检索结果-内蒙古大学图书馆

IEEE Conference on Decision and control

作者： Guoping Lu Yufan Zheng C. Zhang Xinghuo Yu Department of .Automatic Control Yantong Institute of Technology Nantong Jiangsu China Institute of Systems Science East China Jiao Tong University Shanghai China Department of Electrical and Electronic Engineering University of Melbourne Parkville VIC Australia Faculty of Informatics and Communication Central Queensland University Rockhampton QLD Australia

ISBN: (纸本)0780343948

This paper considers the problem of globally asymptotic stabilization of multi-input multi-output bilinear systems with undamped natural response. It firstly presents a simple sufficient condition for construction of a static state feedback controller. Then under an additional condition on system detectability, two output dynamic feedback controllers with saturation bounded control are constructed. The globally asymptotic stability of the closed loop systems using these controllers are established by using Lyapunov stability approach.

关键词： MIMO Nonlinear systems control systems Transient response Sufficient conditions State feedback Adaptive control Asymptotic stability Closed loop systems Lyapunov method

来源：评论

学校读者我要写书评

暂无评论

Development of a physiological knee motion simulator

引用

advanced Robotics 1998年第2期13卷 171-188页

作者： Kiguchi, Kazuo Fukuda, Toshio Koga, Yoshio Watanabe, Takashi Terajima, Kazuhiro Hayashi, Toyohiko Sakamoto, Makoto Matsueda, Munenori Suzuki, Yoshihiro Segawa, Hiroyuki Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga 840-8502 I Honjomachi Saga-shi Japan Center for Cooperative Research in Advanced Science and Technology Nagoya University Nagoya 464-8603 I Furo-cho Chikusa-ku Japan Department of Orthopcaedic Surgerv Niigata Kobari Hospital Niigata 950-2022 3-27-11 Kohari Niigata-shi Japan Department of Biocybernetics Niigata Universty Niigata 950-2181 2-8050 Ikarashi Niigata-shi Japan Department of Industrial and Systems Engineering Niigata College of Technology Niigata 950-2076 5-13-7 Kamishin'eicho Niigata-shi Japan Department of Orthopaedic Surgery Niigata University Niigata 951-8122 1-754 Asahimachi Niigata-shi Japan

Several kinds of knee motion simulator systems have been developed for the accurate analysis of knee biomechanics. Knee motion simulators, however, are not recognized for their practical use because of difficulties in design and control. In this study, a wire-driven knee simulator whichgenerates physiological knee motion has been developed. Physiological three-dimensional tibia motion against the femur can be generated by the simulator. Many clinical studies have been performed to analyze the length displacement pattern of the anterior cruciate ligament (ACL) and the posteriorcruciate ligament (PCL). We assume that the physiological knee motion can be realized if the length displacement patterns of the ACL and PCL against the knee flexion angle are the same as the experimental data obtained from the literature. A fuzzy neural control policy, one of the most effectiveintelligent control policies, has been applied for control of the simulator. Applying the fuzzy neural control policy, human knowledge and experience can be reflected and adaptive/learning ability can be incorporated in the controller. On-line learning of the fuzzy neural controller is carriedout to minimize a fuzzy controlled evaluation function using the back-propagation learning algorithm. The effectiveness of the proposed simulator has been evaluated by experiments using a model bone. © 1998 Taylor & Francis Group, LLC.

关键词： Bio-robotics Fuzzy evaluation Fuzzy neural control Intelligent control Robotic motion simulator

来源：评论

学校读者我要写书评

暂无评论

A case-based design support method incorporating recognition of the designer's intentions

引用

Electronics and Communications in Japan (Part III: Fundamental Electronic science) 1998年第2期80卷

作者： Takayuki Yamaoka Shogo Nishida Information Systems Department Advanced Technology R & D Center Mitsubishi Electric Corporation Amagasaki Japan 661 Department of Systems Science Faculty of Engineering Science Osaka University Toyonaka Japan 560

Despite the recognized importance of design support methods that recognize and effectively respond to the designer's intentions, there are no published descriptions of such methods with a clearly defined range of functionality. This paper describes a design support method founded on case based reasoning (CBR) in which a dialog interaction is used to infer the designer's intentions and to provide the relevant information. This approach offers a variety of information presentation capabilities and does not require a rigorous rule-based description of the designer's intentions. It is intended chiefly to support human design activity by information look-up and display, not as a means of design automation. The Yet Another computer-Aided Design (YAAD) system based on the new method is described. Tests have demonstrated the advantages and capabilities of the method. © 1997 Scripta Technica, Inc. Electron Comm Jpn Pt 3, 80(2): 46–62, 1997

关键词： recognition of intention design support cooperative work case-based reasoning knowledge-based system

来源：评论

学校读者我要写书评

暂无评论

Dynamical scaling law in the development of drift wave turbulence

引用

Physical Review E 1997年第5期55卷 5575-5575页

作者： Takeshi Watanabe Hirokazu Fujisaka Takahiro Iwayama Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Japan

The Charney-Hasegawa-Mima equation, with random forcing at the narrow band wave-number region, which is set to be slightly larger than the characteristic wave number λ, evaluating the inverse ion Larmor radius in plasma, is numerically studied. It is shown that the Fourier spectrum of the potential vorticity fluctuation in the development of turbulence with an initial condition of quiescent state obeys a dynamic scaling law for k≪λ. The dimensional analysis with the assumption that the energy transfer rate ε in the inverse cascade is constant with time leads to the scaling form S(k,t) =λ1/2ε5/4t7/4F(k/k-bar(t))[k-bar(t)∼λ3/4ε−1/8t−3/8] with a scaling function F(x), which turns out to be in good agreement with numerical experiments.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Manipulation of a floating object by two space manipulators

Manipulation of a floating object by two space manipulators

引用

International Conference on Industrial Electronics, control and Instrumentation

作者： R. Katoh K. Nakatsuka S. Sagara J. Kobayashi F. Ohkawa Department of Mechanical and Control Engineering Faculty of Engineering Kyushu Institute of Technology Kitakyushu Japan Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Japan

This paper deals with manipulation of a floating object by two space robots with manipulators. It is shown in this paper that a total system consisting of two robots and a floating object could be treated as a distributed system, and then a new generalized Jacobian matrix (GJM) is defined. Moreover, it is confirmed that this type of GJM is effective for using adaptive control for decreasing the amount of calculation for the control algorithm.

关键词： Orbital robotics Manipulators Robot kinematics Space technology Adaptive control Robotic assembly control engineering Jacobian matrices Space exploration Motion control

来源：评论

学校读者我要写书评

暂无评论

Development of ultrahigh vacuum-atomic force microscopy with frequency modulation detection and its application to electrostatic force measurement

引用

Journal of Vacuum science & Technology B: Microelectronics Processing and Phenomena 1997年第4期15卷 1543-1543页

作者： Uchihashi, Takayuki Ohta, Masahiro Sugawara, Yasuhiro Yanase, Yoshio Sigematsu, Tatsuhiko Suzuki, Mineharu Morita, Seizo Department of Physics Faculty of Science Hiroshima University Higashi-Hiroshima Hiroshima 739 Japan Department of Electronic Engineering Faculty of Engineering Osaka University Suita Osaka 565 Japan Silicon R&D Center Sumitomo SiTix Company Kohoku-cho Kishima-gun Saga 849-05 Japan Silicon Engineering Control Center Sumitomo SiTix Company Kohoku-cho Kishima-gun Saga 849-05 Japan NTT Advanced Technology Company Atsugi Kanagawa 243-01 Japan

We succeeded in high resolution force measurements by using a noncontact ultrahigh vacuum-atomic force microscope (UHV-AFM) with frequency modulation (FM) detection. We clearly observed adatoms and corner holes on the Si(111)7×7 reconstructed surface. Then we applied the noncontact UHV-AFM with FM detection to the high resolution measurement of the electrostatic force. We prevented deterioration of the spatial resolution of the topography by isolating the electrostatic interaction from van der Waals interaction. By simultaneous measurements of the topography and electrostatic force on a silicon oxide, a spatial resolution ∼15 Å of the electrostatic force was achieved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Method of Robust Fault Detection for Dynamic systems by Using Quasi-ARMAX Modeling

引用

IFAC Proceedings Volumes 1997年第11期30卷 1157-1162页

作者： K. Kumamaru J. Hu K. Inoue T. Söderström Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Fukuoka Japan Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This paper presents a model-based approach to fault detection of dynamic systems, which is robust to unmodeled dynamics. A “Quasi-ARMAX model᾿ is first proposed for describing nonlinear systems by incorporating a group of certain nonlinear structures into a linear ARMAX structure. The model can be used for a best linear approximation of the system, as well as for the estimation of resulting unmodeled dynamics, by a hierarchical implementation of recursive identification. Then robust fault detection is performed based on thresholding approach using Kullback discrimination information as fault detection index, in which the estimated unmodeled dynamics is incorporated.

关键词： Dynamic systems fault detection Kullback discrimination information modeling errors nonlinear systems robust performance

来源：评论

学校读者我要写书评

暂无评论

Fault Detection of Nonlinear systems by Using Hybrid Quasi-ARMAX Models

引用

IFAC Proceedings Volumes 1997年第18期30卷 1125-1130页

作者： K. Kumamaru J. Hu K. Inoue T. Söderström Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Fukuoka Japan. Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This research is concerned with fault detection of nonlinear systems using Kullback discrimination information (KDI) as an index. A hybrid quasi-ARMAX model is proposed, which combines a linear ARMAX model and a multi-ARX-model based on interpolation. In the case where the faults occur on the ARMAX model part, a KDI-based "robust" fault detection is performed, in which multi-ARX-model part is treated as error due to nonlinear undermodeling. In other cases, the model is transformed into several local ARMAX models and fault detection is performed by using the KDI to discriminate each identified local model. In this paper, we mainly concentrate our discussion on the latter cases.

关键词： Nonlinear systems dynamic systems fault detection Kullback discrimination information quasi-ARMAX modeling local model

来源：评论

学校读者我要写书评

暂无评论

The development of a micro robot system for robot soccer game

The development of a micro robot system for robot soccer gam...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Kyung-Hoon Kim Kuk-Won Ko Joo-Gon Kim Su-Ho Lee Hyung-Suck Cho Laboratory for Control Systems and Automation Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea

ISBN: (纸本)0780336127

In this paper, we present the design and the structure of our multiple micro-robot system, CENDORI, designed for playing a robot soccer game, MIROSOT. A robot soccer game is a very complex robot application that incorporates real-time vision, robot control wireless communication and management of multiple robots. To build a robot system with high performance and reliability, we designed the system architecture with a centralized concept. The robot control relies largely upon the vision system and the host computer generating low level motion control words. The experimental results and the performance of the robot are discussed.

关键词： Intelligent robots Robot vision systems Robotics and automation Robot control Machine vision control systems Computer vision Humanoid robots Mobile robots Intelligent systems

来源：评论

学校读者我要写书评

暂无评论

A novel method for extracting roof edges of specular polyhedra

A novel method for extracting roof edges of specular polyhed...

引用

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and systems. Innovative Robotics for Real-World Applications. IROS '97

作者： Won Shik Park Hyung Suck Cho Laboratory for Control Systems and Automation Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780341198

This paper introduces a new vision technique for extracting roof edges of polyhedra having specularly reflecting surfaces. There have been many previous works on object recognition using edge information, but they can not be applied to specular objects since it is hard to acquire reliable camera images of specular objects. If there is a method which can extract the edges of specular objects, it is possible to apply edge-based recognition algorithms to specular objects. To acquire the reliable edge images of specular objects, scanned double pass retroreflection method is proposed, whose main physical characteristic is curvature-sensitive. This utility of the physical characteristic is motivated by the idea that roof edges can be characterized as local surfaces of high curvature. In this paper, the optical characteristics of double pass retroreflection are discussed and a series of simulation studies are performed to verify and analyze the sensor characteristics. The results from a series of simulations show the effectiveness of the proposed method.

关键词： Shape Rough surfaces Surface roughness Cameras Machine vision Light sources Automation Data mining Object recognition Optical sensors

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：