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International Conference on Computer and Communication Engineering, ICCCE

作者： A. Shahidinejad A. Nikoukar I. S. Amiri M. Ranjbar A. A. Shojaei J. Ali P. P. Yupapin Faculty of Computer Science & Information Systems (FCSIS) Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Institute of Advanced Photonics Science Nanotechnology Research Alliance Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia (UTM) Kuala Lumpur Malaysia Advanced Research Center for Photonics Faculty of Science King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

We investigate nonlinear behaviors of light known as bifurcation and chaos within a nonlinear silicon microring resonator (SMRR). The research is used to controlling SMRR's behaviors such as chaos applicable in security coding systems. The variable parameters affect the bifurcation to be happened in smaller roundtrip among total round trip of 20000 or input power. Simulated Results show that rising of the nonlinear refractive indices, coupling coefficients and radius of the SMRR leads to descending in input power and round trips wherein the bifurcation occurs. As result, bifurcation or chaos behaviors are seen at lower input power of 44 W, where the nonlinear refractive index is n 2 = 3.2×10 -20 m 2 /W. Smallest round trips of 4770 and 5720 can be seen for the R = 40 μm and k = 0.1 respectively. The controlled chaotic signals from the SMRR are passing through a polarizer beam splitter to generate quantum binary codes which are used in wireless network communication.

关键词： Bifurcation Optical ring resonators Solitons Chaotic communication Nonlinear optics

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Finite-time adaptive distributed control for double integrator leader-agent synchronisation

Finite-time adaptive distributed control for double integrat...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Muhammad Nasiruddin Mahyuddin Guido Herrmann Jing Na Frank L. Lewis Department of Mechanical Engineering University of Bristol UK School of Electrical and Electronic Engineering Universiti Sains Malaysia Malaysia Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming China Electrical Engineering Automation and Robotics Research Institute University of Texas Arlington USA

A finite-time adaptive distributed control algorithm for second-order, double integrator-type agents is suggested to achieve consensus with a second order controlled leader. For this, a recently suggested finite-time adaptive estimator is designed for each agent using only local agent information. This adaptive estimator is driven via direct parameter estimation error information and a nonlinear formulation of the consensus error, which guarantees finite-time consensus. The parameter error information, computed through auxiliary filters for each agent, ensures convergence via a sliding-mode type unit vector in the estimation algorithm. This algorithm is suitably combined with a finite-time consensus control algorithm, enhancing recently suggested adaptive consensus algorithms in terms of robustness, parameter estimation and convergence speed. Suitable comparative simulation examples provide practically relevant evidence.

关键词： Vectors Synchronization Convergence Switches Heuristic algorithms Lead Parameter estimation

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Evaluation of the operational parameters of ropes

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 125-134页

作者： Sioma, Andrzej Tytko, Andrzej Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology in Krakow al. Mickiewicza 30 30-059 Krakow Poland Department of Rope Transport Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology in Krakow al. Mickiewicza 30 30-059 Krakow Poland

This paper discusses a visual method of measuring the geometric parameters of ropes and evaluating their wear based on measurements of a three-dimensional rope model. The 3D model is created using the method of laser triangulation. Selection of appropriate geometry of camera and laser lighting arrangement allows collection of the height profile of the observed rope surface in the selected cross-section and, subsequently, building of a 3D model. The resulting model is a representation of the actual dimensions of the rope and allows determination of the parameters describing its basic geometric dimensions and condition of rope surface. Determination of those values and parameters allows estimation of the degree of rope wear. The article discusses issues related to resolution of the vision system, resolution of laser beam analysis, and resolution relating to the measurement of the height profile on the surface of the rope. Based on the model constructed in such a way, measurements are presented in order to assess the dimensional parameters and surface defects in sample rope structures. Based on tests and analyses of the three-dimensional model, a range of inspection tasks using 3D vision systems is indicated. © (2011) Trans Tech Publications, Switzerland.

关键词： Triangulation

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System Identification model for an Intelligent Pneumatic Actuator (IPA) system

System Identification model for an Intelligent Pneumatic Act...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Khairuddin Osman Ahmad 'Athif Mohd Faudzi M.F. Rahmat Nu'man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Control Instrumentation and Automation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system.

关键词： Analytical models Data models Silicon Mathematical model Actuators Robots Correlation

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Erratum to “A New Solution for Camera Calibration and Real-Time Image Distortion Correction in Medical Endoscopy–Initial Technical Evaluation” [Mar 12 634-644]

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IEEE Transactions on Biomedical Engineering 2012年第7期59卷 2095-2095页

作者： Rui Melo João P. Barreto Gabriel Falcão Institute for Systems and Robotics and Department of Electrical and Computer Engineering Faculty of Science and Technology Coimbra Portugal Instituto de Telecomunicações Faculty of Science and Technology Coimbra Portugal

In the above-titled paper (ibid., vol. 59, no. 3, pp. 634-644, Mar. 2012), the affiliation of G. Falcao should have read as follows: G. Falcao is with the Instituto de Telecomunicacoes and Department of Electrical and Computer Engineering, faculty of science and technology, University of Coimbra, 3030-290 Coimbra, Portugal (e-mail: gff@***).

关键词： Cameras Calibration Biomedical imaging Endoscopes Graphics processing unt Lenses

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Application of a visual measurement technique to the assessment of electrodynamic stamping

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 1-9页

作者： Bednarczyk, Józef Sioma, Andrzej Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology in Krakow Al. Mickiewicza 30 30-059 Krakow Poland

This paper discusses a visual method of measuring the geometric parameters of elements produced by electrodynamic stamping. This paper presents also electrodynamic method which is an unconventional machining technology, which complements the capabilities of traditional technologies, in particular as regards the formation of metal elements with low-profile dies of complex shape. The article discusses issues related to resolution of the vision system, resolution of laser beam analysis, and resolution relating to the measurement of the height profile on the surface of the product. Based on the model constructed in such a way, measurements are presented in order to assess the dimensional parameters. Based on tests and analyses of the three-dimensional model, a range of inspection tasks using 3D vision systems is indicated. © (2011) Trans Tech Publications, Switzerland.

关键词： Electrodynamics

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Ship hull inspection using a small underwater robot with a mechanical contact mechanism

Ship hull inspection using a small underwater robot with a m...

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OCEANS - Europe

作者： Kensei Ishizu Norimitsu Sakagami Kouhei Ishimaru Mizuho Shibata Hiroyuki Onishi Shigeo Murakami Sadao Kawamura Graduate School of Science and Engineering Ritsumeikan University Kusatsu Shiga Japan Department of Navigation and Ocean Engineering School of Marine Science and Technology Tokai University Shizuoka Shizuoka Japan Department of Intelligent Mechanical Engineering School of Engineering Kinki University Higashi-Hiroshima Hiroshima Japan DAINIPPON SCREEN Manufacturing Company Limited Kyoto Japan Department of Robotics Faculty of Science and Engineering Ritsumeikan University Kusatsu Shiga Japan

This paper presents ship hull inspection using a small underwater robot with a mechanical contact mechanism. We propose a mechanical contact approach in order to conduct ship hull inspection, and develop a contact mechanism, hand-eye vision system, and stereo camera system. The proposed contact mechanism enhances the position and orientation keeping performance of small underwater robots. The developed hand-eye system and stereo camera system provide fine and detailed vision information for inspection. In this paper, we numerically analyze the position and orientation keeping performance of a small underwater robot with a mechanical contact mechanism, and conduct fundamental experiments in a test tank. Additionally, we inspect a ship's hull in a port as a field experiment.

关键词： Marine vehicles Inspection Cameras Robot vision systems Force Machine vision

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Modeling and Control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative Engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. Controller is designed based on feedback linearization to track desired trajectories. Controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Optimal trajectory tracking control with a 5R parallel robot

Optimal trajectory tracking control with a 5R parallel robot

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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011

作者： Coppola, Gianmarc Zhang, Dan Robotics and Automation Laboratory Faculty of Engineering and Applied Science University of Ontario Institute of Technology Oshawa ON Canada

ISBN: (纸本)9780791854839

This work examines the control characteristics of a 5R parallel robotic manipulator subjected to two control studies. Firstly, fundamental aspects of dynamics are presented. Then a brief review of Particle Swarm Optimization (PSO) and feedforward Neural Networks (NN) is undertaken. Subsequently, to tackle the challenging problem of controller parameter tuning for parallel robots in trajectory tracking scenarios, a multi objective optimization problem is formulated for automatic tuning using PSO. This offline method is comparatively evaluated to the Nelder-Mead (NM) sequential simplex optimization scheme. Several results are attained illustrating the strengths and weaknesses of this method for parallel robot control. Then, an adaptive NN model reference control scheme using PSO is proposed. This scheme is proposed as one possible way to take advantage of the strong properties of the PSO online. The scheme is tested and several observations are outlined. Copyright © 2011 by ASME.

关键词： Multiobjective optimization

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Optimal location of an active segment of magnetorheological fluid layer in a sandwich plate

Optimal location of an active segment of magnetorheological ...

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International Carpathian Control Conference

作者： Snamina, Jacek Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9781612843599

In the present study a sandwich plate, of rectangular form, with magnetorheological (MR) fluid core is investigated. The plate consists of two outer layers made of aluminium and an MR fluid layer in between. The plate edges are clamped. It was assumed that the aluminium layers are pure elastic. The energy is dissipated in MR fluid layer. Additional assumptions concerning displacements, deformations and stresses are introduced in calculations. The active segment of MR fluid layer is placed in various parts of plate. The optimal positions of active segment for selected modes of vibration are determined. © 2011 IEEE.

关键词： Magnetorheological fluids

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