检索结果-内蒙古大学图书馆

IEEE-RAS International Conference on Humanoid Robots

作者： Xuechao Chen Yuhang Zhou Qiang Huang Zhangguo Yu Gan Ma Libo Meng Chenglong Fu Key Laboratory of Intelligent Control and Decision of Complex System China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechanical Engineering Tsinghua University Beijing

ISBN: (纸本)9781479971756

Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.

关键词： Legged locomotion Foot Torso Robot kinematics Acceleration Joints

来源：评论

学校读者我要写书评

暂无评论

Stability and stabilization of positive switched systems under asynchronous switching

Stability and stabilization of positive switched systems und...

引用

International Conference on Mechatronics and control (ICMC)

作者： Junfeng Zhang Wei Zhang Xiushan Cai Zhengzhi Han School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Information and Control Hangzhou Dianzi University Hangzhou China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai China College of Mathematics Zhejiang Normal University Jinhua China

ISBN: (纸本)9781479925391

This paper investigates stability and stabilization of positive switched systems under asynchronous switching, which means that the switching of the controller has a delay to that of the system mode. First, two sufficient conditions for the stability of autonomous systems are established. The first one is obtained by using the linear copositive Lyapunov function incorporated with linear programming method, which allows the Lyapunov function to increase during the running time of the active mode. The second one is only based on linear programming. Then, by combining two obtained results, the state-feedback stabilization of non-autonomous systems under asynchronous switching is solved and an average dwell time is designed. Finally, an example is given to illustrate the effectiveness of the obtained results.

关键词： Switches Lyapunov methods Stability analysis Switched systems Linear systems Delays

来源：评论

学校读者我要写书评

暂无评论

Noise cancellation of memristive neural networks

引用

Neural networks : the official journal of the International Neural Network Society 2014年 60卷 74-83页

作者： Shiping Wen Zhigang Zeng Tingwen Huang Xinghuo Yu Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan 430074 China. Electronic address: wenshiping226@***. Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan 430074 China. Electronic address: zgzeng527@***. Texas A & M University at Qatar Doha 5825 Qatar. Electronic address: tingwen.huang@qatar.tamu.edu. Platform Technologies Research Institute RMIT University VIC 3001 Australia. Electronic address: x.yu@rmit.edu.au.

This paper investigates noise cancellation problem of memristive neural networks. Based on the reproducible gradual resistance tuning in bipolar mode, a first-order voltage-controlled memristive model is employed with asymmetric voltage thresholds. Since memristive devices are especially tiny to be densely packed in crossbar-like structures and possess long time memory needed by neuromorphic synapses, this paper shows how to approximate the behavior of synapses in neural networks using this memristive device. Also certain templates of memristive neural networks are established to implement the noise cancellation.

关键词： Memristor Neural network Stability

来源：评论

学校读者我要写书评

暂无评论

Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

引用

IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

来源：评论

学校读者我要写书评

暂无评论

Output feedback tracking control for spacecraft relative translation subject to input constraints and partial loss of control effectiveness

Output feedback tracking control for spacecraft relative tra...

引用

American control Conference

作者： Lin Zhao Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479932757

In this paper, an adaptive output feedback tracking control scheme is proposed for spacecraft formation flying (SFF) in the presence of external disturbances, uncertain system parameters, input constraints and partial loss of control effectiveness. The proposed controller incorporates a pseudo-velocity filter to account for the unmeasured relative velocity, and the neural network (NN) technique is implemented to approximate the desired nonlinear function and bounded external disturbances. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated nonlinear function, a switch function is employed to generate a switching between the adaptive NN control and the robust controller. Moreover, a fault tolerant part is included in the controller to compensate the partial loss of actuator effectiveness fault. It is shown that the derived controller not only guarantees the tracking error in the closed-loop system to be uniformly ultimately bounded (UUB) but also ensures the control input can rigorously enforce actuator magnitude constraints. Simulation results are provided to demonstrate the effectiveness of the proposed method.

关键词： SFF UUB NN

来源：评论

学校读者我要写书评

暂无评论

Robust H_∞ Consensus control of Uncertain Multi-Agent Systems with Nonlinear Dynamics and Time-Varying Delays

Robust H_∞ Consensus Control of Uncertain Multi-Agent Syste...

引用

American control Conference

作者： Ping Wang Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479932757

This paper is concerned with the H_∞ consensus control problem in undirected networks of autonomous agents with nonlinear dynamics, subject to parameter uncertainties and external disturbances. With the consideration of time-varying delays arising from communication among agents, a distributed protocol is proposed using the local delayed state information. Then, by defining an appropriate controlled output function, the consensus problem under the proposed protocol is converted into an H_∞ control problem. Based on robust H_∞ theory, sufficient conditions are derived to make all agents achieve consensus with desired H_∞ performance. Moreover, the feedback matrix in the proposed protocol is determined by solving two linear matrix inequalities (LMIs) with the same dimensions as a single agent. Finally, a numerical simulation is provided to demonstrate the effectiveness of our theoretical results.

关键词： Multi-agent systems Protocols Nonlinear dynamical systems Uncertain systems Linear matrix inequalities Robustness Delay effects

来源：评论

学校读者我要写书评

暂无评论

L10 FePt thin films with crystalline growth fabricated by ZnO addition and rapid thermal annealing

引用

中国物理B（英文版） 2013年第8期22卷 627-631页

作者： Liu Xi Ishio Shunji Key Laboratory of Ministry of Education for Opto-Electronic Technology and Intelligent Control Lanzhou Jiaotong University Lanzhou 730070 China Department of Materials Science and Engineering Akita University Tegata Gakuen-machi Akita 010-8502 Japan Venture Business Laboratory Akita University Tegata Gakuen-machi Akita 010-8502 Japan

FePt films with a high degree of order S of the L10 structure (S > 0.90) and well defined [001] crystalline growth perpendicular to the film plane are fabricated on thermally oxidized Si substrates by the addition of ZnO and a successive rapid thermal annealing (RTA) process. The optimum condition to prepare high-ordering L10 FePtZnO films is 20 vol% ZnO addition and 450 C annealing. The effect of the ZnO additive on the ordering process of the L10 FePtZnO films is discussed. In the annealing process, Zn atoms move to the film surface and evaporate. The motion of the Zn atoms accelerates the intergrain exchange and decreases the ordering temperature.

关键词： FePt thin film magnetic recording material rapid-thermal-annealing oxide addition

来源：评论

学校读者我要写书评

暂无评论

Health Evaluation Method of GEO Satellite Battery Based-On Fuzzy Theory

Health Evaluation Method of GEO Satellite Battery Based-On F...

引用

2013 IEEE 11th International Conference on electronic Measurement & Instruments

作者： Fang Hongzheng Chen Bing Shi Hui Fan Huanzhen Li Rui Department of Automation Nanjing University of Science and Technology Beijing Key Laboratory of High-speed Transport Intelligent Diagnosis and Health Management Beijing Aerospace Measurement & Control Corp. Ltd. College of Electronic Engineering Naval University of Engineering

ISBN: (纸本)9781479907571

The battery is the energy storage device of the satellite power system. The working life of power system mainly depends on the life of the battery. The health state of the battery refers to the battery current performance deviation from the nominal design performance and indicators, so the performance of the battery in the future can be judged by the health state of the battery. Therefore, the study of the battery health assessment method has an important reference value on the design and the management of the satellite on-orbit. First, the aging and failure of GEO satellite battery is introduced, and the battery structure of the GEO satellite power system is analyzed in this paper. Then the evaluation method of GEO satellite battery based-on fuzzy theory is studied, the flow of the assessment of the battery health status, the calculation method of the symptoms membership degree and weight evaluation matrix are given, the calculation method of the Degree of Failure (DOF) and Degree of Health (DOH) is given, too. Using this method, the health state of the satellite battery can be evaluated and diagnosed. Furthermore, in the simulation experiment, the GEO satellite battery charging and discharging data of 3 years are used to evaluate the health condition, the effective, reliability and accuracy of the battery evaluation model proposed in this paper are also proved out and verified.

关键词： GEO battery DOF DOH fuzzy theory

来源：评论

学校读者我要写书评

暂无评论

Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

引用

Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control Systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

来源：评论

学校读者我要写书评

暂无评论

Modeling and Predicting Output Power Losses of Solar Arrays in a Particle Filtering Framework

Modeling and Predicting Output Power Losses of Solar Arrays ...

引用

2013 IEEE 11th International Conference on electronic Measurement & Instruments

作者： Chen Bing Fang Hongzheng Ma Haodong Luo Kai Li Rui College of Electronic Engineering Naval University of Engineering Beijing Key Laboratory of High-speed Transport Intelligent Diagnostic and Health Management Beijing Aerospace Measure & Control Corp. Ltd Department of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781479907571;9781479907588

Solar arrays are the main source of energy to on-orbit satellite. Their output power determines the use value in a great extent. Therefore, it is of great important reference value in the areas of satellite design and on-orbit satellite control to study the attenuation model of output power, to dynamically update the model based on the real-time data of output power, and to forecast the output power. This paper summarizes the influencing factors of attenuation about solar arrays output power, elaborates on the factors' trend with time and their effect on output power, and further describes the empirical model about output power varying with time. Next, it puts forward an algorithm of particle filter dynamic prediction based on the empirical model and historical data. By using the algorithm, model parameter updating and output power real-time prediction can be carried out. Finally, using six years data of solar arrays' voltage and current from a synchronous satellite in orbit, the validity of empirical model about solar arrays output power varying with time was verified based on curve fitting. Besides, the reliability and accuracy of the dynamic prediction method based on particle filter in model parameters updating and output power real-time prediction were also proved out.

关键词： solar arrays, on-orbit satellite, empirical model, particle filter.

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：