检索结果-内蒙古大学图书馆

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

来源：评论

学校读者我要写书评

暂无评论

An intelligent approach for speed stability analysis of a travelling wave ultrasonic motor based on genetic k-NN algorithm

An intelligent approach for speed stability analysis of a tr...

引用

International Conference on Application of Information and Communication Technologies (AICT)

作者： Ilhami Colak Mehmet Yesilbudak Seref Sagiroglu H. Tolga Kahraman Department of Electrical and Electronics Engineering Faculty of Technology Gazi University Ankara Turkey Department of Electronics and Automation Vocational College of Haci Bektas Veli Nevsehir University Nevsehir Turkey Department of Computer Engineering Faculty of Engineering Gazi University Ankara Turkey Department of Software Engineering Faculty of Technology Karadeniz Technical University Trabzon Turkey

Driving voltage, driving frequency, phase difference and operating temperature are the parameters which affect the speed stability of a travelling wave ultrasonic motor (TWUSM). The weight coefficients of these parameters should be determined for the purpose of ensuring the speed stability of a TWUSM with a maximum level under different operating conditions. In this paper, a novel approach is proposed for the speed stability analysis of the TWUSM using genetic k-nearest neighbor algorithm (k-NN) and the speed stability classes of new test observations are achieved accurately. Furthermore, the genetic k-NN algorithm is compared with the classic k-NN algorithm in terms of prediction accuracy using Euclidean, Manhattan and Minkowski distance metrics. As a result of experimental studies, it is shown that the TWUSM parameters weighted by the genetic k-NN algorithm increase the speed stability of the TWUSM significantly and the genetic k-NN algorithm outperforms the classic k-NN algorithm for all of distance metrics.

关键词： Measurement Classification algorithms Frequency control Artificial neural networks Servomotors Prediction algorithms Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Diagnosis of industrial systems driven by electrical machines with a low cost platform

Diagnosis of industrial systems driven by electrical machine...

引用

IEEE International Symposium on Diagnostics for Electric Machines, Power Electronics and Drives (SDEMPED)

作者： Radu Munteanu Daniel Moga Dorin Petreus Nicoleta Stroia Zsolt Barabas Florin Hrebenciuc Faculty of Electrical Engineering Technical University of Cluj-Napoca Romania Faculty of Automation and Computer Science Technical University of Cluj-Napoca Romania Faculty of Electronics and Telecommunication University of Cluj-Napoca Romania Technical University of Cluj-Napoca Romania RFID

A low cost hardware platform consisting of a measurement system, a communication system and a data processing system is presented. Wired and wireless sensors are developed for supporting motor current signature analysis (MCSA), vibration signature analysis (VSA) and operational temperature monitoring. A “plug and play” software application is implemented for allowing remote computers to share this sensor data using OPC technology. Using Matlab as an OPC client, time-domain and frequency-domain signal processing techniques are used in order to determine the signatures associated with faults of locally or remote operating electrical machines.

关键词： Temperature sensors Universal Serial Bus Servers Monitoring Vibrations Wireless communication

来源：评论

学校读者我要写书评

暂无评论

Power factor compensation for CSC-fed PMSM drive using d-axis stator current control

Power factor compensation for CSC-fed PMSM drive using d-axi...

引用

IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Ehsan Al-nabi Bin Wu Navid Zargari Vijay Sood Department Electrical & Computer Engineering Ryerson University Toronto ONT Canada MV Drive Research and Development Rockwell Automation Cambridge ONT Canada Faculty of Engineering & Applied Scince UOIT Oshawa ONT Canada

In this paper, an input power factor compensation method is proposed for a high-power pulse-width-modulated Current-Source-Converter (CSC)-fed Permanent Magnet Synchronous Motor (PMSM) drive system. The proposed method is based on controlling the d-axis stator current component in the field oriented control scheme of the drive system. The CSC-fed PMSM drive system and its field oriented control scheme are first introduced. Then, the relationships between the machine side, dc-link, and the line side are investigated. Based on the analysis, a new d-axis stator current control scheme that can ensure unity input power factor for the operating speed range is proposed. The main feature of the proposed scheme is to compensate the line-side power factor without the need for modulation index control in either the rectifier or the inverter. Therefore, offline Selective Harmonic Elimination (SHE) modulation schemes can be implemented on both line and machine side converters to minimize the total harmonic distortion. This results in reduced switching frequency and reduced switching losses. Simulation results for a 2.44MW medium-voltage system and experimental results from a low-voltage 6.5kW IPM motor drive are provided to verify the effectiveness of the proposed compensation method.

关键词： Stators Reactive power Rectifiers Modulation Permanent magnet motors Capacitors Synchronous motors

来源：评论

学校读者我要写书评

暂无评论

An Anti-Slip Predictive Controller for a V-PRA Vehicle

引用

IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive Control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Intelligent agent-based modeling of kinesin nanomotor

Intelligent agent-based modeling of kinesin nanomotor

引用

Annual Conference of Industrial Electronics Society

作者： H.R. Khataee T.N. Moh Aris M.N. Sulaiman M. Yousef Ibrahim Department of Computer Science Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Gippsland Regional Automation Centre School of Applied Science and Engineering Monash University Churchill VIC Australia

This paper introduces a new methodology to develop comprehensive structural and behavioral models of kinesin nanomotor within its cell using agent technology. In this work, firstly, kinesin nanomotor is introduced as a physical intelligent agent. Then, we have proposed an agent-based structural model of kinesin nanomotor using composite diagram of Unified Modeling Language (UML). We also introduced its heads and tail as the kinesin's sensors and its motor domain as its actuator. An agent-based behavioral model of kinesin nanomotor was developed using Finite State Machine (FSM) diagram of UML and illustrated the internal intelligent and autonomous decision-making process of the nanomotor. The proposed agent-based behavioral FSM model was verified with its mathematical definitions which developed as Deterministic Finite Automaton (DFA) and its respective grammar. The outputs of the proposed grammar were in agreement with the proposed DFA model and traced the behavior of the nanomotor in nature. Also, the behavioral DFA model of the nanomotor was implemented as its software agent model. The proposed agent-based structural and behavioral models of kinesin nanomotor introduced the nanomotor as bio-nanoagent which was able to sense its cell through its sensors, make decision internally, and perform actions upon the cell through its actuator.

关键词： Unified modeling language Computational modeling Mathematical model Doped fiber amplifiers Sensors Biological system modeling Actuators

来源：评论

学校读者我要写书评

暂无评论

Bio-nanorobotic in nanotechnology: Structure and potential

Bio-nanorobotic in nanotechnology: Structure and potential

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： H. R. Khataee M.Y. Ibrahim M.A. Teh Noranis Department of Computer Science Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Gippsland Regional Automation Centre School of Applied Science and Engineering Monash University Churchill VIC Australia

Bio-nanorobotic systems are made from bio-nanocomponents, particularly proteins. An important group of such protein-based bio-nanocomponents are myosin protein nanomotors that are involved in a wide variety of cellular tasks from cellular transports to muscle contractions. Realization of behavior and properties of the myosin protein nanomotors as bio-nanocomponents could form the basis of bottom-up approaches for constructing active bio-nanorobotic systems. This is the long-term goal of the bio-nanorobotic. In this paper we have presented an engineering point of view to the structure and behavior of both categories of myosin nanomotors, muscle and non-muscle. Myosin nanomotors are self-guiding systems. They have evolved to bind to their polymer filaments and are able to recognize the direction of movement by moving only in one direction of the polarized filaments. Myosin nanomotors also convert the chemical energy into mechanical work directly rather than via an intermediate energy. We have also pointed out to the potential applications of this nanomotor. The myosin's perfect structure, small size, smart and high efficiency indicate that myosin nanomotor can be an ideal bio-nanocomponent for bio-nanorobotic systems.

关键词： Nanobioscience Muscles Proteins Polymers Fasteners Nanoscale devices

来源：评论

学校读者我要写书评

暂无评论

Modeling and Simulation of 500 kV Transmission Network for Numerical Fault Calculation, Detection, Using PSCAD/EMTDC

Modeling and Simulation of 500 kV Transmission Network for N...

引用

IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

作者： Pairoj Kajoijilertsakul Santi Asawasripongtorn Peerayot Sanposh Jittiwut Suwatthikul Hideaki Fujita Department of Electrical Engineering Faculty of Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Bangkok Thailand Department of Electrical and ElectronicEngineering Tokyo Institute of Technology Tokyo Japan

This paper presents modeling of the 500 kV transmission line located between Bang-Saphan 2 (BSP2) and Chom-Bung (CBG) substations, Thailand. The network is modeled based on the transient simulation program- PSCAD/EMTDC. The equivalent circuit of BSP2 and CBG is obtained from the actual parameters. The initial condition parameters are verified by PSS/E, an electrical simulation program. After the modeling has been established, a fault analysis is done by using PSCAD/EMTDC in order to study the system response when fault constrains are applied. This paper has illustrated that how the information on the sampled voltage and current waveforms derived from PSCAD/EMDTC modeling and simulation can be used for fault detection, classification and location.

关键词： Integrated circuit modeling Circuit faults PSCAD EMTDC Protective relaying Power transmission lines RLC circuits

来源：评论

学校读者我要写书评

暂无评论

Wavelet based fault detection, classification and location in existing 500 kV transmission line

Wavelet based fault detection, classification and location i...

引用

International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

This paper describes the implementation of Wavelet Transform and Spectral Energy analysis on samples of simulated voltage and current waveforms obtained from PSCAD/EMTDC for each of the all possible fault scenarios in a modeled 500 kV transmission network. The fault detection and classification of each fault scenarios is determined based on results of the voltage and current waveforms analysis in time and wavelet domains. The analysis is carried out including variation in fault types, inception angles and locations with a practically arbitrarily assumed fault duration. The analytical results shows that the described technique is highly dependable and is able to detect and classify different kinds of faults along a transmission line whatever is the fault type, inception angle and location.

关键词： Entropy PSCAD EMTDC Power measurement TV Tin Surges

来源：评论

学校读者我要写书评

暂无评论

Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

Decentralized Task Sequencing and Multiple Mission Control f...

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： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：