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International Conference on Mechatronics (ICM)

作者： Gurkan Tuna Kayhan Gulez V. Cagri Gungor Vocational College of Technical Sciences Department of Computer Programming Trakya University Edirne Turkey Electrical-Electronics Engineering Faculty Control and Automation Engineering Department Yildiz Technical University Istanbul Turkey Department of Computer Engineering Bahcesehir University Istanbul Turkey

This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations.

关键词： Wireless sensor networks Robustness Batteries Sensors

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Supply system based on the 18-pulse diode rectifier with coupled reactors and integrated with the series active power filter

Supply system based on the 18-pulse diode rectifier with cou...

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Compatibility in Power Electronics (CPE)

作者： P. Mysiak R. Strzelecki H. Tunia K. Zymmer Faculty of Electrical Engineering Department of Ship Automation Gdynia Maritime University Gdynia Poland Faculty of Electrical Engineering Automatics and Computer Science Kielce University of Technology Kielce Poland Department of Power Converters Electrotechnical Institute Warsaw Poland

The article presents the principle of operation and selected results of simulation and laboratory tests of the 18-pulse converter system with direct voltage output, cooperating with a small series active power filter (S-APF). The presented system makes it possible to reduce, especially in autonomous supply networks, undesired higher harmonics in the network current. The 18-pulse nature of operation of the rectifier is reached using a set of coupled three-phase network reactors (CDT and CTR). Simultaneous use of the magnetically coupled reactors and the small active power filter provides opportunities for easy and cheap reduction of the supply current THD coefficient, down to the values acceptable by clean power converters (CPC) conditions.

关键词： Rectifiers Inductors Power harmonic filters Harmonic analysis Active filters Voltage measurement Bridge circuits

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Gray-level co-occurrence matrix bone fracture detection

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WSEAS Transactions on Systems 2011年第1期10卷 7-16页

作者： Chai, Hum Yan Wee, Lai Khin Swee, Tan Tian Hussain, Sheikh Department of Biomedical Instrumentation and Signal Processing Faculty of Health Science and Biomedical Engineering Universiti Teknologi Malaysia UTM Skudai 81310 Johor Malaysia Institute for Biomedical Engineering and Informatics Faculty of Computer Science and Automation Technische Universität Ilmenau POB 100565 98684 Ilmenau Germany

Fractures of bone are a common affliction in orthopedic wards at any given time. Trained radiologists generally identify abnormal pathologies including fractures with a relatively high level of accuracy. However studies examining reader accuracy have shown that in some cases the miss rate can be as high when reading x-rays containing multiple abnormalities. Accurate diagnosis of fractures is vital to the effective management of patient injuries. As a result, detection of long-bone fractures is an important orthopedics and radiologic problem, and it is proposed that a novel computer aided detection system could help lowering the miss rate. This paper examines the development of such a system, for the detection of long-bone fractures. This project fully employed MATLAB 7.8.0 (.r2009a) as the programming tool for loading image, image processing and user interface development. Results obtained demonstrate the performance of the femur?s long bone fracture detection system with some limitations.

关键词： Image classification

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Systems with queueing and their simulation

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World Academy of Science, engineering and Technology 2011年 73卷 865-871页

作者： Šeda, Miloš Ošmera, Pavel Petrucha, Jindřich Institute of Automation and Computer Science Faculty of Mechanical Engineering Brno University of Technology Technická 2896/2 CZ 616 69 Brno Czech Republic European Polytechnic Institute Kunovice Czech Republic

In the queueing theory, it is assumed that customer arrivals correspond to a Poisson process and service time has the exponential distribution. Using these assumptions, the behaviour of the queueing system can be described by means of Markov chains and it is possible to derive the characteristics of the system. In the paper, these theoretical approaches are presented on several types of systems and it is also shown how to compute the characteristics in a situation when these assumptions are not satisfied.

关键词： Queueing theory

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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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

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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...

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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

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

Diagnosis of industrial systems driven by electrical machine...

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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

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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...

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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

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

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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.

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Intelligent agent-based modeling of kinesin nanomotor

Intelligent agent-based modeling of kinesin nanomotor

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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

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