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Set-Point Control for Folded Posture of 3-Link Underactuated Gymnastic Planar Robot: Beyond the Swing-up Control

IFAC Proceedings Volumes 2011年第1期44卷 11875-11880页

作者： Xin Xin Yannian Liu Jinhua She Lei Guo Faculty of Computer Science and System Engineering Okayama Prefectural University Okayama 719-1197 Japan Okayama 701-1213 Japan School of Computer Science Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Instrument Science and Opto-Electronics Engineering Beihang University Beijing 100191 China

Abstract This paper concerns a set-point control for a folded posture of a 3-link gymnastic planar robot moving in the vertical plane with the first joint being passive and the others being active. To realize the goal posture of the kip motion of a gymnast on the high bar, the control objective is to drive the robot from any arbitrary initial state to any arbitrarily small neighborhood of the up-down-down equilibrium point and then balance the robot about that point, where the first link is in the upright position and the second and third links are in the downward position. This paper uses the energy-based control approach and the notion of virtual composite link to design a controller and provides a global motion analysis of the robot. This paper shows that the control toward such a folded posture is different from the swing-up control problem, for which all three links are fully stretched out in the upright position at the goal posture. A new result of this paper is that in addition to some conditions on the control parameters, a constraint on the mechanical parameters of the robot is needed for achieving the set-point control of the folded posture. The simulation results for two 3-link robots are provided to validate the effectiveness of the proposed control law and the necessity of the constraint.

关键词： Underactuated mechanical systems robot control set-point control nonlinear control passivity Lyapunov stability motion analysis

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Mining significant association rules from educational data using critical relative support approach

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Procedia - Social and Behavioral sciences 2011年 28卷 97-101页

作者： Zailani Abdullah Tutut Herawan Noraziah Ahmad Mustafa Mat Deris Department of Computer Science Universiti Malaysia Terengganu 21030 Kuala Terengganu Terengganu Malaysia Faculty of Computer System and Software Engineering Universiti Malaysia Pahang Lebuhraya Tun Razak 26300 Kuantan Pahang Malaysia Faculty of Computer Science and Multimedia Parit Raja Batu Pahat 86400 Johor Malaysia

Least association rules are the association rules that consist of the least item. These rules are very important and critical since they can be used to detect the infrequent events and exceptional cases. However, the formulation of measurement to efficiently discover least association rules is quite intricate and not really straight forward. In educational domain, this information is very useful since it can be used as a base for investigating and enhancing the current educational standards and managements. Therefore, this paper proposes a new measurement called Critical Relative Support (CRS) to mine critical least association rules from educational context. Experiment with students’ examination result dataset shows that this approach can be used to reveal the significant rules and also can reduce up to 98% of uninterested association rules.

关键词： Least association rules Educational Critical relative support

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Extracting highly positive association rules from students’ enrollment data

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Procedia - Social and Behavioral sciences 2011年 28卷 107-111页

作者： Zailani Abdullah Tutut Herawan Noraziah Ahmad Mustafa Mat Deris Department of Computer Science Universiti Malaysia Terengganu 21030 Kuala Terengganu Terengganu Malaysia Faculty of Computer System and Software Engineering Universiti Malaysia Pahang Lebuhraya Tun Razak 26300 Kuantan Pahang Malaysia Faculty of Computer Science and Information Technology Parit Raja Batu Pahat 86400 Johor Malaysia

Association Rules Mining is one of the popular techniques used in data mining. Positive association rules are very useful in correlation analysis and decision making processes. In educational context, determine a “right” program to the students is very unclear especially when their chosen programs are not selected. In this case, normally they will be offered to other programs based on the programs availability and not according to their program's field interests. The main concern is, by assigning inappropriate program which is not reflected their overall interest; it may create serious problems such as poorly in academic commitment and academic achievement. Therefore, Therefore in this paper, we proposed a model which consists of pre-processing, mining patterns and assigning weight to discover highly positive association rules. We examined the previous chosen programs by computer science students in our university for July 2008/2009 intake. The result shows that the proposed model can mine association rules with high correlation. Moreover, for data analysis, there are existed students that have been offered in computer science program at our university but not within their program's field interests.

关键词： Positive association rules Educational Progams

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Evaluation of a new Backtrack Free path planning Algorithm for two manipulators

Evaluation of a new Backtrack Free path planning Algorithm f...

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International Conference on Research and Innovation in Information systems (ICRIIS)

作者： Md. Nazrul Islam J. Gallardo-Alvarado Shinsuke Tamura Faculty of Computer Science and Information System University Technology of Malaysia Skudai Johor Malaysia Graduate School of Engineering University of Fukui Fukui Japan

This paper describes a path planning algorithm for calculates collision free path of two manipulators in a populated environment for 2 or 3-dimensional workspace. In the algorithm, two manipulators are considered as a single composite one. A newly developed path planning algorithm BFA (Backtrack Free path planning Algorithm) enables the efficient generation of paths of this composite manipulator with many arms. BFA is an exact algorithm, i.e. the algorithm is backtrack free and resolution complete. Its computation time and memory space are proportional to the total number of arms in composite manipulators. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments. An additional advantage of this approach is that paths of individual manipulators can be calculated in parallel processing.

关键词： Manipulators Path planning Algorithm design and analysis Joints Real time systems Position measurement

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A nonlinear model predictive control using a continuation method and a step input constraint

A nonlinear model predictive control using a continuation me...

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Kota Kogiso Shiro Masuda Takao Sato Faculty of System Engineering Tokyo Metropolitan University Hino Tokyo Japan Faculty of Electrical Engiueering Mathematics and Computer Science Tokyo Metropolitan University Tokyo Japan Department of Mechanical and system Engineering Univercity of Hyogo Chuo-ku Kobe Hyogo Japan

The nonlinear model predictive control (MPC) needs to solve a two-point boundary-value problem (TP-BVP) at every sample time based on the receding horizon control strategy. However, solving a nonlinear algebraic equation for the TP-BVP requires high computational load, so developing an efficient computation method of the control law in real-time is a significant issue on the research of the nonlinear model predictive control. This paper proposes an efficient calculation method of the control law for nonlinear MPC. The proposed approach searches an optimal step-type input signal for a given performance index beforehand, then the input signal is successively updated using a continuation method. Hence, it can reduce the computation load because the number of the parameter to be optimized becomes one in the SISO case or the number of the inputs in the MIMO case, and solving TP-BVP can be avoided by a continuation method. In addition, the accuracy of the nonlinear algebraic equation, which gives the optimal condition, keeps well by analytically deriving the updating law of the MPC control law. A numerical example shows that the proposed method can reduce the computation load of the nonlinear MPC, while the accuracy of the optimal conditions given by the nonlinear algebraic equations keeps a tolerance level.

关键词： Predictive control Equations Optimization Design methodology Mathematical model computers Numerical models

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An application of fractional intelligent robust controller for electromechanical valve

An application of fractional intelligent robust controller f...

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2011 World Congress on Information and Communication Technologies, WICT 2011

作者： Banerjee, Tribeni Prasad Saha, Suman Das, Swagatam Abraham, Ajith Dept. of Electronics and Telecommunication Engineering Jadavpur University Kolkata 700 032 India CSIR-Central Mechanical Engineering Research Institute Drives and Control System Laboratory Durgapur-713209 West-Bengal India Scientific Network for Innovation and Research Excellence WA United States EU Center of Excellence Faculty of Electrical Engineering and Computer Science VSB - Technical University of Ostrava Czech Republic

ISBN: (纸本)9781467301251

The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. This is for controlling the velocity of worm gear so that the friction torque due to uneven rotational speed can be avoided. Because with the friction and stiction and backlash the valve system performance is reduced and more and more unstable this leads the system to failure. The proposed controller can provide robustness against the uncertain loading torque and system parameter. © 2011 IEEE.

关键词： Controllers

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Performance Measurement of Thresholding Algorithms in Printed Circuit Board Inspection system

Performance Measurement of Thresholding Algorithms in Printe...

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International Conference on Computational Intelligence, Modelling and Simulation (CSSIM)

作者： Ismail Ibrahim Syed Abdul Rahman Syed Abu Bakar Musa Mohd Mokji Kamal Khalil Zulkifli Md. Yusof Jameel Abdulla Ahmed Mukred Zuwairie Ibrahim Mohd Saberi Mohamad Wan Khairunizam Wan Ahmad Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Faculty of Computer Science and Information System Universiti Teknologi Malaysia Skudai Johor Malaysia Faculty of Mechatronic Engineering Universiti Malaysia Perlis Arau Perlis Malaysia

It is well-known that thresholding algorithm is needed by gray-scale images in segmentation operation. In this paper, real printed circuit boards used are captured using a monochrome charged coupled device camera and produced images consisting of foreground and background objects in gray-scale format. In order to correctly differentiate these two kinds of attributes, several of thresholding algorithms are applied. Then, misclassification error measure has been employed to evaluate the performances of these thresholding algorithms. This method gives information on how many percentages of background pixels wrongly assigned to foreground, and foreground pixels wrongly assigned to background pixels. As the best thresholding algorithm has been chosen, median filtering and the proposed defect classification algorithm can be applied to remove small noise in resultant images and classify the defects occurred on the printed circuit boards, respectively.

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New Results of Energy-Based Swing-Up Control for Rotational Pendulum

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IFAC Proceedings Volumes 2011年第1期44卷 10673-10678页

作者： Seiji Tanaka Xin Xin Taiga Yamasaki Graduate School of Systems Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan

Abstract In this paper, we revisit the energy-based swing-up control problem for a rotational pendulum. Different from the existing energy-based control solution, first, we present a necessary and sufficient condition for avoiding singular points in the control law and carry out a global motion analysis of the pendulum. Next, we remove the previous required constraint on the initial state of the pendulum and the control parameters for preventing the pendulum getting stuck at the downward equilibrium point by revealing that the point is saddle (hyperbolic and unstable). Specifically, we show that the Jacobian matrix evaluated at the point has two and two eigenvalues in the open left- and right-half planes, respectively. We prove that the pendulum will eventually be swung up into the basin of attraction of any locally stabilizing controller for all initial conditions with the exception of a set of Lebesgue measure zero. Finally, we validate the presented theoretical results via numerical simulation of two rotational pendulums. Our simulation results show that the swing-up control can be achieved quickly under the improved conditions on the control parameters.

关键词： Rotational pendulum energy-based control swing-up control underactuated system Lyapunov stability theory

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Broadband design method of SIW directional couplers

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作者： Murai, Katsuya Ikeuchi, Hiroaki Kawai, Tadashi Kishihara, Mitsuyoshi Ohta, Isao Graduate School of Engineering University of Hyogo 2167 Shosha Himeji Hyogo 671-2280 Japan Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan University of Hyogo 1-3-3 Higashikawasaki-cho Chuo-ku Kobe Hyogo 650-0044 Japan

ISBN: (纸本)9787308085557

This paper treats two-fold symmetrical SIW directional couplers with simple structure and broadband characteristics. The proposed directional coupler consists of a rectangular cavity connected four input/output ports at its corner, and several metallic posts inserted within the cavity in order to obtain a desired property. By optimizing the circuit structure, broadband characteristics can be obtained for several directional couplers with a coupling coefficient of 0dB or 3dB. In analysis and design, SIW circuits are treated as waveguide circuits filled with dielectric material, and applied to the H-plane planar circuit approach, the segmentation method, and short-circuiting of fictitious ports. Finally, we demonstrate the validity of this design procedure by em-simulations and measurement of fabricated couplers including microstrip line to SIW transitions. © 2011 CJMW.

关键词： Directional couplers

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DMCA: A Combined Data Mining Technique for Improving the Microarray Data Classification Accuracy

DMCA: A Combined Data Mining Technique for Improving the Mic...

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2011 International Conference on Environment and Bioscience（ICEBS 2011）

作者： Dina A.Salem Rania Ahmed A.A.Abul Seoud Hesham A.Ali Dept.of Electronics Engineering-Faculty of Engineering-Misr University for Science and Technology Egypt Dept.of Electrical Eng.-Comm.and Electronics Section-Faculty of Eng-El Fayoum University-Fayoum Egypt Computer Engineering System Dept-Faculty of Engineering-Mansoura University Egypt

Data mining techniques are important to sift through the huge amount of gene expression values in microarrays resulting in valuable biological knowledge. An important example is classifying cancer samples, which is crucial to biologists for cancer diagnosis and treatment. In this paper we propose the DMCA technique in which the main objective is reducing the number of genes needed for accurate classification. The proposed technique is a combination of two feature selection techniques, f-score and entropy-based, and a powerful classifier, Support Vector Machines. DMCA achieved promising results and is characterized by being flexible in all of its stages. When applied to two public microarray datasets, DMCA succeeded in reducing the number of gene expression values needed to classify a sample by 71.29% and guaranteed reliable classification accuracy.

关键词： data mining, bioinformatics, microarrays, classification, gene selection, f-score technique

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