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Proceedings of the 17th International Conference on Neural Information Processing Systems

作者： Francesco Tenore Ralph Etienne-Cummings M. Anthony Lewis Dept. of Electrical & Computer Eng. Johns Hopkins University Baltimore MD Dept. of Electrical & Computer Eng. Johns Hopkins University Baltimore MD and Institute of Systems Research University of Maryland College Park MD Iguana Robotics Inc. Urbana IL

We have constructed a second generation CPG chip capable of generating the necessary timing to control the leg of a walking machine. We demonstrate improvements over a previous chip by moving toward a significantly more versatile device. This includes a larger number of silicon neurons, more sophisticated neurons including voltage dependent charging and relative and absolute refractory periods, and enhanced programmability of neural networks. This chip builds on the basic results achieved on a previous chip and expands its versatility to get closer to a self-contained locomotion controller for walking robots.

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Optimization of PM brushless DC motor drive

Optimization of PM brushless DC motor drive

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IEEE International Conference on Industrial Technology (ICIT)

作者： P. Crnosija T. Bjazic R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

Traditional approaches to controller designs that guarantee fast compensation of load torque and reference variations result in design iterations and most of the time in poorer response for load torque variations. In this paper a reference model for desired drive behavior generation and optimization methods has been applied to achieve controller integral time constant lower than the maximum time constant of the PM brushless DC motor drive. Presented simulation results show that using reference model for desired drive behavior generation, it is possible to determine optimal controller parameters for faster (10 time) and better (2 time) load torque compensation than in the case of traditional design of speed controller parameters. Response due to reference input with constrained overshoot has been achieved using a filter in the servosystem input. Thereby, the proposed method demonstrates the design of a speed controller that is optimal for both load torque and reference variations and its verification with simulation are accomplished for a permanent magnet brushless dc motor drive.

关键词： Brushless DC motors Torque control Optimal control Time factors DC generators Optimization methods Magnetic separation Filters Servosystems Design methodology

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Composite systems control by combined math-analytical and FS/NN computing approach

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IFAC Proceedings Volumes 2003年第7期36卷 7-18页

作者： Georgi M. Dimirovski Yuan-Wei Jing Jun Zhao Si-Ying Zhang Dogus University Department of Computer Engineering Faculty of Engineering Acibadem Kadiköy TR-34722 Istanbul Turkey Fax# +90-216-327-9631 SS Cyril and Methodius University Institute of Automation & Systems Eng. Faculty of Electrical Engineering MK-1000 Skopje R. of Macedonia Northeastern University Institute of Control Science School of Information Science & Eng. Shenyang Liaoning P.R. of China Fax# +90-24-2389-0912

A control systems eng.neering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systems eng.neering.

关键词： Complex composite systems fuzzy systems neural networks nonlinear systems

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Fuzzy direct adaptive sliding mode control of interconnected large-scale systems

Fuzzy direct adaptive sliding mode control of interconnected...

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2002 IEEE International Conference on Systems, Man and Cybernetics

作者： Zhang, Yanxin Dimirovski, Georgi M. Jing, Yuanwei Zhang, Siying Institute of Control Science Faculty of Information Sci. and Eng. Northeastern University P.O. Box 321 Shenyang Liaoning 110004 China Department of Computer Engineering DOGUS University Faculty of Engineering Acibadem Zemaet Sk. 21 Kadikoy TR-81010 Istanbul Turkey ASE Institute Faculty of Electrical Engineering SS Cyril and Methodius University MK-1000 Skopje Macedonia

Fuzzy direct adaptive sliding mode control design for a class of interconnected large-scale nonlinear systems with unknown functions has been resolved. It makes use of the fuzzy control method via fuzzy logic approximation with fuzzy sliding mode control to approximate the ideal controller synthesised. Fuzzy sliding mode control is introduced to attenuate the fuzzy approximation errors. The (sub)system parameters are being regulated on-line by adaptive laws and stabilised by virtue of Lyapunov's second method applied.

关键词： Large scale systems

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High Order Feedback Design to Improve Robot Performance

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IFAC Proceedings Volumes 2002年第2期35卷 433-438页

作者： O. Yaniv M. Nagurka S. Safonov T. Flash Faculty of Eng. Tel-Aviv University Tel-Aviv 69978 Israel Elmo Position Control Ltd. 1 Shidlovskey St. POB 13081 Yavne 81101 Israel Dept. of Mechanical & Industrial Eng. Marquette University Milwaukee WI 53201 USA Computer Science & Applied Math. The Weizmann Institute Rehovot 76100 Israel

In comparison to PI and PID controllers, a higher order “advanced” controller is shown to improve the performance of an experimental robot for speed and position control applications. The advanced controller attains a higher bandwidth, lower settling time and better disturbance rejection, while the increased performance costs little in sensor noise amplification.

关键词： Identification robust control PID control Flexible arms MIMO

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Overshoot controlled servo system synthesis using bode plot and its application to PM brushless DC motor drive

Overshoot controlled servo system synthesis using bode plot ...

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International Workshop on Advanced Motion control (AMC)

作者： P. Crnosija Z. Ban R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

The design of current and speed controllers remains to a large extent a mystery to many eng.neers in the motor drives field. An attempt is made in this paper to simplify the design of the current and speed controllers using Bode plots. This paper outlines the theoretical background behind the techniques of symmetric optimum and dominant time constant compensation methods. The techniques are compared and contrasted using the overshoot and phase margin criteria. An application of these techniques to controller design for permanent magnet brushless DC motor (PMBDCM) drive system is made and verified with simulation. In order to apply these techniques to PMBDCM drive for the design of the current and speed controllers, the model of the motor drive is given for the benefit of the reader. The current and speed controller synthesis of a PMBDCM drive is achieved with the presented technique. Simulation results demonstrate for reference (current or speed) changes, symmetric optimum and dominant time compensation methods perform similarly. But for a load torque disturbance, the adverse effect on the speed is compensated faster only with the symmetric optimum method.

关键词： control system synthesis Servomechanisms Automatic control Brushless DC motors Frequency domain analysis Motor drives control systems DC motors Network synthesis Electric variables control

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Automatic control of Horizontal-moving Stereoscopic Camera by Disparity Compensation

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Journal of the Optical Society of Korea 2002年第4期6卷 150-155页

作者： Ki-Chul Kwon Jae-Kwang Choi Nam Kim Young-Soo Choi Dept. of computer Communication Eng. Chungbuk National University Advanced Robotics Team Korea Atomic Energy Research Institute

Horizontally-moving method (HMM) stereoscopic camera has a liner relationship between ver-gence and focus control. We introduced the automatic control method for a stereoscopic camera system that uses the relationship between vergence and focus of an HMM stereoscopic camera. the Automatic control method uses disparity compensation of the acquired image pair from the stereoscopic camera. For faster extraction of disparity information, the proposed binocular dispar-ity estimation method by the one-dimensional cepstral filter algorithm would be investigated. The suggested system in this study substantially reduced the controlling time and error-ratio so as to make it possible to achieve natural and clear images.

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Issues on the geometry of central catadioptric image formation

Issues on the geometry of central catadioptric image formati...

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2001 IEEE computer Society Conference on computer Vision and Pattern Recognition

作者： Barreto, Joao P. Araujo, Helder Institute of Systems and Robotics Dept. of Elec. and Computer Eng. University of Coimbra 3030 Coimbra Portugal

An imaging system with a single effective viewpoint is called a central projection system. The conventional perspective camera is an example of a central projection system. Systems using mirrors to enhance the field of view while keeping a unique center of projection are also examples of central projection systems. Perspective image formation can be described by a linear model with well known properties. In general central catadioptric imaging the mapping between points in the world and in the image is highly nonlinear. This paper establishes a general model for central catadioptric image formation made up of three functions: a linear function mapping the worm into an oriented projective plane, a non-linear transformation between two oriented projective planes, and a collineation in the plane. The model is used to study issues in the projection of lines. The equations and geometric properties of general catadioptric imaging of lines are derived. The application of the results in auto-calibration of central catadioptric systems and reconstruction are discussed. A method to calibrate the system using three line images is presented.

关键词： Imaging systems

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A distributed environment for virtual and/or real experiments for underwater robots

A distributed environment for virtual and/or real experiment...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Ridao J. Battle J. Amat M. Carreras Informatics and Applications Institute Univeristy of Girona Girona CP Spain Automatic Control and Computer Eng. Dept Politechnical University of Catalunya Barcelona Spain

ISBN: (纸本)0780365763

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist eng.neers during the software development and testing in the lab prior to real experiments.

关键词： Robots computer interfaces computer networks Actuators Local area networks Man machine systems Computational modeling computer simulation Vehicle dynamics Automotive eng.neering

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A Lorentz-group based adaptive control for electro-mechanical systems

A Lorentz-group based adaptive control for electro-mechanica...

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： J.K. Tar I.J. Rudas K. Jezernik J.F. Bito S.J. Torvinen Institute of Mathematical and Computational Sciences Budapest Polytechnic Budapest Hungary Centre of Robotics and Automation Budapest Polytechnic Hungary Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia Dept. of Mechanical Eng. Institute of Production Engineering Tampere University of Technology Tampere Finland

An efficient approach for the adaptive control of approximately and partially known mechanical systems, like traditional soft computing, uses "uniform structures" for modeling, but these structures are obtained from certain Lie groups as the symplectic group or the generalized Lorentz group. This approach considerably reduces the number of free parameters in the model. Until now its efficiency was investigated for mechanical uncertainties and external dynamic interactions. In this paper the behavior of the electric drives are also included in the investigations. A 1-DOF mechanical system, a pendulum driven by a DC motor in a computed torque control, is investigated via simulation. The necessary torque is calculated from a formal primitive mechanical model and an adaptivity rule. For adaptivity real number scaling and the generalized Lorentz group elements are used. It is concluded that a single adaptive loop can compensate for the mechanical and the electrical uncertainties simultaneously.

关键词： Adaptive control Mechanical systems Uncertainty Convergence robotics and automation DC motors Robots computer science Production eng.neering Neural networks

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