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2012 UKACC International Conference on control, control 2012

作者： Chu, Bing Cai, Zhonglun Owens, David H. Rogers, Eric Freeman, Chris T. Lewin, Paul L. Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom Faculty of Engineering and the Environment University of Southampton Southampton SO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom Italian Institute of Technology Via Morego 30 16163-Genova Italy

ISBN: (纸本)9781467315609

In many practical applications, constraints are often present on, for example, the magnitudes of the control inputs. Recently, based on a novel successive projection framework, two constrained iterative learning control (ILC) algorithms were developed with different convergence properties and computational requirements. This paper investigates the effectiveness of these two methods experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained demonstrate the effectiveness of the algorithms in solving one form of the general constrained ILC problem. © 2012 IEEE.

关键词： Iterative methods

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Mutual coupling in non-uniform array antennas — An effective recipe

Mutual coupling in non-uniform array antennas — An effectiv...

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European Conference on Antennas and Propagation, EuCAP

作者： Ioan E. Lager Massimiliano Simeoni Cristian Coman Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Delft Netherlands NATO Consultation Command and Control Agency (NC3A) The Hague Netherlands

An effective method for estimating the mutual coupling in finite, arbitrary arrays of rectangular waveguide apertures is discussed. It relies on evaluating the admittance matrix relating rectangular waveguide modes, its entries being computed by means of an interpolation strategy with demonstrated accuracy. The method's strength is demonstrated by means of a twofold numerical experiment: (i) the estimation of the mutual coupling's effect on the scanning performance of two relatively large, (non-)uniform arrays and (ii) the estimation of the coupling between two large, interleaved, non-uniform sub-arrays representing the transmit and receive antennas of a frequency-modulated, continuous wave radar system.

关键词： Apertures Arrays Interpolation Antenna arrays Mutual coupling Couplings Estimation

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Experimental verification of constrained iterative learning control using successive projection

Experimental verification of constrained iterative learning ...

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UKACC International Conference on control (control)

作者： Bing Chu Zhonglun Cai David H Owens Eric Rogers Chris T Freeman Paul L Lewin Electronics and Computer Science University of Southampton Southampton UK Faculty of Engineering and the Environment University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Italian Institute of Technology Genoa Italy

关键词： Convergence Robots Algorithm design and analysis Prediction algorithms Trajectory Optimization

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Performance Improvement of the LM Device and Its Application to Precise Measurement of Motion Trajectories within a Small Range with a Machining Centre

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Modern Mechanical engineering 2012年第3期2卷 71-85页

作者： Hua Qiu Yong Yue Akio Kubo Chao Lin Kai Cheng Dehong Huo Dayou Li 1Department of Mechanical Engineering Faculty of Engineering Kyushu Sangyo University Fukuoka City Japan Advanced Manufacturing and Enterprise Engineering Department School of Engineering and Design Brunel University Uxbridge UK Department of Computer Science and Technology University of Bedfordshire Luton UK Department of Mechanical Engineering Faculty of Engineering Kyushu Sangyo University Fukuoka City Japan Product Design and Engineering Department School of Engineering and Information Sciences Middlesex University London UK State Key Laboratory of Mechanical Transmission Chongqing University Chongqing China

In order to apply the LM device previously developed to precisely measuring small motion trajectories located on the different motion planes, three major improvements are successfully performed under the condition of completely maintaining the advantages of the device. These improvements include 1) development of a novel connection mechanism to smoothly attach the device to the spindle of a machining centre;2) employment of a new data sampling method to achieve a high sampling frequency independent of the operating system of the control computer;and 3) proposal of a set-up method to conveniently install the device on the test machining centre with respect to different motion planes. Practical measurement experiment results with the improved device on a machining centre sufficiently demonstrate the effectiveness of the improvements and confirm several features including a very good response to small displacement close to the resolution of the device, high precision, repeatability and reliance. Moreover, based on the measurement results for a number of trajectories for a wide range of motion conditions, the error characteristics of small size motions are systematically discussed and the effect of the movement size and feed rate on the motion accuracy is verified for the machining centre tested.

关键词： Motion Accuracy Measurement Device Performance Improvement Small Size Motion Machining Centre

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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Generation of discrete frequency and wavelength for secured computer networks system using integrated ring resonators

Generation of discrete frequency and wavelength for secured ...

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International Conference on computer and Communication engineering, ICCCE

作者： I. S. Amiri k. Sarkhanlou A. Nikoukar A. Shahidinejad J. Ali P. P. Yupapin Institute of Advanced Photonics Science Nanotechnology Research Alliance Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Department of Computer Software Engineering Comprehensive University of Applied and Practical Sciences Ardebil Iran Faculty of Computer Science & Information Systems (FCSIS) Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Advanced Research Center for Photonics Faculty of Science King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

In this study, a system of discrete optical pulse generation via a series of microring resonator (MRR) is presented. Chaotic signals can be generated by an optical soliton or a Gaussian pulse within a MRR system. Large bandwidth signals of optical soliton are generated by input pulse propagating within the MRRs, which can be used to form continuous wavelength or frequency with large tunable channel capacity. Therefore, distinguished discrete wavelength or frequency pulses can be generated by using localized spatial pulses via a networks communication system. Selected discrete pulses are more suitable to generate high-secured quantum codes because of the large free spectral range (FSR). Quantum codes can be generated by using a polarization control unit and a beam splitter, incorporating to the MRRs. In this work, frequency band of 10.7 MHz and 16 MHz and wavelengths of 206.9 nm, 1448 nm, 2169 nm and 2489 nm are localized and obtained which can be used for quantum codes generation applicable for secured networks communication.

关键词： Optical solitons Optical filters Optical pulses Optical ring resonators Nonlinear optics Optical polarization

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Modeling and control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. controller is designed based on feedback linearization to track desired trajectories. controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Sensitivity analysis of time delay parabolic-hyperbolic optimal control problems

Sensitivity analysis of time delay parabolic-hyperbolic opti...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Zbigniew Emirsajłow Anna Krakowiak Adam Kowalewski Jan Sokołowski Institute of Control Engineering West Pomeranian University of Technology Szczecin Poland Institute of Mathematics Technical University Cracow Cracow Poland Faculty of Electrical Engineering Automatics Computer Science and Electronics Institute of Automatics AGH University of Science and Technology Cracow Poland Systems Research Institute Polish Academy of Sciences Warszawa Poland Institut Elie Cartan Laboratoire de Mathématiques Université Henri Poincaré Vandoeuvre-les-Nancy France

In the paper the first order sensitivity analysis is performed for a class of optimal control problems for time delay parabolic-hyperbolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. The Steklov-Poincaré operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. The optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.

关键词： Optimal control Equations Delay effects Sensitivity analysis Boundary conditions Educational institutions Electronic mail

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Developing a denoising filter for electron microscopy and tomography data in the cloud

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Biophysical Reviews 2012年第3期4卷 223-229页

作者： Starosolski, Zbigniew Szczepanski, Marek Wahle, Manuel Rusu, Mirabela Wriggers, Willy Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology 44-100 Gliwice Akademicka 16 Poland School of Biomedical Informatics University of Texas Health Science Center Houston TX 77030 7000 Fannin St. UCT 600 United States Department of Pediatric Radiology Texas Children's Hospital Houston TX 77030 6621 Fannin St. United States Department of Biomedical Engineering Rutgers The State University of New Jersey Piscataway NJ 08854 599 Taylor Road United States Department of Physiology and Biophysics and Institute for Computational Biomedicine Weill Medical College of Cornell University NY NY 10065 1300 York Ave. United States D. E. Shaw Research NY NY 10036 120 West 45th Street United States

The low radiation conditions and the predominantly phase-object image formation of cryo-electron microscopy (cryo-EM) result in extremely high noise levels and low contrast in the recorded micrographs. The process of single particle or tomographic 3D reconstruction does not completely eliminate this noise and is even capable of introducing new sources of noise during alignment or when correcting for instrument parameters. The recently developed Digital Paths Supervised Variance (DPSV) denoising filter uses local variance information to control regional noise in a robust and adaptive manner. The performance of the DPSV filter was evaluated in this review qualitatively and quantitatively using simulated and experimental data from cryo-EM and tomography in two and three dimensions. We also assessed the benefit of filtering experimental reconstructions for visualization purposes and for enhancing the accuracy of feature detection. The DPSV filter eliminates high-frequency noise artifacts (density gaps), which would normally preclude the accurate segmentation of tomography reconstructions or the detection of alpha-helices in single-particle reconstructions. This collaborative software development project was carried out entirely by virtual interactions among the authors using publicly available development and file sharing tools. © 2012 International Union for Pure and Applied Biophysics (IUPAB) and Springer.

关键词： cryo-EM Digital paths Filtering Helix detection Remote collaboration Supervised classification

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Composition of united multiple diseases evolution topological model

Composition of united multiple diseases evolution topologica...

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9th International Symposium on Intelligent Systems and Informatics, SISY 2011

作者： Karpičs, I. Markovičs, Z. Markoviča, I. Institute of Computer Control Automation and Computer Engineering Faculty of Computer Science and Information Technology Riga Technical University Riga Latvia

ISBN: (纸本)9781457719745

Mathematical models are constructed and used as a methodology of various functioning systems structure investigation and performance analysis. The main goal of mathematical model usage is to perform wholesome diagnostics and correct work resumption of investigated system. In the article topological modeling method has been investigated by giving fundamental basics and application spheres by examples. Authors propose model construction method with an example from medicine by creating multiple diseases (arterial hypertension, atherosclerosis and diabetes mellitus) evolution topological model with formal aspects. Developed modeling method and united diseases model can be used to prognosticate evolution of diseases, perform inspection of used therapies and provide information for optimal therapy complex selection. © 2011 IEEE.

关键词： Topology

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