Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site...
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ISBN:
(纸本)9781467374439
Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.
Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can’t be described by simple gray information completely. ...
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ISBN:
(纸本)9781479947249
Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can’t be described by simple gray information completely. In order to achieve automatic color moving object detection, the method based on automatic color clustering is especially proposed. Because the difference between adjacent pixels in an image is very small, the initial cluster center can be moved in the maximum distance. The proposed method can reduce the number of iterations and quicken convergence speed, meanwhile determine the number of color cluster and the location of the color object automatically. The proposed algorithm is validated in the actual system, experimental results show that the proposed method can automatically achieve color clustering for color image, while detect color objects.
This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers m...
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ISBN:
(纸本)9781509009107
This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.
There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often ha...
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ISBN:
(纸本)9781479900305
There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.
This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established i...
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ISBN:
(纸本)9781467374439
This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established in the *** component library contains different types of system components which may be essential for controller *** components can be selected from the library and then combined to form a controller with richer *** performance criteria library includes some common control performance *** can choose one from it according to performance ***,the differential evolution algorithm is utilized to optimize the parameters of each component in order to find the optimal solution and ultimately obtain the controller structure and parameters which meet *** were done on different types of control *** results show that the controllers designed by the proposed method for different types of control objects generally have better comprehensive performance than the PID controllers designed by conventional methods,differential evolution and genetic ***,stability and generalizability of the proposed method were also tested and verified.
The polymer electrolyte membrane(PEM) fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,...
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The polymer electrolyte membrane(PEM) fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,which combines the advantages of mechanism model and black-box model,is proposed in this *** improve the performance,the static neural network and variable neural network are used to build the black-box *** static neural network can significantly improve the static performance of the hybrid model,and the variable neural network makes the hybrid dynamic model predict the real PEM fuel cell behavior with required ***,the hybrid dynamic model is validated with a 500 W PEM fuel *** static and transient experiment results show that the hybrid dynamic model can predict the behavior of the fuel cell stack accurately and therefore can be effectively utilized in practical application.
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composit...
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ISBN:
(纸本)9781479947249
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
Hysteresis brake,which provides for step-less torque and high speed,is a stable and reliable device used for loading,but with some problems,such as the large time-lag,strong nonlinearity,and difficulty in modeling et ...
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ISBN:
(纸本)9781509009107
Hysteresis brake,which provides for step-less torque and high speed,is a stable and reliable device used for loading,but with some problems,such as the large time-lag,strong nonlinearity,and difficulty in modeling et *** to the above-mentioned issues,the special working conditions of hysteresis brake developed by our project team and the advantage of the dynamical performance of the Elman Multi-Hidden Layers Neural Network,this paper employs modified neural network algorithm with Elman dynamic recursive structure to accomplish the model of hysteresis brake,and guarantees the accuracy of output loaded *** this algorithm,we introduce the speed,the given and desired torque,and a directivity factor respectively as a disturbance variable and two input vectors of the system,and then train the model and *** numerical results validate the effectiveness of the algorithm proposed.
Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain,which has become research highlights of robot fields these *** this paper,the basic static walking ...
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ISBN:
(纸本)9781538629185
Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain,which has become research highlights of robot fields these *** this paper,the basic static walking pattern of robot is determined,and the attitude angles and the position of COG(center of gravity) are adjusted to enhance the stability and ability of robot to traverse the rough *** order to simplify and establish model for rough terrain,we propose an estimation method of terrain based on the position of stance phase and the body attitude,as well as calculate the target attitude angle of the trunk in this *** then the smooth transition of foot-laying positions is guaranteed by planning the adjustment ***,the simulation results illustrate that the proposed method is able to adapt robot to different types of unknown rough terrains.
Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free ...
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ISBN:
(纸本)9781479947249
Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free channel access combined with special reuse of the channel provides significant benefits in the energy/throughput trade-off. However, the protocol may introduce scheduling delay if, on the same path, an outbound link on a router is scheduled to transmit before an inbound link on that router. The total scheduling delay can be quite large since it accumulates at every hop on a path. This paper presents a method to solve this problem to improve the performance of the network system. Compared to the origin STDMA protocol, simulation results present us the superior performance of the proposed algorithm.
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