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An Upper Drive-Active Dual-Wheel Caster Assembly and its Application for Constructing Holonomic and Omnidirectional Platform

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IFAC Proceedings Volumes 2001年第19期34卷 405-410页

作者： Xin Yang Keigo Watanabe Kiyotaka Izumi Kazuo Kiguchi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502. Japan.

A new mechanical upper-drive active dual-wheel caster assembly is developed and two types of holonomie and omnidirectional mobile robots which utilize this caster assembly are discussed in this paper. The new active caster assembly is equipped with two standard tires as its driving wheels. Two motors are mounted on the upper frame to drive each wheel independently through a series of gears and a belt. In this structure, the lower frame can steer arbitrary angles referred to the upper frame without any wiring problem, which inhibits practical application of the previous normal active dual-wheel caster assembly. The new active caster assembly is used to construct two types of holonomie and omnidirectional mobile robots. One is a conventional structure, and the other is a synchro-drive system. The kinematic models of the new active caster assembly and two types of mobile robots are derived and the characteristics of these two holonomic and omnidirectional mobile robots are illustrated by computer simulations using resolved velocity control.

关键词： Holonomie and omnidirectional mobile robot Active dual wheel caster assembly Synchro-drive system. Kinematic model Resolved velocity control

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A Novel Robot Vision Employing a Silicon Retina

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Journal of Robotics and Mechatronics 2001年第6期13卷 614-620页

作者： Shimonomura, Kazuhiro Kameda, Seiji Ishii, Kazuo Yagi, Tetsuya Faculty of Computer Science and Systems engineering Kyushu Institute of Technology Fukuoka Japan Department of Electronic Engineering Graduate School of Engineering Osaka University Osaka Japan Control Engineering and Science Department at Kyushu Institute of Technology Berkeley Japan Graduate School of Engineering Osaka University Berkeley Japan

A Robot vision system was designed using a silicon retina, which has been developed to mimick the parallel circuit structure of the vertebrate retina. The silicon retina used here is an analog CMOS very large-scale integrated circuit, which executes Laplacian-Gaussian like filtering on the image in real time. The processing is robust to change of illumination condition. Analog circuit modules were designed to detect the contour from the output image of the silicon retina and to binarize the output image. The images processed by the silicon retina as well as those by the analog circuit modules are received by the DOS/V-compatible mother-board with NTSC signal, which enables higher level processings using digital image processing techniques. This novel robot vision system can achieve real time and robust processings in natural illumination condition with a compact hardware and a low power consumption. © 2001, Fuji technology Press. All rights reserved.

关键词： Field programmable gate arrays (FPGA)

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Feedback control for electromagnetic vibration feeder (application of two-degrees-of-freedom proportional plus integral plus derivative controller with nonlinear element)

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JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing 2001年第1期44卷 44-52页

作者： Doi, Tomoharu Yoshida, Koji Tamai, Yutaka Kono, Katsuaki Naito, Kazufumi Ono, Toshiro Department of Systems and Control Engineering Faculty of Engineering Osaka Prefectural College of Technology 26-12 Saiwai-cho Neyagawa Osaka 572-8572 Japan Department of System Engineering Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Research and Development Department Ishida Co. Ltd. 959-1 Shimomagari Ritto-cho Kurita-gun Shiga 520-3026 Japan Department of Mechanical Systems Engineering College of Engineering Osaka Prefecture University 1 1 Gakuen-cho Sakai Osaka 599-8531 Japan

An electromagnetic-type vibratory feeder of is a typical transportation device used in automatic weighers. As existing feeders are driven by feedforward control, the so-called "firing angle control", the driver cannot negate sudden disturbances. In this study, we consider applying a feedback control for such a feeder system. First, we give the two details of modelings for the vibration part and for the electromagnetic force part. Next, a feedback control system is constructed for the electromagnetic vibration feeder for which we propose a two-degrees-of-freedom proportional plus integral plus derivative (PID) controller with nonlinear elements. Next, we apply the feedback control to the feeder with a standard trough. Finally, we consider a method compatible with many varieties of troughs by adjusting a nonlinear element. On the basis of the results of some experiments, we confirm that the two-degrees-of-freedom PID control is more effective than the conventional firing angle control.

关键词： Mechanics

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A design of an associative memory array processor for ultrasonograph image acquisition and processing

A design of an associative memory array processor for ultras...

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作者： Aly, Gamal M. El-Nadi, Nabeel M. Fayed, Zaki T. Faheem, Hossam M. Dept. of Comp. and Control Systems Ain Shams University Faculty of Engineering Cairo Egypt Information Technology Institute Cairo Egypt Department of Computer Science Ain Shams University Fac. of Comp. and Info. Science Cairo Egypt

This paper describes a design of an associative memory array processor that can be used in the acquisition and processing of ultrasonograph images. The major concept is to design a parallel architecture that reduces task's execution time by analyzing multiple parts of the image concurrently. The architecture constitutes a distinctive type of single-instruction stream, multiple-data stream machine that is built around content-addressable associative memory slabs, that allow parallel access of multiple memory words. The basic building block of this architecture is a one-pixel processing element, which can perform the standard load (data acquisition) function and also contains some special comparison logic to enable its content to be compared with an external data. Several image processing operations are implemented in parallel, among them: component labeling, size filtering, pattern centralization, and pattern recognition. The proposed novel architecture can label specific regions into the image and isolate them intelligently. It is also capable of storing templates that may be considered as references for similar cases. The system is able to perform learning process and extract features from several input patterns and store the reference pattern in a slice. Moreover, the system is capable of comparing an input image with a pre-stored template during recognition process. The proposed architecture is of interest because it speeds up the recognition process and helps radiology specialists to write their reports confidently.

关键词： Ultrasonic imaging

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Test Generation and Design-for-Testability Based on Acyclic Structure with Hold Registers

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湖南大学学报（自然科学版） 2000年第S2期27卷 1-10页

作者： Tomoo Inoue Debesh Kumar Das Chiiho Sano Takahiro Mihara Hideo Fujiwara Faculty of Information Sciences Hiroshima City University Hiroshima 731-3194 Japan Computer Science and Engineering Department Jadavpur niversity Calcutta-700 032 India Graduate School of Information Science Nara Institute of Science and Technology Nara 630-0101 Japan Mitsubishi Electronic Control Software Corporation Kobe 652-0871Japan 不详

We present a method of test generation for acyclic sequential circuits with hold registers. A complete (100% fault efficiency) test sequence for an acyclic sequential circuit can be obtained by applying a combinational test generator to all the maximal time-expansion models (TEMs) of the circuit. We propose a class of acyclic sequential circuits for which the number of maximal TEMs is one, i.e, the maximum TEM exists. For a circuit in the class, test generation can be performed by using only the maximum TEM. The proposed class of sequential circuits with the maximum TEM properly includes several known classes of acyclic sequential circuits such as balanced structures and acyclic sequential circuits without hold registers for which test generation can be also performed by using a combinational test generator. Therefore, in general, the hardware overhead for partial scan based on the proposed structure is smaller than that based on balanced or acyclic sequential structure without hold registers.

关键词： acyclic sequential circuits combinational test generation hold registers maximum time-expansion model partial scan

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Laboratory of Heterogeneous Fieldbuses

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IFAC Proceedings Volumes 2000年第17期33卷 1267-1270页

作者： František Zezulka Petr Fiedler Dept. of Control and Instrumentation Faculty of Electrical Engineering and Computer Science Brno University of Technology Božetĕchova 2 612 66 Brno Czech Republic

One of the most important components of recent automation systems of machines, production lines and technological processes is the communication subsystem. Instead of parallel bus connections, the serial buses on various hierarchical levels of control structures are used. This contribution deals with problems of implementation of serial communication buses in a heterogeneous control instrumentation environment in industrial plants. It presents an aid for dealing with such problems on basis of a laboratory of industrial automation with heterogeneous communication testbed.

关键词： Cornmunication protocols Communication networks Industry automation Hierarchical control Integrated plant control

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New Methods of Interconnection of Industrial Fieldbuses

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IFAC Proceedings Volumes 2000年第1期33卷 145-147页

作者： Petr Fiedler Zdeněk Bradáč František Zezulka Dept. of Control and Instrumentation Faculty of Electrical Engineering and Computer Science Brno University of Technology Božetěchova 2 612 66 Brno Czech Republic

Traditional way of interconnection of industrial fieldbuses is used for data acquisition and operator control. This type of interconnection is not suitable for realtime control as it usually uses MS Windows based software gateways that are not capable of real-time processing of information. To assure real-time data transfer it is necessary to use different principle of interconnection. This new approach is based on hardware gateways. Hardware gateways can transfer data in predictable time. At present time hardware gateways are already used to interconnect fieldbuses of different level. Our paper presents that it is possible to use hardware gateways to interconnect fieldbuses of same level.

关键词： interconnection networks fieldbus throughput industry automation microprocessor

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Mathematical Model of the Skid-Steered Mobile Robot

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IFAC Proceedings Volumes 2000年第27期33卷 291-295页

作者： František Šole Luděk Žalud Bohumil Honzík Dept. of Control Measurement and Instrumentation Faculty of Electrical Engineering and Computer Science Brno University of Technology Božetěchova 2 612 66 Brno Czech Republic

The article describes mathematical model of the skid-steered mobile robot (SSMR), which was designed at the DCMI. SSMR is an indoor/outdoor autonomous/remotely controlled vehicle intended for research purposes in the area of developing a combination of autonomous and remote control schemes for mobile robots with application of telepresence principles. Mathematical model was derived using the Euler-Newton method of free bodies dynamics. Simulation results verifying the correctness of the model are provided.

关键词： mobile robots mathematical models dynamic modelling

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Texture modelling by optimal gray scale structuring elements using morphological pattern spectrum

Texture modelling by optimal gray scale structuring elements...

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International Conference on Pattern Recognition

作者： A. Asano M. Miyagawa M. Fujio Depatment of Mathematical and Information Sciences Faculty of Integrated Arts and Sciencese Hiroshima University Higa Hiroshima Japan Department of Control Engineering and Science Faculty of Computer Science and systems Engineering Kyushu institute of Technology Fukuoka Japan

ISBN: (纸本)0769507506

Proposes a texture modelling method based on the pattern spectrum. The pattern spectrum is a mathematical morphological method to describe the size distribution of objects contained in an image. Our method is based on the idea of obtaining a model of the elementary particles that form a texture by optimizing a gray scale structuring element to fit the shape of elementary particles. The optimization method is applied in two stages: the first stage optimizes the extent of the structuring element and the second optimizes the pixel values in the extent.

关键词： Shape Optimization methods Elementary particles Art Mathematical model Morphology Application software Image texture analysis Pattern analysis control engineering

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An effective uniform genetic algorithm for hard optimization problems

An effective uniform genetic algorithm for hard optimization...

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World Congress on Intelligent control and Automation (WCICA)

作者： Wang Yuping Liu Hailin Yiu-Wing Leung Faculty of Science Xidian University Xi'an China Department of Automatic Control Engineering South China University of Technology Guangzhou China Department of Computer Scienc Hong Kong Baptist University Hong Kong China

Genetic algorithms are one of the effective algorithms for hard optimization problems. They can escape from the local minima, however, the amount of their computation is often large. To decrease the amount of the computation and enhance the algorithms, the uniform design is combined into the genetic algorithm. The new genetic operator has the local-search property similar to that in traditional optimization techniques and needs a minimal amount of computation in certain meanings. Thus the new genetic algorithm can generate a diversity of population and explore the search space effectively. Moreover, the new algorithm is globally convergent. The numerical results also show the effectiveness of the new algorithm with its less computation, and higher convergent speed for all test functions.

关键词： Genetic algorithms Algorithm design and analysis Space exploration Scattering Optimization methods Automatic control Genetic engineering Testing engineering management Operations research

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