检索结果-内蒙古大学图书馆

Asian control Conference

作者： Ahmad 'Athif Mohd Faudzi Teh Chuan Enn Khairuddin Osman Zool Hilmi Ismail Center for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Johor Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor

ISBN: (纸本)9781467357661

This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.

关键词： Intelligent Pneumatic Actuator (IPA) Cylinder Linearization PI ANFIS

来源：评论

学校读者我要写书评

暂无评论

A Study About the Effects of Educational robotics Activities on Students’ Self-efficacy Regarding STEM Career Decisions 25th

A Study About the Effects of Educational Robotics Activities...

引用

25th International Conference on Interactive Collaborative Learning, ICL 2022

作者： Jäggle, Georg Lepuschitz, Wilfried Wachter, Peter Balogh, Richard Tomitsch, Tanja Vincze, Markus ACIN Institute of Automation and Control Vienna University of Technology Vienna Austria PRIA Practical Robotics Institute Austria Vienna Austria CVTI Slovak Centre of Scientific and Technical Information Bratislava Slovakia STU Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia

ISBN: (纸本)9783031261893

This study represents an important step to bring innovative teaching practices to schools. The study underlines the effects on increasing the students’ interest in STEM, self-efficacy and STEM career decisions with educational robotics activities. The implementation of robotics equipment in activities is not the only factor that influences the students’ STEM career decisions. Other factors are the didactical design in various settings or the use of different robotics equipment. The study evaluated data from app. 1500 students with questionnaires before and after the activities and identified the different effects on students’ STEM interest and their self-efficacy. Due to the COVID-19 pandemic, which prevented the implementation of on-site activities in schools for a longer period, also online workshops using simulations were carried out and evaluated. Besides, a specific case study was analyzed that applied an innovative hybrid setting with 23 students at a business school in Vienna, Austria. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Students

来源：评论

学校读者我要写书评

暂无评论

Landé gJ factors of the even-parity electronic levels of the terbium atom

引用

Journal of Quantitative Spectroscopy and Radiative Transfer 2022年 288卷

作者： Suski, M. Chomski, M. Furmann, B. Ruczkowski, J. Stefańska, D. Institute of Materials Research and Quantum Engineering Faculty of Materials Engineering and Technical Physics Poznan University of Technology Piotrowo 3A Poznan60-965 Poland Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Piotrowo 3A Poznan60-965 Poland

In the present work Landé gJ factors for 17 even-parity electronic levels of the terbium atom are presented. The spectra of the Zeeman splitting of the hyperfine structure were recorded with the method of laser spectroscopy in a hollow cathode discharge lamp in a constant magnetic field, with laser induced fluorescence detection. The analysis of 47 spectral lines of terbium in the spectral range between 490 and 609 nm enabled the determination of the gJ factors for the presented even-parity levels for the first time. Moreover, verification of the gJ factor values for 17 odd-parity levels, previously reported by other authors from the analysis of Fourier transform spectra. © 2022 Elsevier Ltd

关键词： Atoms

来源：评论

学校读者我要写书评

暂无评论

A Regularization Approach to Analyze the Time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle

引用

Procedia Computer Science 2021年 186卷 11-20页

作者： Fernando Lobo Pereira Roman Chertovskih Anna Daryina Askhat Diveev Dmitry Karamzin Elena Sofronova SYSTEC Faculty of Electrical Engineering Porto University and the Institute for Systems and Robotics 4200-465 Porto Portugal Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia

This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem.

关键词： Unicycle model state constraints regularization maximum principle

来源：评论

学校读者我要写书评

暂无评论

A sliding mode controller design for thermal comfort in buildings

引用

engineering Transactions 2019年第4期67卷 475-489页

作者： Skruch, Pawel Dlugosz, Marek AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. Mickiewicza 30 Kraków30-059 Poland

One of the factors determining comfort in buildings is the indoor air temperature of the rooms. A control system, part of the home automation system, should stabilise air temperature to the desired level, despite various disturbances such as the presence of random or occasional sources of heat. Inaccurate models of the dynamics of air temperature changes in buildings prescribe the use of robust control methods, a type of which is the sliding mode controller. This article presents the application of a sliding mode controller (SMC) to home automation systems, designed to control air temperature inside a building. The sliding-mode controller makes use of sliding surfaces, which are defined by the assumed trajectory and the system output. The control law is designed in such a way that the trajectory of the system tends to the sliding surface from any initial point and remains on it after reaching the sliding surface. In this article, a model at air temperature change dynamics inside a building is presented. The modelling approach relies on the lumped-parameter methodology, in which distributed physical properties are represented by lumped parameters (such as thermal capacity or resistance). The model takes into account the loss of heat through conduction and ventilation, as well as internal heat gain. The parameters of the model can be obtained easily from the thermal properties of the construction materials. Theoretical considerations were applied in simulation experiments and the results of these experiments confirm the performance improvement achieved by the proposed solutions. © 2019, Polish Academy of Sciences. All rights reserved.

关键词： Atmospheric temperature

来源：评论

学校读者我要写书评

暂无评论

Switched-capacitor finite impulse response rotator filter

Switched-capacitor finite impulse response rotator filter

引用

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Paweł Pawłowski Rafał Długosz Adam Dąbrowski Division of Signal Processing and Electronic Systems Jana Pawł a II 24 Poznan University of Technology Faculty of Control Robotics and Electrical Engineering and Institute of Automation and Robotics Poznań Poland Faculty of Telecommunication Computer Science and Electrical Engineering Kaliskiego 7 UTP University of Science and Technology Bydgoszcz Poland

ISBN: (数字)9788362065394

ISBN: (纸本)9781728177465

Design of the topology and layout for an analog finite impulse response (FIR) filter realized in the CMOS technology using the switched capacitor (SC) technique, is presented. The filter is based on the so called “rotator structure” supplemented with the programmable capacitor array. This array makes the on-line adjusting of the frequency response of the filter possible in a very wide range, thus, enlarges the area of applications of this circuit, e.g., to multi-standard wireless communication, software-defined radio, adaptive systems, etc. The presented circuit realizes filters of orders up to 15 (16 filter coefficients). The maximum frequency range approaches ca. 2 MHz. The circuit dissipates ca. 8 mW from the power supply.

关键词： Finite impulse response filters Capacitors IIR filters Clocks Operational amplifiers Switches Capacitance

来源：评论

学校读者我要写书评

暂无评论

Observer-based saturated output feedback control using twisting algorithm

Observer-based saturated output feedback control using twist...

引用

International Workshop on Variable Structure Systems, VSS

作者： M.A. Golkani L. Fridman S. Koch M. Reichhartinger M. Horn Faculty of Electrical and Information Engineering Graz University of Technology Graz Austria Department of Control Engineering and Robotics National Autonomous University of Mexico D.F. Mexico

In this paper, second-order systems in the presence of both uncertainties and disturbances are considered. It is revealed that super-twisting controllers based on high-order sliding mode observers cannot be implemented when uncertainties are taken into account. An output feedback control law adopting the twisting algorithm is designed such that a Lipschitz continuous as well as saturated control signal is introduced to the system. In order to illustrate the feasibility and effectiveness of the proposed approach, numerical simulations are employed.

关键词： Observers Uncertainty Output feedback Algorithm design and analysis Switches Numerical simulation

来源：评论

学校读者我要写书评

暂无评论

Internal model control of a robot using new neural networks

Internal model control of a robot using new neural networks

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： S. Yildirim M.F. Sukkar Robotics Research Laboratory Mechanical Engineering Department Faculty of Engineering University of Erciyes Kayseri Turkey Automatic Control and Ind. Electronics Departmentartment Faculty of Electrical and Electronics Engineering University of Aleppo Aleppo Syria

The use of neural networks for control of a robot manipulator is presented in this paper. The control system consists of a neural model of the robot, a neural controller and a conventional PID controller. The control structure uses internal model control (IMC). The Alopex method is employed as a learning algorithm to train the networks. The standard backpropagation (BP) algorithm is also utilised for comparison with the Alopex learning algorithm (ALA). The proposed network is a recurrent hybrid network which is suitable for identification and control of robot manipulators. Compared to neural networks with pure nonlinear hidden processing elements, e.g., the diagonal neural network, the proposed recurrent hybrid network converges faster than taught to identify linear and nonlinear dynamics systems. Simulation results are presented to evaluate the performance of the IMC for the control of a SCARA-type robot manipulator.

关键词： Robot control Neural networks Automatic control robotics and automation Manipulator dynamics Adaptive control Uncertainty Robust control Nonlinear systems Feedforward neural networks

来源：评论

学校读者我要写书评

暂无评论

Active Disturbance Rejection control of High-Order Flat Underactuated Systems: Mass-Spring Benchmark Problem 20th

Active Disturbance Rejection Control of High-Order Flat Unde...

引用

20th Polish control Conference, PCC 2020

作者： Madonski, Rafal Ramirez-Neria, Mario Giernacki, Wojciech Energy Electricity Research Center International Energy College Jinan University ZhuhaiGuangdong Province519070 China Mechatronics Department Universidad Politecnica del Valle de Mexico UPVM Tultitlan de Mariano Escobedo Fuentes del Valle54910 Mexico Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan60-965 Poland

ISBN: (纸本)9783030509354

A custom active disturbance rejection control (ADRC) is proposed for trajectory tracking in uncertain underactuated systems. By utilizing a particular property of the differentially flat plant model, a robust output-feedback controller with a novel cascade of extended state observers (ESO) is introduced. It effectively deals with the problem of governing high-order plants without over-amplification of the measurement noise, typically seen in conventional single high-gain observer-centered control approaches. The proposed solution is based on full utilization of the information already available about the governed system, without necessity for additional measurement devices. In order to be easily implementable, it assumes only limited knowledge of the system model and is expressed in an industry familiar error-based form with a straightforward tuning method. A representable two-mass three-spring benchmark problem is used throughout the paper to convey the proposed idea and evaluate it experimentally on a laboratory testbed. © 2020, Springer Nature Switzerland AG.

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

引用

17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

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：