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2003 IEEE Aerospace Conference

作者： Dimirovski, Georgi M. Mohenski, Darko D. Deskovski, Stoyce M. Dogus University Dept. of Computer Engineering and Information Technologies Acibadem Zeamet Sk. No: 21 Kadikoy TR-8 1080 Istanbul Turkey SS Cyril and Methodius University Institute of Automation and Systems Engineering at FEE Karpos 2 Rugjer Boskovic b.b. MK-1000 Skopje Macedonia Dept. of Information and Control Systems Military Academy of RM General M. Apostolski MK-1000 Skopje Macedonia

ISBN: (纸本)078037651X

A standard PC platform based simulator system for personnel training in anti-tank guided missile (ATGM) systems has been designed and implemented;its operation is managed through instructor-trainee interaction. It makes use of object-oriented simulation modeling, 6 degree-offreedom (6DOF) missile model and mask modeling of terrain and weather conditions. The main topic of research are the short-range and line-of-sight (CLOS) missiles as well as their guidance and control and target selection and tracking in combat situation. The simulation model specifications are built around the set of concurrent cooperating objects, including representation model of the system's environment. The set of compatible models and software implementations for missiles and moving ground targets, involving their interrelated kinematics, has been elaborated by own research entirely. An appropriate designed user-system interface employing Visual Basic enhances the instructor-trainee co-operation. Its significance stems fiom being usable for personnel training and simulating all typical combat situations given country's landscapes, and being amenable to adjustments to serve a combat command and control instrument if endowed with some hardware-in-the-loop (HIL) elements and interface to launching platform. In addition, it is aimed for investigating new tracking algorithms in multi-target environment. © 2003 IEEE.

关键词： Target tracking

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Dynamic analysis of assembly process with passive compliance for robot manipulators

Dynamic analysis of assembly process with passive compliance...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： K.-L. Du Biao-Biao Zhang Xinhan Huang Jianyuan Hu Dept. of Electrical and Computer Engineering Concordia University Montreal Canada School of Aerospace and Mechanical Engineering Australian Defence Force Academy Canberra Australia Dept. of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

Assembly automation has become a research highlight for years. Dynamics of the most fundamental peg-in-hole mating, which represents an important topic of future research, is, however, far from being resolved. To this end, the overall part-mating dynamics has been developed, and simulations have been implemented. The sensitivity analysis of each parameter on the assembly process has been made. The dynamic properties of assembly with the RCC have been concluded, which helps to implement active control. By selecting proper parameters of the dynamic remote center compliance, one can optimize assembly proceeding.

关键词： Manipulator dynamics Robotic assembly Aerodynamics Jamming Australia Automatic control Force control Robotics and automation Robots Aerospace control

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Area-contact haptic simulation

Area-contact haptic simulation

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International Symposium on Surgery Simulation and Soft Tissue Modeling, IS4TM 2003

作者： Kim, Sang-Youn Park, Jinah Kwon, Dong-Soo Teloperation and Control Laboratory Dept. of Mechanical Engineering KAIST Guseong-Dong 373-1 Yuseung-gu Daejeon305-701 Korea Republic of Computer Graphics and Visualization Laboratory School of Engineering ICU Hwaam-Dong 58-4 Yugeong-gu Daejeon305-732 Korea Republic of

ISBN: (纸本)3540404392

This paper presents the haptic interaction method when the interaction occurs at several points simultaneously. In many virtual training systems that interact with a virtual object, the haptic interface is modeled as a point. However, in the real world, the portion interacting with real material is not a point but rather multiple points, i.e., an area. In this paper, we address an areabased haptic rendering technique that enables the user to distinguish hard regions from softer ones by providing the distributed reflected force and the sensation of rotation at the boundary. We have used a shape retaining chain linked model that is suitable for real-time applications in order to develop a fast areabased volume haptic rendering method for volumetric objects. We experimented with homogeneous and non-homogeneous virtual objects consisting of 421,875 (75x75x75) volume elements. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Haptic interfaces

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A MIMO system with backward compatibility for OFDM based WLANs

A MIMO system with backward compatibility for OFDM based WLA...

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IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)

作者： Jianhua Liu Jian Li P. Stoica Dept. of Electrical and Computer Engineering University of Florida Gainesville FL USA Department of Electrical and Computer Engineering University of Florida Gainesville FL USA Department of Systems and Control Uppsala University Uppsala SE Sweden

Orthogonal frequency-division multiplexing (OFDM) has been selected as the basis for the new IEEE 802.11a standard for high-speed wireless local area networks (WLANs). We consider doubling the data rate of the IEEE 802.11a system by using a multi-input multi-output (MIMO) system with two transmit and two receive antennas. We propose a preamble design for this MIMO system that is backward compatible with its single-input single-output (SISO) counterpart as specified by the IEEE 802.11a standard. Based on this preamble design, we devise a sequential method for the estimation of the carrier frequency offset (CFO), symbol timing, and channel response. We also provide a simple soft-detector to obtain the soft-information for the Viterbi decoder. Both the sequential parameter estimation method and the soft-detector are ideally suited for real-time implementations. The effectiveness of our methods is demonstrated via numerical examples.

关键词： MIMO OFDM Frequency estimation Frequency division multiplexing Wireless LAN Receiving antennas Timing Viterbi algorithm Decoding Parameter estimation

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Modification of sliding mode controller by neural network with application to a flexible-link

Modification of sliding mode controller by neural network wi...

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2003 European control Conference, ECC 2003

作者： Yazdanpanah, M.J. Ghafari, A. Dept. of Electrical and Computer Engineering University of Tehran P. O. Box: 14395-515 Tehran Iran Control and Intelligent Processing Centre of Excellence University of Tehran P. O. Box: 14395-515 Tehran Iran Faculty of Electrical Engineering K.N.T. University of Technology P.O. Box: 16315-1355 Tehran Iran

ISBN: (纸本)9783952417379

In this paper, the performance of a free chattering sliding mode controller has been modified by neural network in order to decrease the consumption of energy. In other word, the final goal is to decrease the switching part of the control signal to the lowest level such that under this condition the system states converge to the sliding surface. The designed controller is applied to a flexible-link to control the endpoint position. The flexible-link has one degree of freedom and rotates in horizontal plane. The dynamic model was obtained from an experimental setup. Simulation results reveal the effectiveness of the proposed approach. © 2003 EUCA.

关键词： controllers

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Modification of sliding mode controller by neural network with application to a flexible-link

Modification of sliding mode controller by neural network wi...

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European control Conference (ECC)

作者： M. J. Yazdanpanah A. Ghafari Dept. of Electrical and Computer Engineering and “Control & Intelligent Processing Centre of Excellence” University of Tehran Tehran Iran Faculty of Electrical Engineering K.N.T. University of Technology Tehran Iran

关键词： Mathematical model Switches Uncertainty Manipulators Biological neural networks

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Dynamic Neural Networks for Actuator Fault Diagnosis: Application to the DAMADICS Benchmark Problem

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IFAC Proceedings Volumes 2003年第5期36卷 975-980页

作者： Krzysztof Patan Thomas Parisini Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Dept. of Electrical Electronic and Computer Engineering DEEI-University of Trieste Via Valerio 10 34127 Trieste Italy

The paper presents results achieved during realization of the international project DAMADICS ( Development and Application of Methods for Actuator Diagnosis in Industrial control Systems ). The proposed fault detection and isolation system is designed using a bank of dynamic neural networks. Each network is trained using a stochastic approximation method, which can be viewed as a fast alternative to back-propagation based algorithm. Simulation results are carried out using the real process data recorded at the Lublin Sugar Factory, Poland.

关键词： Actuators benchmark examples fault diagnosis dynamic models neural networks stochastic approximation performance indexes

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Beam steering technique through multiple Vee-antenna switching: Additional reflector element and radiation pattern characterization

Beam steering technique through multiple Vee-antenna switchi...

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SBMO/IEEE MTT-S International Conference on Microwave and Optoelectronics (IMOC)

作者： L.C. Kretly A.S. A Tavora S.E. Barbin Electrical and Computer Engineering Campinas State University Campinas SP Brazil Microwave & Opt. Dept. Campinas State Univ. Brazil Telecommunications and Control Engineering Department Sao Paulo University USP SP Brazil

Two prototypes of reconfigurable antenna structure applicable to 3G communication systems are presented in this paper. The first one was designed to operate at 2.45 GHz and to steer the radiation beam from 60/spl deg/ to 120/spl deg/ with a step of 5/spl deg/, by reconfiguring the feed elements. The second antenna is a V-antenna array with resonance frequency at 1.9 GHz and was constructed to full characterize the radiation pattern of this type of antenna.

关键词： Beam steering Antenna radiation patterns Dielectric substrates Communication switching Antenna arrays Resonance Bandwidth Arm Frequency Circuit simulation

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Constructing sparse realisations of finite-precision digital controllers based on a closed-loop stability related measure

Constructing sparse realisations of finite-precision digital...

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作者： Wu, J. Chen, S. Li, G. Chu, J. Natl. Lab. Indust. Contr. Technol. Inst. of Advanced Process Control Zhejiang University Hangzhou 310027 China Dept. of Electron./Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom Sch. of Elec./Electronic Engineering Nanyang Technological University Singapore Singapore

The authors present a study of the finite word length (FWL) implementation for digital controller structures with sparseness consideration. A closed-loop stability related measure is derived, taking into account the number of trivial elements in a controller realisation. A practical design procedure is presented, which first obtains a controller realisation that maximises a lower bound of the proposed measure, and then uses a stepwise algorithm to make the realisation sparse. Simulation results show that the proposed design procedure yields computationally efficient controller realisations with an enhanced FWL closed-loop stability performance.

关键词： Digital control systems

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Application of New Type BP Neural Networks for Magnetic Measurement

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High Technology Letters 2002年第2期8卷 83-86页

作者：张旭 Che Rensheng Kinouchi Y Luo Xiaochuan Dept. of Automatic Measurement and Control School of Computer Science and EngineeringHarbin Institute of Technology Harbin 150001 P.R.China Dept. of Electronic Engineering University of Tokushima Japan

Magnetic measurement is a typical inverse problem in Biomedical field. In this kind of problem we always need to locate the positions and moments of one or more magnetic dipoles. Although using the traditional methods to solve this kind of inverse problem has all kinds of shortcomings, BPNN (Back Propagation Neural Networks) method can be used to solve this typical inverse problem fast enough for real time measurement. In the traditional BPNN method, gradient descent search method is performed for error propagation. In this paper the authors propose a new algorithm that Newton method is performed for error propagation. For the cost function is highly nonconvex in the magnetic measurement problem, the new kind of BPNN can get convergent results quickly and precisely. A simulation result for this method is also presented.

关键词： magnetic measurement BP neural network gradient method Newton Gauss method

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