检索结果-内蒙古大学图书馆

Annual Conference of Industrial Electronics Society

作者： J.K. Tar J.F. Bito I.J. Rudas K. Jezernik Institute of Mathematical and Computational Sciences John von Neumann Faculty of Informatics Budapest Polytechnic Budapest Hungary Centre of Robotics and Automation John von Neumann Faculty of Informatics Budapest Polytechnic Budapest Hungary Faculty of Electrical Eng. and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

Several variants of a special approach aiming at the development of a new branch of soft computing (SC) for the adaptive control of approximately and partially known mechanical systems are under investigation since 1995. Like "traditional" SC it uses "uniform structures" for modeling, but these structures are obtained from the symplectic group (SG) as a mathematical means describing the inner symmetry of conservative mechanical systems. It considerably reduces the number of free parameters in the model in comparison with that of the neural networks or ample sets of fuzzy rules. It also replaces the process of parameter tuning with simple, lucid, and explicit algebraic operations of limited steps. Further considerations reveals that on the basis of quite formal mathematical observations SG can either be replaced by several Lie groups not representing any symmetry of the physical systems under consideration, or it can be used in a different way not based on the symmetry principle. This approach eliminates certain measurability problems, and the existence of certain singularities related to the symmetry-based application can be evaded using it by building in dummy parameters into the control. In this paper the robustness of this new formal approach is demonstrated in the adaptive control of a SCARA-type robot arm with one introduced dummy parameter.

关键词： Mechanical systems robotics and automation Informatics Adaptive control Robots Mathematical model Neural networks Fuzzy neural networks Fuzzy sets Robust control

来源：评论

学校读者我要写书评

暂无评论

An Adaptive Clustering Method of the Cross-Sectional Mean Void Fraction Signals of Gas-Liquid Two-Phase Flow

引用

IFAC Proceedings Volumes 2000年第15期33卷 633-638页

作者： Katsuhiro Inoue Kousuke Kumamaru Kotohiko Sekoguchi Dept. of Control Eng. and Science Faculty of Computer Science and Systems Eng. Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan. Polytechnic College Kagawa 3203 Gungechou Marugame Kagawa 763-0093 Japan.

An algorithm derived from the mixture probability algorithm has been constructed by using the autoregressive model(AR) with bias component to analyze the cross-sectional mean void fraction signals. However in the algorithm with a maximum likelihood estimates, equations for parameter estimation were very complicated. So in this paper, we modified the mixture probability algorithm and proposed new algorithm based on a stochastic Newton method. The effectiveness of our method is confirmed by applying ones to classify the crosssectional mean void fraction signals of gas-liquid two-phase flow.

关键词： Clustering AR-Model Stochastic Newton Method Mixture Probability Algorithm Gas-Liquid Two-Phase Flow

来源：评论

学校读者我要写书评

暂无评论

Path Following for Autonomous Marine Craft ⋆

引用

IFAC Proceedings Volumes 2000年第21期33卷 117-122页

作者： P. Encarnação A. Pascoal M. Arcak Institute for Systems and Robotics and Dept. Electrical Eng. Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 USA

A new methodology is proposed for the design of path following systems for autonomous marine craft in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

来源：评论

学校读者我要写书评

暂无评论

Path Following for Marine Vehicles in the Presence of Unknown Currents 1

引用

IFAC Proceedings Volumes 2000年第27期33卷 507-512页

A new methodology is proposed for the design of path following systems for autonomous marine vehicles in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

来源：评论

学校读者我要写书评

暂无评论

Factorization method for multiple perspective views via iterative depth estimation

引用

Systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

Stability issues of finite precision state estimate feedback controller realizations for discrete time systems

Stability issues of finite precision state estimate feedback...

引用

作者： Wu, Jun Chen, Sheng.Li, Gang Istepanian, Robert Habib Chu, Jian Whidborne, James F. National Lab. of Industrial Control Tech. Institute of Advanced Process Control Zhejiang University Hangzhou 310027 China Dep. of Electronics and Computer Sci. University of Southampton Highfield Southampton SO17 lBJ United Kingdom School of EEE Nanyang Technological University Singapore Dep. of Electrical and Computer Eng. Ryerson Polytechnic University Toronto ON M5B 2K3 Canada Department of Mechanical Engineering King's College London London WC2R 2LS United Kingdom

This paper present a new effective algorithm for the optimal realization of state estimate feedback controller structures for discrete time systems subject to finite-word-leng.h constraints. The problem is formulated as a nonlinear programming to provide an easy and efficient optimization tool to solve such a complex problem. Simulation results of the optimum realizations of state estimate feedback controller structures are presented to illustrate the effectiveness of the proposed strategy. © 2000 American Automatic control Council.

关键词： Nonlinear programming

来源：评论

学校读者我要写书评

暂无评论

Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

引用

IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collaborative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking control

来源：评论

学校读者我要写书评

暂无评论

Development of neural network based plasma monitoring system for laser welding quality analysis

Development of neural network based plasma monitoring system...

引用

1999 IEEE Region 10 Conference, TENCON 1999

作者： Kwon, Jangwoo Kwon, Osang Jang, Younggun Lee, Kyoungdon Choi, Heungho Hong, Seunghong Dept. of Computer Eng. TLT Pusan608-711 Korea Republic of Dept. of Control and Instrumentation Konyang University Korea Republic of Dept. of Computer Info. Eng. Chongju University Korea Republic of Institute for Advanced Eng. Korea Republic of Dept. of Biomedical Eng. Inje University Korea Republic of Dept. of Electronic Eng. Inha University Korea Republic of

ISBN: (纸本)0780357396

Neural networks are shown to be effective in being able to distinguish incomplete penetration-like weld defects by directly analyzing the plasma which is generated on each impingement of the laser on the materials. The performance is similar to that of existing methods based on extracted feature parameters. In each case around 93% of the defects in a database derived from 100 artificially produced defects of known types can be placed into one of two classes: incomplete penetration and bubbling. The present method based on classification using plasma is faster, and the speed is sufficient to allow on-line classification during data collection. © 1999 IEEE.

关键词： Defects

来源：评论

学校读者我要写书评

暂无评论

Robotic assistants for aircraft inspectors

引用

IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

来源：评论

学校读者我要写书评

暂无评论

Performance optimization of combined variable-cost computations and I/O 4th

Performance optimization of combined variable-cost computati...

引用

Proceedings of the 1997 4th International Symposium on Solving Irregularly Structures Problems in Parallel, IRREGULAR

作者： Nastea, Sorin G. El-Ghazawi, Tarek Frieder, Ophir Department of Eleetr. Eng. and Comp. Science The George Washington University Washington 20052 DC United States Department of Computer Science Florida Institute of Technology Melbourne 32901-6975 FL United States Department of Control and Computers The Polytechnic University of Bucharest Romania Department of Computer Science George Mason University Fairfax VA United States

ISBN: (纸本)3540631380

For applications involving large data sets yielding variablecost computations, achieving both efficient I/O and load balancing may become particularly challeng.ng though performance-critical tasks. In this work, we introduce a data scheduling approach that integrates several optimizing techniques, including dynamic allocation, prefetching, and asynchronous I/O and communications. We show that good scalability is obtained by both hiding the I/O latency and appropriately balancing the workloads. We use a statistical metric for data skewness to further improve the performance by adequately selecting among data-scheduling. We test our approach on sparse benchmark matrices for matrix-vector computations and show experimentally that our method can accurately predict the relative performance of different input/output schemes for a given data set and choose the best technique accordingly.

关键词： load balancing parallel I/O data distribution skewness sparse matrix computations

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：