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IEEE International Conference on Robotics and Biomimetics

作者： Minghui Wang Nan Wang Chengdong Wu Bin Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Information and Control Engineering Faculty Shenyang JianZhu University Shenyang China College of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781424493197

In conformity with the request for search and rescue application, the design criterions of human-robot interaction are proposed. Based on the human-robot interaction, the control station system for the shape-shifting search and rescue robot is designed. The system mainly has four features, which are completely perceptive information, flexible control, friendly interface and strong interaction. The experiments demonstrate that the control station system for search and rescue robots can control motion and exchange the multi-channel information in the complex simulated after-earthquake environment. Thus, feasibility and validity of the control station system have been proved in the fields of search and rescue.

关键词： control systems Robot sensing systems Hardware Monitoring Software systems Real time systems

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Nested backward compensation of unmatched effects of unknown inputs based on HOSM identification

Nested backward compensation of unmatched effects of unknown...

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International Workshop on Variable Structure Systems, VSS

作者： Alejandra Ferreira Elisabetta Punta Department of Control Engineering Faculty Universidad Nacional Auténoma de México Mexico Mexico National Research Council of Italy Institute of Intelligent Systems for Automation ISSIA-CNR Genoa Italy

The paper considers the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and perturbation estimation. It is introduced a controller with a compensation strategy based on the identified perturbation values. When the system satisfies quite restrictive assumptions, the method ensures exact regulation of the unmatched states. In order to deal with the general case it is proposed a nested backward strategy to design the sliding surface, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded.

关键词： Sliding mode control Uncertainty control systems Robustness Nonlinear control systems Observers State estimation Design methodology Robust control Variable structure systems

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Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer

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IFAC Proceedings Volumes 2010年第14期43卷 1011-1016页

作者： Milan Anderle Sergej Čelikovský Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic Tel: 00420-26605-2018

This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. Both of them are based on the Acrobot's model partial exact feedback linearization of order 3. The developed algorithm is then applied to the position feedback tracking of the walking-like trajectory of the Acrobot during a swing phase of a single step. Besides the theoretical analysis, the approach is demonstrated via numerical simulations.

关键词： Reduced observer underactuated mechanical systems walking robots

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SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD VIA POWER AND RETURN MAP ANALYSES

SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING...

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The Third International Conference on Dynamics, Vibration and control

作者： Sergej Celikovsky Volodymyr Lynnyk Institute of Information Theory and Automation Academy of Sciences of the Czech RepublicP.O.Box 18182 08 Prague 8Czech Republic Department of Control Engineering Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic

＜正＞During the last two decades,many chaotic communication schemes based on chaotic dynamics has been *** well-known features of the chaotic systems like strong dependence on the initial data,topological transitivity,wide spread spectrum of its signal,etc..directly suggest the idea to use suitable chaos generators to build a new generation of secure encryption *** use of the continuous time chaotic systems for encryption of digital data and both its practical aspects and security analysis have been studied much less *** to prevalently used chaotic *** of the possible exceptions is the so-called chaos shift keying（CSK）method,which uses time segments of chaotic signals corresponding to two different chaotic systems to encrypt a single ***,the CSK was introduced（under different name）for analogue implementation of the Lorenz system and its synchronized ***,the length of the time segment was not such an *** using computer digital implementation,such a method is becoming almost ridiculous due to huge amount of data to encrypt a single *** excessive length of the pieces of signals corresponding to"0"and"1"also enables various statistically based attacks,*** correlation analysis. *** classical CSK method leads to weak and slow *** first attempt to overcome the above drawbacks,was the so-called anti-synchronization chaos shift keying（ACSK）method proposed in,"Anti-synchronization"basically means *** then detecting the correct bit via synchronizing one of two unsynchronized slaves,the wrong bit is determined via de-synchronizing one of the perfectly synchronized *** was proposed the improvement of the receiver of the original ACSK scheme based on the error derivative *** *** to anti-synchronization detection of the wrong bit based on the second error derivative evaluation,the above characteristic has been further reduced up

关键词： Nonlinear system chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication return map power analysis

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SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD VIA POWER AND RETURN MAP ANALYSES

SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING...

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The Third International Conference on Dynamics,Vibration and control(第三届国际动力学、运动与控制学术会议)

作者： Sergej (C)elikovsk(y) Volodymyr Lynnyk Department of Control Engineering Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech RepublicP.O.Box 18182 08 Prague 8Czech Republic

During the last two decades, many chaotic communication schemes based on chaotic dynamics has been *** well-known features of the chaotic systems like strong dependence on the initial *** transitivity, wide spread spectrum of its signal, etc., directly suggest the idea to use suitable chaos generators to build a new generation of secure encryption ***, the use of the continuous time chaotic systems for encryption of digital data and both its practical aspects and security analysis have been studied much less cf.[1,12,13] due to prevalently used chaotic masking[3,14].

关键词： Nonlinear system chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication return map power analysis

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The study of mediator-less microbial fuel cell based on saccharomyces cerevisiae

The study of mediator-less microbial fuel cell based on sacc...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Yisheng Liu Wei Li Xudong Hu Yun Yin Faculty of Mechanical Engineering & Automation Zhejiang Science and Technology University Hangzhou China State Key Laboratory of Fluid Power Transmission and Control University of Zhejiang Hangzhou China Department of Food Science and Nutrition University of Zhejiang Hangzhou China

To enhance power output and reduce cost for practical application of microbial fuel cell (MFC), extensive experiments have done to study performance optimization of lab-made mediator-less MFC. Saccharomyces cerevisiae was first tamed to investigate electrical adaptability as electricigens during device operation. By analyzing open circuit voltage using anodes with different materials, iron anode was proved to be the most suitable material for its highly electrochemical activity and bargain price. The results of experiment also proved that the performance of MFC could be reinforced through increasing roughness of anodes. Furthermore, electrical adaptability of electricigens would be enhanced after taming was confirmed.

关键词： Anodes Platinum Cathodes

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Use of accelerometers for material inner defect detection

Use of accelerometers for material inner defect detection

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International Conference on Applied Electronics, AE

作者： Ondrej Krejcar Robert Frischer Department of Measurement and Control Center of Applied Cybernetics Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy VSB-Technical University of Ostrava Ostrava Czech Republic

This paper deals with a possibility of non-destructive diagnostics of solid objects by software analysis of vibration spectrum by accelerometers. By a use of MATLAB platform, a processing and information evaluation from accelerometer is possible. Accelerometer is placed on the measured object. The analog signal needs to be digitized by a special I/O device to be processed offline with FFT (Fast Fourier Transformation). The power spectrum is then examined by developed evaluating procedures.

关键词： Accelerometers Vibrations Software Conferences Distortion measurement Converters Unified modeling language

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Notice of Retraction: Material inner defect detection by a vibration spectrum analysis

Notice of Retraction: Material inner defect detection by a v...

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International Conference on Mechanical and Electronics engineering (ICMEE)

作者： Ondrej Krejcar Robert Frischer Department of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy VSB-Technical University of Ostrava Ostrava Czech Republic

This article has been retracted by the publisher.

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Wxshapeframework: An easy way for diagrams manipulation in C++ applications

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WSEAS Transactions on Computers 2010年第3期9卷 268-277页

作者： Bližňák, Michal Dulík, Tomáš Vašek, Vladimír Department of Informatics and Artificial Inteligence Faculty of Applied Informatics Tomas Bata University Nad Stráněmi 4511 760 05 Zlín Czech Republic Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University Nad Stráněmi 4511 760 05 Zlín Czech Republic

wxShapeFramework is new cross-platform software library written in C++ programming language which is suitable for creation of software applications manipulating diagrams, images and other graphical objects. Thanks to the underlying technologies such as wxWidgets toolkit and its XML-based persistent data container add-on called wxXmlSerializer it is an ideal solution for rapid and easy cross-platform visualisation software development. The paper reveals how the wxSF allows user to easily create applications able to interactively handle various scenes consisting of pre-defined or user-defined graphic objects (both vector- and bitmap-based) or GUI controls, store them to XML files, export them to bitmap images, print them etc. Moreover, thanks to applied software licence the library can be used for both open-source and commercialprojects on all main target platforms including MS Windows, MacOS and Linux.

关键词： Graphical user interfaces

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Output Nested Backward Compensation of Unmatched Effects of Unknown Inputs

Output Nested Backward Compensation of Unmatched Effects of ...

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2010 49th IEEE Conference on Decision and control

作者： Alejandra Ferreira Leonid Fridman Elisabetta Punta Giorgio Bartolini Universidad Nacional Autonoma de Mexico (UNAM) Department of Control Engineering Faculty. C.P. 04510. Mexico D.F. Institute of Intelligent Systems for Automation National Research Council of Italy ISSIA-CNR Genoa Italy

ISBN: (纸本)9781424477456

This paper tackles the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and perturbation estimation. In this work is introduced a controller with a compensation strategy based on the identified perturbation values. A nested backward sliding surface design is proposed, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded. The overall stabilization error is estimated in terms of the sampling time and actuator time constant values. The feasibility of the technique is showed in a rotary inverted pendulum simulation example.

关键词： Time invariant systems INCOMPATIBLE compensated perturbation sampling time

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