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5th International Conference on control systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2023

作者： Belov, Alexey A. Andrianova, Olga G. V.A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Lab. of Dynamic Control Systems Moscow Russia

ISBN: (纸本)9798350309126

In this paper, robust anisotropy-based analysis problem for discrete-time descriptor systems with polytopic uncertainties is stated and solved. Sufficient conditions for anisotropic norm boundedness are formulated in terms of linear matrix inequalities. New conditions, being nonparametric ones, are numerically effective, that is illustrated by numerical example. © 2023 IEEE.

关键词： Anisotropy

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New Results on Anisotropy-Based Analysis and State-Feedback control of Uncertain systems 5

New Results on Anisotropy-Based Analysis and State-Feedback ...

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5th International Conference on control systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2023

作者： Belov, Alexey A. Russian Academy of Sciences Lab. Dynamic Control Systems V. A. Trapeznikov Institute of Control Sciences Moscow Russia

This paper presents convex solution to the anisotropy-based analysis and state-feedback control of linear discrete-time systems with norm bounded uncertainties. The solution is obtained using linear matrix inequalitie... 详细信息

ISBN: (纸本)9798350309126

关键词： Anisotropy

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Nonparametric Anisotropy-Based Bounded Real Lemma for Polytopic Descriptor systems

Nonparametric Anisotropy-Based Bounded Real Lemma for Polyto...

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International Conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Alexey A. Belov Olga G. Andrianova Lab. of Dynamic Control Systems V.A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow Russia

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New Results on Anisotropy-Based Analysis and State-Feedback control of Uncertain systems

New Results on Anisotropy-Based Analysis and State-Feedback ...

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International Conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Alexey A. Belov Lab. Dynamic Control Systems V. A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Moscow Russian Federation

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Experimental autonomous deep learning-based 3D path planning for a 7-dof robot manipulator

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ASME 2019 dynamic systems and control Conference, DSCC 2019

作者： Bertino, Alex Bagheri, Mostafa Krstic, Miroslav Naseradinmousavi, Peiman Dynamic Systems and Control Lab. Dept. of Mechanical Eng. San Diego State University San DiegoCA92115 United States Dynamic Systems and Control Lab. Dept. of Mechanical and Aero. Eng. UC San Diego San Diego State Univ. San DiegoCA92093 United States Dynamic Systems and Control Dept. of Mechanical and Aero. Eng. University of California San DiegoCA92093 United States

ISBN: (纸本)9780791859155

In this paper, we examine the autonomous operation of ahigh-DOF robot manipulator. We investigate a pick-and-placetask where the position and orientation of an object, an obstacle, and a target pad are initially unknown and need to be autonomously determined. In order to complete this task, we employ a combination of computer vision, deep learning, and control techniques. First, we locate the center of each item in twocaptured images utilizing HSV-based scanning. Second, we utilize stereo vision techniques to determine the 3D position of eachitem. Third, we implement a Convolutional Neural Network inorder to determine the orientation of the object. Finally, we usethe calculated 3D positions of each item to establish an obstacleavoidance trajectory lifting the object over the obstacle and ontothe target pad. Through the results of our research, we demonstrate that our combination of techniques has minimal error, iscapable of running in real-time, and is able to reliably performthe task. Thus, we demonstrate that through the combination ofspecialized autonomous techniques, generalization to a complexautonomous task is possible. Copyright © 2019 ASME.

关键词： Stereo vision

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Time delay control of a high-DOF robot manipulator through feedback linearization based predictor

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ASME 2019 dynamic systems and control Conference, DSCC 2019

作者： Bagheri, Mostafa Naseradinmousavi, Peiman Krstic, Miroslav Dynamic Systems and Control Lab. Dept. of Mechanical and Aero. Eng. UC San Diego and San Diego State San DiegoCA92093 United States Dynamic Systems and Control Lab. Dept. of Mechanical Eng. San Diego State University San DiegoCA92115 United States Dynamic Systems and Control Dept. of Mechanical and Aero. Eng. University of California San Diego San DiegoCA92093 United States

ISBN: (纸本)9780791859162

We formulate a predictor-based controller for a high-DOF manipulator to compensate a time-invariant input delay during a pick-and-place task. Robot manipulators are widely used in telemanipulation systems on the account of their reliable, fast, and precise motions while they are subject to large delays. Using common control algorithms on such delay systems can cause not only poor control performance, but also catastrophic instability in engineering applications. Therefore, delays need to be compensated in designing robust control laws. As a case study, we focus on a 7-DOF Baxter manipulator subject to three different input delays. First, delay-free dynamic equations of the Baxter manipulator are derived using the Lagrangian method. Then, we formulate a predictor-based controller, in the presence of input delay, in order to track desired trajectories. Finally, the effects of input delays in the absence of a robust predictor are investigated, and then the performance of the predictor-based controller is experimentally evaluated to reveal robustness of the algorithm formulated. Simulation and experimental results demonstrate that the predictor-based controller effectively compensates input delays and achieves closed-loop stability. © 2019 ASME.

关键词： controllers

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Planar guided waves for SHM of plate structures using piezoelectric fiber transducers

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AIP Conference Proceedings 2013年第1期1511卷 254-261页

作者： M. H. Soorgee C. J. Lissenden J. L. Rose A. Yousefi-Koma Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn State PA 16802 USA and Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering Iran Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn State PA 16802 USA Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering University of Tehran Tehran Iran

A finite element model of piezoelectric fiber transducers bonded to an aluminum plate is used to study planar guided waves inspection of a plate. It has been shown that a linear combination of in-plane and out of plane strains matches the transducer obtained voltage better than it does displacements. A combination of infinite elements and viscous surface tractions were employed to minimize unwanted boundary reflections to enable study of sensor sensitivity to small defects. Finally, design of a piecewise sensing element has led to successfully defining the location of a crack that is only 1.5% the length of the transducer.

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Planar shear horizontal guided wave inspection of a plate using piezoelectric fiber transducers

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AIP Conference Proceedings 2013年第1期1511卷 223-229页

作者： M. H. Soorgee C. J. Lissenden J. L. Rose A. Yousefi-Koma Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn-State PA 16802 USA and Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering University of Tehran Iran Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn-State PA 16802 USA Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering University of Tehran Tehran Iran

Fundamental Shear Horizontal (SH0) guided waves have been simulated using finite element software in order to locate a crack in a plate structure. Long but narrow piezoelectric fiber composite strips have been considered as transducers to excite and receive SH guided waves. A segmented transducer, which enables piecewise sensing, has been shown by finite element analysis to be capable of locating a tiny through-thickness crack. The main benefits are that SH waves could be used to inspect fluid loaded structures and that it is possible to detect a crack oriented parallel to the wave vector.

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A novel LVQ classification method for crack detection in plates using lamb waves

A novel LVQ classification method for crack detection in pla...

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16th International Congress on Sound and Vibration 2009, ICSV 2009

作者： Soorgee, M.H. Koma-Yousefi, A. Afshar, S. Advanced Dynamic and Control Systems Lab. Faculty of Mechanical Eng. University of Tehran P.Box:11365-4563 Tehran Iran

ISBN: (纸本)9781615677368

In this paper a new method for crack detection in plates based on lamb wave propagation and fuzzy rule based classification is presented. Lamb wave propagation within an aluminium plate has been modelled using explicit dynamic finite element method and verified by experimental works in literature. Having developed a reliable FEM model for lamb wave propagation, a piezoelectric actuator, eight piezoelectric sensors and a tiny groove as the crack, have been placed on the plate to produce and sense lamb waves. All sensors signals have been obtained and processed by new developed signal processing method, Hilbert Huang Transform, to find the first three peaks in their energy density spectrum. Having changed the location of the crack, numerous simulations have been done and sensor responses have been gathered to provide necessary amount of data to be used as fuzzy rule based classification data. The feature space of the problem has been classified into lab.lled classes using Linear Vector Quantization (LVQ) algorithm. Cluster Mean Selection (CMS) method has been employed to initiate LVQ by means of clustering the input space into some clusters using Gustafson-Kessel (GK) method. The aluminium plate has also been divided into eight Voronoi regions and a unique correspondence between each cluster and plate region has been found to role as a reliable fuzzy system for crack locating.

关键词： Surface waves

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