shallow craters of about 50-70μm dept. were found at the particular position of inner surface in drilled hole and the reason of the growth of crater was investigated based on cutting mechanism of anisotropic composite material. In order to improve hole quality and tool life the specific drilling assisted by ultrasonic torsional mode vibration of 27 kHz was examined. The ultrasonic torsional mode vibration cutting was significantly effective to restrain the generation of the crater and also to elongate tool life about five times in drilling CFRP laminates.

关键词： Laminated composites

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On probing signal design for MIMO radar

On probing signal design for MIMO radar

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40th Asilomar Conference on Signals, Systems, and computers, ACSSC '06

作者： Li, Jian Stoica, Petre Xie, Yao Dept. of Electrical and Computer Engineering University of Florida P O. Box 116130 Gainesville FL 32611 United States Dept. of Information Technology Systems Control Division Uppsala University P.O. Box 337 SE-75105 Uppsala Sweden

ISBN: (纸本)1424407850

A MIMO (multi-input multi-output) radar system, unlike a standard phased-array radar, can choose freely the probing signals transmitted via its antennas to maximize the power around the locations of the targets of interest, or more generally to approximate a given transmit beampattern, and also to minimize the cross-correlation of the signals reflected back to the radar by the targets of interest. In this paper, we show how the above desirable features can be achieved by designing the covariance matrix of the probing signal vector transmitted by the radar. Moreover, in a numerical study, we show that the proper choice of the probing signals can significantly improve the performance of adaptive MIMO radar techniques. Additionally, we demonstrate the advantages of several MIMO transmit beampattern designs, including a beampattern matching design and a minimum sidelobe beampattern design, over their phased-array counterparts.

关键词： Covariance matrix

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