The characteristics of vortex structures and turbulent events of drag-reducing surfactant (CTAC) solution flows in a two-dimensional channel have been studied using particle image velocimetry (PIV) to measure the inst...
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The computational aspects of the output regulation problem are considered. The standard solution of the output regulation problem uses the explicit solution of the so-called regulator equation being a highly complex P...
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In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generator...
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In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.
We designed a global optimization algorithm and a local optimization algorithm based on immune optimization, and then proposed an effective self-tuning scheme of fuzzy controller for time-variable plant. For a time-va...
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ISBN:
(纸本)0780382730
We designed a global optimization algorithm and a local optimization algorithm based on immune optimization, and then proposed an effective self-tuning scheme of fuzzy controller for time-variable plant. For a time-variable plant, the global optimization algorithm was adopted to optimize nominal controller offline. When the plant changed, new optimal controller could be rapidly obtained by local optimization, then it was switched into control to implement self-tuning control and improve the control performance. Simulations show that the system has strong robustness and can implement high accuracy control for some industrial plants, which strongly support its practical value.
A new fuzzy identification algorithm is proposed in this paper, which include five blocks: input variables partition block, fast-cluster block, genetic algorithm block, tuning block and termination block. Fast-cluster...
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A new fuzzy identification algorithm is proposed in this paper, which include five blocks: input variables partition block, fast-cluster block, genetic algorithm block, tuning block and termination block. Fast-cluster block is to identify antecedent parameters of T-S model speedily. Tuning block is to fine tune the parameters of T-S model using the gradient descent approach and termination block checks if the result is satisfactory. The proposed algorithm not only has the advantage of simplicity, but also has high accuracy, strong automation. The simulations indicate that the algorithm is effective in constructing T-S model for complex nonlinear systems.
A new fuzzy identification algorithm is proposed in this paper, which include five blocks: input variables partition block, fast-cluster block, genetic algorithm block, tuning block and termination block. Fast-cluster...
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ISBN:
(纸本)0780382730
A new fuzzy identification algorithm is proposed in this paper, which include five blocks: input variables partition block, fast-cluster block, genetic algorithm block, tuning block and termination block. Fast-cluster block is to identify antecedent parameters of T-S model speedily. Tuning block is to fine-tune the parameters of T-S model using the gradient descent approach and termination block checks if the result is satisfactory. The proposed algorithm not only has the advantage of simplicity, but also has high accuracy, strong automation. The simulations indicate that the algorithm is effective in constructing T-S model for complex nonlinear systems.
In this paper, disturbance suppression control with a novel nonlinear disturbance predictor to be used for motion controlsystem is proposed. By design of the novel disturbance predictor, we develop disturbance observ...
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In this paper, disturbance suppression control with a novel nonlinear disturbance predictor to be used for motion controlsystem is proposed. By design of the novel disturbance predictor, we develop disturbance observer to realize disturbance feedback without time delay. This predictor is built from the reconstructed attractor which is often used in chaos analysis. The reconstructed attractor consists of the time series of disturbance and expresses the dynamics of disturbance. Due to the characteristics of the reconstructed attractor, it is not necessary to identify or model the dynamics of disturbance. Therefore the proposed method is especially effective to compensate the interference force of multiple axes robot manipulator friction force and so on which control tends to be complicated in the conventional methods. In the proposed method, one-step-ahead prediction can be realized by extension of the trajectory in the state space of disturbance intuitively. But in the reconstructed attractor, the order of the space can be selected arbitrarily as prediction is succeeded. Additionally the state transition equation of disturbance is not necessary. To verify the effectiveness of the proposed method, some simulation results using a double pendulum system are shown. In this simulation, though the chaotic interference force gives bad influence to the system, the proposed method can be succeeded in stabilizing the behavior of the double pendulum.
In this paper, we propose an atlas-based method for hippocampus-amygdala complex segmentation. An atlas is registered on all subjects and its transformation is calculated for each subject. This transformation is appli...
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In this paper, a sliding mode controller for a second order system with input saturation is proposed. The proposed method uses a nonlinear sliding surface to ensure that the control signal generated by the controller ...
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In this paper, a sliding mode controller for a second order system with input saturation is proposed. The proposed method uses a nonlinear sliding surface to ensure that the control signal generated by the controller does not exceed the bounds of a system input.
Arithmetic operation's execution time in real-time system is bounded by deadlines. The method commonly used to meet these deadlines is by employing any suitable process-scheduling algorithm, which may contain a po...
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Arithmetic operation's execution time in real-time system is bounded by deadlines. The method commonly used to meet these deadlines is by employing any suitable process-scheduling algorithm, which may contain a potential weakness. If time needed to operate is longer than its deadline, then the result's quality will be poor. This is mainly caused by the algorithms of the arithmetic operations commonly used nowadays do not choose the most significant data to be processed first. This research tries to design new algorithm and its processing unit that works based on real-time principles, which starts its computation process from the highest valued digit and provides its intermediate-results that can be accessed anytime during the process. Designing tool used in this research is MAX+plus II Baseline 10.2 software. This research accomplishes in showing the performance of the new algorithm and its processing unit, which is better than the performance of the conventional algorithm.
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