检索结果-内蒙古大学图书馆

International Conference on computer engineering and systems

作者： Antonio Ferrolho Manuel Crisostomo Robert Wojcik Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Electrical Engineering Superior School of Technology of Viseu Polytechnic Institute of Viseu Viseu Portugal Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

ISBN: (纸本)1424413656;9781424413652

The Job-Shop Scheduling Problem (JSSP) is an extremely difficult problem because it requires very large combinational search space and the precedence constraint between machines. A software tool called Hybrid and Flexible Genetic Algorithm (HybFlexGA) was developed for solving the JSSP. Computational results demonstrate that the proposed HybFlexGA is very efficient and potentially useful in solving the JSSP. The results obtained with standard JSSP benchmark demonstrate its efficiency.

关键词： Job shop scheduling Genetic algorithms Artificial neural networks Space technology Simulated annealing Control engineering computing Genetic engineering Robot control Control systems Orbital robotics

来源：评论

学校读者我要写书评

暂无评论

Simulation control of a biped robot with Support Vector Regression

Simulation control of a biped robot with Support Vector Regr...

引用

IEEE International Symposium on Intelligent Signal Processing

作者： Joao P. Ferreira Manuel Crisostomo A. Paulo Coimbra Bernardete Ribeiro Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal CISUC Department of Informatics Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)1424408296;97

This paper describes the control of an autonomous biped robot that uses the Support Vector Regression (SVR) method for its longitudinal balance. This SVR uses the Zero Moment Point (ZMP) position and its variation as input and the longitudinal correction of the robot's body is obtained as the output. The SVR was trained based on simulation data that was confirmed with the real robot. This method showed to be faster (with similar accuracy) than a recurrent network or a neuro-fuzzy control of the biped balance.

关键词： Control systems Stability Nonlinear control systems Computational modeling Robot control Mathematical model Humans Kinematics Torso computer simulation

来源：评论

学校读者我要写书评

暂无评论

Vision-based control for rigid body stabilization

Vision-based control for rigid body stabilization

引用

Proceedings of the 46th IEEE Conference on Decision and Control, Pages 2759-3219

作者： Rita Cunha Carlos Silvestre Joao Hespanha A. Pedro Aguiar Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)9781424414970;1424414970

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move in SE(3). It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system's trajectory. The resulting solution consists of a feedback control law based on the image coordinates and reconstructed depth information that guarantees i) almost global asymptotic stability of the desired equilibrium point;ii) positive invariance of a conveniently defined subset of SE(3), to enforce feature visibility;and iii) exponential stability of an error vector directly defined in the image plane.

关键词： landmarks image plane Error vector equilibrium point Rigid Global Asymptotic Stability Imagery (Psychotherapy) images control law Coordinates Visual servoing Body Statement Public Speaking visibility

来源：评论

学校读者我要写书评

暂无评论

An Outdoor Guidepath Navigation System for AMRs Based on Robust Detection of Magnetic Markers

An Outdoor Guidepath Navigation System for AMRs Based on Rob...

引用

12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2007), vol.2

作者： Ana C. Lopes Fernando Moita Urbano Nunes Razvan Solea ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This paper presents an outdoor guidepath navigation system for autonomous mobile robots (AMR) that use permanent magnetic markers embedded in the ground. The odometric data provided by the wheel encoders is fused with the data from magnetic markers. The extended Kalman filter (EKF) was chosen for the fusion process. The AMR is equipped with a magnetic sensing ruler (MSR) developed at isr-UC that is able to perform a robust detection of magnetic markers. The detection is based on a 3-D algorithm that includes longitudinal-fitting detection (LFD), and cross-fitting detection (CFD). Both, the LFD and the CFD are based on the least squares fitting (LSF) of the measurement data with the 3-D model of the vertical magnetic field. The experimental results with Robchair (intelligent wheelchair being developed at isr-UC) primarily show that the detection system is robust, since it is able to detect true magnetic markers, and to eliminate noisy magnetic distortions and false markers. The design, and implementation of the navigation algorithm in the Robchair were carried out, and results are presented.

关键词： Navigation Robustness Magnetic separation Computational fluid dynamics Magnetic field measurement Mobile robots Wheels Least squares methods Distortion measurement Wheelchairs

来源：评论

学校读者我要写书评

暂无评论

Non Parametric Distortion Correction in Endoscopic Medical Images

Non Parametric Distortion Correction in Endoscopic Medical I...

引用

3DTV Conference

作者： Joao P. Barreto Rahul Swaminathan Jose Roquette Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Deutsche Telekom Laboratories Technische Universität Berlin Berlin Germany

Endoscopes consisting of a probe mounted with a camera head, are frequently used in medicine for inspection and visualization of human body cavities (knee and shoulder articulations, bronchi, nose, brain, etc). However the images often suffer from strong lens distortions. Estimation and correction of image distortion is important not only to improve the practitioner's perception of the inspected area but also to develop systems for 3D navigation and computer assisted surgery. In this paper we compare various conventional calibration methods against the new parameter free method proposed by Hartley and Kang. We believe the non-parametric method is more suitable for endoscopic imaging. We present numerical analysis of the goodness of fit of other conventional approaches as well as calibration results on real images. It should be noted that our results are directly applicable to all vision applications using wide-angle lenses.

关键词： Biomedical imaging Lenses Calibration Endoscopes Probes Cameras Head Inspection Visualization Humans

来源：评论

学校读者我要写书评

暂无评论

CHITOSAN-MEDIATED BIOMEMS PLATFORM FOR OPTICAL SENSING

CHITOSAN-MEDIATED BIOMEMS PLATFORM FOR OPTICAL SENSING

引用

TRANSDUCERS 2007 - 2007 International Solid-State Sensors, Actuators and Microsystems Conference, Volume 3 of 5

作者： V. Badilita I. Shamim H. Yi S. T. Koev K. Gerasopoulos R. Ghodssi MEMS Sensors and Actuators Lab (MSAL) Department of Electrical and Computer Engineering Institute for Systems Research (ISR) University of Maryland College Park MD USA Department of Chemical and Biological Engineering Tufts University Medford MA USA

We present an optical BioMEMS sensor with chitosan-mediated, spatially-selective functionalization of a microfluidic channel sidewall with single stranded probe DNA (ssDNA). High-contrast optical sensing of hybridization using integrated optical waveguides and fluorescently-tagged matching versus mismatching DNA sequences is demonstrated. The collected peak emission signal corresponding to matching DNA sequences (4μM) exceeds the peak emission signal corresponding to mismatching DNA sequences (8μM) by a factor of 50. We demonstrate that the device is robust and reusable by exposing it to two successive cycles of denaturation/re-hybridization, each time recovering the initial sensitivity and specificity.

关键词： DNA hybridization Integrated waveguides Microfluidics Chitosan

来源：评论

学校读者我要写书评

暂无评论

MODELING AND CONTROL OF ELEVATORS BY STATECHARTS

引用

Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

来源：评论

学校读者我要写书评

暂无评论

TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

引用

Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

来源：评论

学校读者我要写书评

暂无评论

A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

引用

Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

来源：评论

学校读者我要写书评

暂无评论

MEMS ROTARY ACTUATOR USING AN INTEGRATED BALL BEARING AND AIR TURBINE

MEMS ROTARY ACTUATOR USING AN INTEGRATED BALL BEARING AND AI...

引用

TRANSDUCERS 2007 - 2007 International Solid-State Sensors, Actuators and Microsystems Conference, Volume 3 of 5

作者： C. M. Waits N. R. Jankowski B. Geil R. Ghodssi US Army Research Laboratory Adelphi MD USA MEMS Sensors and Actuators Lab (MSAL) Department of Electrical and Computer Engineering Institute for Systems Research (ISR) University of Maryland College Park MD USA

The first silicon air-driven rotary actuation mechanism based on encapsulated ball bearings is reported. The method of integrating a silicon air turbine with a ball bearing support mechanism has been developed for silicon turbomachinery and tribological investigations. Rotational speeds up to 37,000 rpm and continuous operation longer than 24 hours were measured. Qualitative analysis is also presented, shedding light on silicon/ball wear and methods for increasing bearing lifetime and speeds.

关键词： Microball Bearings Microturbine MEMS Tribology

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：