检索结果-内蒙古大学图书馆

2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

来源：评论

学校读者我要写书评

暂无评论

Infradar-Localization: Single-Chip Infrared- and Radar-Based Monte Carlo Localization 19

Infradar-Localization: Single-Chip Infrared- and Radar-Based...

引用

19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Wang, Dong Masannek, Marco May, Stefan Nüchter, Andreas Nuremberg Institute of Technology Georg Simon Ohm Faculty of Electrical Engineering Precision Engineering Information Technology Nuremberg90489 Germany Julius-Maximilians-University Würzburg Department of Informatics Xvii Robotics Würzburg97074 Germany

ISBN: (纸本)9798350320695

This paper proposes a novel approach for indoor robot localization that leverages a fusion of information from single-chip infrared (Time-of-Flight) and radar sensors. The aim of our research is the development of a cost-effective and lightweight system that can achieve high-precision robot localization. Unlike traditional localization methods based on LiDARs or cameras, our proposed system uses single-chip infrared and radar sensors to overcome the limitations of high cost and bulky hardware. Specifically, we employ a Doppler radar-based velocity motion model for the estimation of the robot's ego-motion, eliminating the need for additional sensors such as IMU or wheel encoders. Next, we describe a hybrid sensor model for single-chip infrared and radar sensors that provides robust and accurate environmental perception with dynamic outlier removal. Finally, we integrate these components into a Monte Carlo localization framework to generate accurate real-time estimation of the robot's position and orientation. This is the first time a single-chip infrared and radar fusion-based framework has been applied to robot localization, to the best of our knowledge. Through a comprehensive experimental evaluation, we demonstrate the system's high accuracy and efficiency, achieving an average localization error of 9 cm in diverse indoor environments. This remarkable performance, combined with the low-cost and lightweight nature of our proposed solution, positions it as a highly promising alternative for a wide range of applications, including robotics, smart homes, and autonomous vehicles. The significant advancements of this novel approach offer vast potential to revolutionize the field of localization, enabling more precise and cost-effective navigation systems. © 2023 IEEE.

关键词： Monte Carlo methods

来源：评论

学校读者我要写书评

暂无评论

Easy tuning of PID controllers for specified performance

Easy tuning of PID controllers for specified performance

引用

2nd IFAC Conference on Advances in PID control, PID 2012

作者： Bucz, Š. Kozáková, A. Veselý, V. Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovičova 3 SK-812 19 Bratislava Slovakia

ISBN: (纸本)9783902823182

The presented method allows achieving maximum overshoot and specified settling time of the closed-loop step response. It provides a simple way to control linear stable SISO systems even if the mathematical model is unknown. Tuning rule parameters are based on one suitably chosen point of the plant frequency response obtained by sine-wave signal with specified excitation frequency, and the required phase margin. The main result provided is construction of empirical charts used to convert time-domain performance specifications (maximum overshoot and settling time) into frequency domain performance measure (phase margin). The method is applicable for systematic shaping of the closed-loop response of the plant. The new approach has been verified on a set of benchmark examples and on a real plant as well.

关键词： Frequency response

来源：评论

学校读者我要写书评

暂无评论

Robust estimation algorithm of altitude and vertical velocity for multirotor UAVs

Robust estimation algorithm of altitude and vertical velocit...

引用

International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Przemysław Gąsior Adam Bondyra Stanisław Gardecki Wojciech Giernacki Faculty of Electrical Engineering Institute of Control and Information Engineering Polish Aerial Robotics Team Poznan Poland Politechnika Poznanska Poznan PL

This paper describes the process of the development and improvement of the altitude and vertical velocity estimation algorithm. The previous method was developed by authors two years back. After a diagnosis of pressure temperature drift caused by the main IMU, the additional barometric sensor was introduced. Based on readings from this reference component, three main modifications were developed to the algorithm's structure. In addition, three experimental sequences are presented to compare the previous approach with new ones. Results showed that new methods achieve better performance and are free from pressure drift caused by sensor's heating. Decreasing frequency of altitude measurements in Kalman filter resulted in more robust estimates for pressure changes not related to the vertical movement in indoor and outdoor flights. With properly working estimation algorithm, there is a possibility to develop a controller to maintain desired altitude or vertical velocity.

关键词： Acceleration Temperature measurement Kalman filters Estimation Mathematical model Robot sensing systems Cameras

来源：评论

学校读者我要写书评

暂无评论

Facial Expression Recognition Model Depending on Optimized Support Vector Machine

引用

Computers, Materials & Continua 2023年第7期76卷 499-515页

作者： Amel Ali Alhussan Fatma M.Talaat El-Sayed M.El-kenawy Abdelaziz A.Abdelhamid Abdelhameed Ibrahim Doaa Sami Khafaga Mona Alnaggar Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Machine Learning&Information Retrieval Department Faculty of Artificial IntelligenceKafrelsheikh UniversityKafrelsheikh33516Egypt Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia Department of Computer Science Faculty of Computer and Information SciencesAin Shams UniversityCairo11566Egypt Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Robotics and Intelligent Machines Department Faculty of Artificial IntelligenceKafrelsheikh UniversityKafrelsheikh33516Egypt

In computer vision,emotion recognition using facial expression images is considered an important research *** learning advances in recent years have aided in attaining improved results in this *** to recent studies,multiple facial expressions may be included in facial photographs representing a particular type of *** is feasible and useful to convert face photos into collections of visual words and carry out global expression *** main contribution of this paper is to propose a facial expression recognitionmodel(FERM)depending on an optimized Support Vector Machine(SVM).To test the performance of the proposed model(FERM),AffectNet is *** uses 1250 emotion-related keywords in six different languages to search three major search engines and get over 1,000,000 facial photos *** FERM is composed of three main phases:(i)the Data preparation phase,(ii)Applying grid search for optimization,and(iii)the categorization *** discriminant analysis(LDA)is used to categorize the data into eight labels(neutral,happy,sad,surprised,fear,disgust,angry,and contempt).Due to using LDA,the performance of categorization via SVM has been obviously *** search is used to find the optimal values for hyperparameters of SVM(C and gamma).The proposed optimized SVM algorithm has achieved an accuracy of 99%and a 98%F1 score.

关键词： Facial expression recognition machine learning linear dis-criminant analysis(LDA) support vector machine(SVM) grid search

来源：评论

学校读者我要写书评

暂无评论

Efficiency of steering torque recommendation in limits of driving dynamics: An empirical study

Efficiency of steering torque recommendation in limits of dr...

引用

作者： Mehrjerdian, E. Gaedke, A. Greul, R. Bertram, T. ZF Lenksysteme GmbH D-73529 Schwaebisch Gmuend Germany Institute of Control Theory and Systems Engineering Faculty of Electrical Engineering and Information Technology Technische Universität Dortmund D-44221 Dortmund Germany

ISBN: (纸本)9783902661722

The potential of controlled torque assistance in safety-related driving situations is investigated in more detail in this paper. For this purpose, a study of test persons was carried out in a real test vehicle in which an oversteer situation was reproducibly induced by activating a kick plate. Driver perception, driver response and vehicle reaction as a result of the activation were evaluated in different types of test with passive and active assistance function in each case. Driver perception was evaluated on the basis of subjective assessments by the test persons. Driver and vehicle response on the other hand were evaluated by analysing vehicle and steering signals. Results in the form of objective criteria are derived which enable the functionality to be evaluated in relation to the level of the assisting torque applied. As well as the holistic consideration of all driver reactions, the benefit of the function to individual drivers is also analysed. A detailed questionnaire was used to classify different driver types from the number of all test drivers, and used as a basis for analysing driver behaviour. Comparison of these responses with journeys carried out by a professional test driver enable conclusions to be drawn relating to the degree of significantly improved driver response to the recommendation. © 2010 IFAC.

关键词： Torque

来源：评论

学校读者我要写书评

暂无评论

Real-Time UAV Fault Detection and Classification Using Measurement Data from the PADRE Database

Real-Time UAV Fault Detection and Classification Using Measu...

引用

IEEE/SICE International Symposium on System Integration

作者： Radosław Puchalski Wojciech Giernacki Quang Ha Faculty of Control Robotics and Electrical Engineering of Poznan Institute of Robotics and Machine Intelligence University of Technology Poznan Poland Faculty of Engineering and Information Technology School of Electrical and Data Engineering University of Technology Sydney Ultimo NSW Australia

The growing number of applications for unmanned aerial vehicles operating in close proximity to humans calls for strict safety requirements. To ensure reliability and safety, fast and effective diagnosis of possible drone faults is needed. In this paper, a study on the detection of damage to the propellers of a multirotor using inertial sensors was conducted. Measurement data from the publicly available PADRE repository were used. Frequency features and raw measurement data applicability were tested. Two different approaches to data processing during fault detection and classification were tested. The first is to analyze the signals after collecting the entire set of data needed for treatment by the neural network. The second approach processes the data after every single acquisition of sensor measurements. The performance results and processing time of each solution are recorded for analysis. By effectively selecting parameters of the proposed approaches, the processing time and accuracy of UAV fault classification can be significantly improved, as verified over different classes of propeller defects. Early fault detection is essential for safe operations of multirotor drones.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Modeling and analyzing nano-rod pushing with an AFM

Modeling and analyzing nano-rod pushing with an AFM

引用

2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Hou, Jing Wu, Chengdong Liu, Lianqing Wang, Zhidong Dong, Zaili Dept. of Electrical and Computer Engineering Northeastern University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

ISBN: (纸本)9781424470334

In developing nano-devices and nano-structures, traditional methodologies on MEMS meet the difficulty from the scale restriction. With the strategy of objects assembly, using AFM to handle nano-rods and other nano-objects is considered as an important and high potential technology in constructing nanostructures. However most of AFM only has one tip as the end effector and cannot control both translational and rotational motions during manipulation, this makes it be difficult to realize posture controllable manipulation especially in nano environment. In this paper, the behavior of nano-rod under pushing is theoretically analyzed and modeled. Viscous friction is incorporated in the model and the two situations that the pivot of the nanorod is either inside or outside the rod are addressed. By modeling, the pivot can be determined at each manipulation in real time, and the pushing points can be planned to realize posture controllable manipulation by using nano-hand strategy which is inspired by stable pushing theory of object manipulation in macro world, and to improve the reliability and the precision of manipulation. ©2010 IEEE.

关键词： Nanorods

来源：评论

学校读者我要写书评

暂无评论

Comparison common mode noise reducibility of full-bridge and buck converters for unidirectional DC motor drive

Comparison common mode noise reducibility of full-bridge and...

引用

SICE Annual Conference 2005

作者： Thanasana, S. Srisawang, A. Panaudomsub, S. Prempraneerach, Y. Department of Control Engineering Research Center for Communication and Information Technology King Mongkut's Institute of Technology Ladkrabang Bangkok 10520 Thailand Department of Electronic Engineering Faculty of Engineering Kasem Bundit University Bangkok 10250 Thailand Department of Electrical Engineering Faculty of Engineering Vongchavalitkul University Nakhon Ratchasima 30000 Thailand

An unidirectional speed control of dc motor is more appropriate in some condition for specific application which is usually used by either buck converter or an unipolar switching mode of full-bridge converter. This paper is purposed to compare the common mode noise reduction ability of both buck converter and an unipolar switching mode of full-bridge converter. This comparison will help the driver design engineer to correctly select the dc motor driver for application must worry about the noise factor. With regard to an electromagnetic interference (EMI) causing in general dc-dc converters is necessary to determine the essential parameters in the circuit such as the parasitic capacitances of heat sink, a switching noise, an unbalanced characteristic of a circuit and so on. The general buck converter for dc motor drive usually uses unbalanced circuit topology between sending and returning power line. The unbalanced buck converter will generate the common mode current to flow through the parasitic capacitance of heat sink to a frame ground or chassis. This paper is also purposed to illustrate the common mode noise reduction ability of a full-bridge converter for dc motor drive. The most significant specific characteristic of a full-bridge converter is the simultaneous switching on and off of the two switching devices (Q1 and Q2 or Q3 and Q4) which are performed in both bipolar switching mode and unipolar switching mode operation. When the two switching devices are simultaneous operated on and off which has a dc motor to be existing between their switching actions, such a simultaneous switched performance is illustrated the characteristic of the active noise cancellation at the dc motor terminals. In addition, due to the full-bridge converter circuit has a symmetrical scheme when the four parasitic capacitances of the heat sink are connected to the frame ground or chassis will provide more circuit balance. The circuit balance and active noise cancellation characteristi

关键词： DC motors

来源：评论

学校读者我要写书评

暂无评论

A robust output feedback control design for uncertain switched fuzzy systems

A robust output feedback control design for uncertain switch...

引用

2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Ojleska, Vesna Kolemishevska-Gugulovska, Tatjana Rudas, Imre J. SS Cyril and Methodius University in Skopje Faculty of Electrical Eng. and Information Technologies Institute of Automation and Systems Engineering 1000 Skopje Macedonia School of Information Science and Robotics Obuda Univeristy H-1034 Budapest Hungary

ISBN: (纸本)9781467327824

The problem of robust output feedback control for a class of uncertain switching fuzzy time-delay systems via common Lyapunov function and multiple Lyapunov function methods is solved. Based on employing Parallel Distributed Compensation strategy, the fuzzy output feedback controllers are designed such that the corresponding closed-loop system possesses stability and robustness for all admissible uncertainties. An illustrative example and the respective simulation results are given to demonstrate the effectiveness and feasible control performance of the proposed design synthesis. © 2012 IEEE.

关键词： Fuzzy systems

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：