检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Mariusz Janiak Krzysztof Tchoń Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm with the following features: inequality constraints are included into an extended kinematics model using a smooth approximation of the plus function, the model is then regularized against singularities, and the resulting imbalance in error equations is handled as a perturbation of an exponentially stable linear dynamic system. The operation of the constrained motion planning algorithm is illustrated by a motion planning problem of a mobile manipulator with bounds imposed on a platform variable. Performance of the algorithm is tested by computer simulations.

关键词： Kinematics Jacobian matrices Motion planning control systems Space technology Manipulator dynamics End effectors Motion control robotics and automation USA Councils

来源：评论

学校读者我要写书评

暂无评论

Towards identifying software project clusters with regard to defect prediction 10

Towards identifying software project clusters with regard to...

引用

Proceedings of the 6th International Conference on Predictive Models in Software Engineering

作者： Jureczko, Marian Madeyski, Lech Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland Institute of Informatics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9781450304047

Background: This paper describes an analysisthat was conducted on newly collected repository with 92 versions of 38 proprietary, open-source and academic projects. A preliminary study perfomed before showed the need for a further in-depth analysis in order to identify project clusters. Aims: The goal of this research is to perform clustering on software projects in order to identify groups of software projects with similar characteristic from the defect prediction point of view. One defect prediction model should work well for all projects that belong to such group. The existence of those groups was investigated with statistical tests and by comparing the mean value of prediction efficiency. Method: Hierarchical and k-means clustering, as well as Kohonen's neural network was used to find groups of similar projects. The obtained clusters were investigated with the discriminant analysis. For each of the identified group a statistical analysis has been conducted in order to distinguish whether this group really exists. Two defect prediction models were created for each of the identified groups. The first one was based on the projects that belong to a given group, and the second one - on all the projects. Then, both models were applied to all versions of projects from the investigated group. If the predictions from the model based on projects that belong to the identified group are significantly better than the all-projects model (the mean values were compared and statistical tests were used), we conclude that the group really exists. Results: Six different clusters were identified and the existence of two of them was statistically proven: 1) cluster proprietary B - T=19, p=0.035, r=0.40;2) cluster proprietary/open - t(17)=3.18, p=0.05, r=0.59. The obtained effect sizes (r) represent large effects according to Cohen's benchmark, which is a substantial finding. Conclusions: The two identified clusters were described and compared with results obtained by other researchers

关键词： Statistical tests

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

Application of adaptive neural network to dishwasher operation control

Application of adaptive neural network to dishwasher operati...

引用

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

作者： Michał Podgórski Institute of Computer Engineering Control and Robotics Wrołcaw University of Technology Wroclaw Poland

The paper presents adaptive neural network based controller of dishwasher. It shows how to prepare input data for training networks and presents the simulation of network performance.

关键词： Neurons Robot sensing systems Artificial neural networks Smoothing methods Computational modeling Adaptation model Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Wiener-Hammerstein system identification with non-Gaussian input

引用

IFAC Proceedings Volumes 2010年第10期43卷 106-111页

作者： Grzegorz Mzyk The Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 50-370 Wroclaw Poland tel: +48 71 320 32 77

The paper addresses the problem of non-parametric estimation of the static characteristic in Wiener-Hammerstein (sandwich) system excited and disturbed by random processes. A new, kernel-like method is presented. The proposed estimate is consistent under small amount of a priori information. An IIR dynamics, non-invertible static non-linearity, and non-Gaussian excitations are admitted. The convergence of the estimate is proved for each continuity point of the static characteristic and the asymptotic rate of convergence is analysed. The results of computer simulation example are included to illustrate the behaviour of the estimate for moderate number of observations.

关键词： Wiener-Hammerstein system nonparametric identification kernel estimate convergence analysis

来源：评论

学校读者我要写书评

暂无评论

Recursive estimation of Hammerstein system nonlinearity by Haar wavelets

引用

IFAC Proceedings Volumes 2010年第14期43卷 439-444页

作者： Przemysław łliwiński Zygmunt Hasiewicz Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wybrzeże Wyspiańskiego 27 50-370 Wrocław Poland

In the note two recursive algorithms recovering the nonlinearity in Hammerstein systems are proposed. The algorithms are based on Haar wavelet orthogonal series kernels and are of the simple generic standard form: where κ k ( x ) is an algorithm-dependent weighting factor. Convergence of both algorithms is examined for continuous and discontinuous nonlinearities and the convergence rates are established. Stability of the algorithms is also shown. Their performances for small numbers of measurements are numerically compared.

关键词： Hammerstein system non-parametric identification Haar orthogonal expansion regression estimation convergence on-line algorithm BIBO stability

来源：评论

学校读者我要写书评

暂无评论

Establishing the NP-hardness of maximally permissive RAS-based approaches to multi-vehicle system safety

Establishing the NP-hardness of maximally permissive RAS-bas...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Elzbieta Roszkowska Spyros Reveliotis Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland School of Industrial & Systems Engineering Georgia Institute of Technology USA

ISBN: (纸本)9781424450381;9781424450404

The safety problem in multi-vehicle systems seeks to establish collision-free and live vehicle motion, and it is a prominent problem for many configurations of these environments. Past work studying this problem in the context of free-range vehicular systems through abstractions based on Resource Allocation System (RAS) theory, has implicitly assumed that its resolution through maximally permissive supervision is NP-hard, and therefore, it has typically pursued suboptimal (i.e., more restrictive) solutions. The work presented in this paper offers formal proof to this implicit assumption, closing the apparent gap in the existing literature.

关键词： Resource management Vehicle safety Motion control System recovery Space vehicles control systems robotics and automation USA Councils Mobile agents Distributed computing

来源：评论

学校读者我要写书评

暂无评论

Preface

Communications and Control Engineering

引用

Communications and control Engineering 2011年第9780857292551期 vii-xi页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore

来源：评论

学校读者我要写书评

暂无评论

Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface

Switched-structure of linear MIMO controllers for positionin...

引用

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

作者： Stanisław Bańka Michał Brasel Paweł Dworak Krzysztof J. Latawiec Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland Institute of Control and Computer Engineering Opole University of Technology Opole Poland

In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.

关键词： Marine vehicles control systems Mathematical model Drilling Observers MIMO Vectors

来源：评论

学校读者我要写书评

暂无评论

Bell-shaped potential functions for multi-agent formation control in cluttered environment

Bell-shaped potential functions for multi-agent formation co...

引用

Mediterranean Conference on control and Automation (MED)

作者： Kristian Hengster-Movrić Stjepan Bogdan Ivica Draganjac Automation & Robotics Research Institute University of Texas Arlington USA Automatin&Robotics Research Institute University of Texas at Arilington USA Dept. of Control and Computer Engineering University of Zagreb CROATIA Croatia

In this paper we analyze stability properties of multi-agent control system in a cluttered environment with an artificial potential based on bell-shaped functions. In our approach attractive and repulsive forces created by potential gradient have the same form which allows definition of target formation that is parameter invariant. Due to the fact that agents are identical, the proposed structure of formation potential is invariant to the interchange of agents configurations, hence, target in which particular agent would eventually end up, depends only on formation initial condition and environment structure (obstacles). We show that position of unwanted stable equilibria can be controlled by parameters that define elementary potential functions. This fact has been used for synthesis of an adaptation algorithm, such that arrival of agents at required formation is guarantied. Simulation results, presented at the end of the paper, confirm correctness of the proposed control scheme.

关键词： Navigation Stability analysis Force Lead Trajectory Geometry

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：