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2008 11th IEEE International Conference on Communication Technology, ICCT 2008

作者： Wang, Yan Sun, Zeng Qi School of Automation Science and Electrical Engineering Beihang University Beijing 100084 China State Key Lab. of Intelligent Technology and Systems Department of Computer Science Tsinghua University Beijing 100084 China

ISBN: (纸本)9781424422517

This paper presents a stochastic control method for networked control systems(NCSs) with time-varying sampling periods and random delay. The random delay of the NCS is modelled as intervals governed by a Markov chain. With the switching of the sampling periods, a discrete-time Markovian jump system with parameter uncertainties is presented to model the NCS. By introducing a delay-compensating control term, we construct an augmented state feedback controller. The controller gains can be constructed via LMIs using the stochastic Lyapunov function approach. An example is given to show the proposed results. © 2008 IEEE.

关键词： Networked control systems

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Ground assisted conflict resolution in self-separation airspace

Ground assisted conflict resolution in self-separation airsp...

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作者： Chaloulos, Georgios Roussos, Giannis P. Lygeros, John Kyriakopoulos, Kostas J. Physikstrasse 3 CH-8092 Zurich Switzerland Mechanical Engineering Department Control Systems Lab. National Technical University of Athens 9 Heroon Polytechniou Str. Zografou Athens 15700 Greece

ISBN: (纸本)9781563479458

We propose a novel method for conflict resolution for aircraft flying in a self-separation airspace, with the possibility of some ground assistance. Our method is based on navigation functions, that can guarantee decentralized conflict avoidance for the short term horizon, supported by a model predictive controller on the ground, responsible for the optimization of the aircraft flight plans in the mid term horizon. As a consequence, our method combines the short term safety guarantees provided by navigation functions with the long term optimality and constraint satisfaction guarantees (in terms of airspeed, turning radius etc.) provided by model predictive controllers. The efficiency of the approach is demonstrated on simulations involving a number of aircraft converging in planar configurations. © 2008 by Georgios Chaloulos.

关键词： Optimization

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A study of fuzzy hysteresis modeling and control of a shape emory wire actuator

A study of fuzzy hysteresis modeling and control of a shape ...

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21st Biennial Conference on Mechanical Vibration and Noise, presented at - 2007 ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE2007

作者： Mehrabian, Ali Reza Hashemi, S. Vahid Williams, Eric Elahinia, Mohammad Advanced Dynamic and Control Systems Lab. School of Mechanical Engineering University of Tehran P.O.Box: 14875-347 Tehran Iran Dynamic and Smart Systems Laboratory University of Toledo Nitschke Hall 4045 OH 43606 United States

ISBN: (纸本)0791848027

This paper describes the development of fuzzy systems for modeling the hysteresis behavior of shape memory alloy (SMA) actuators. Due to their simplicity and ease of actuation, SMA actuators are very attractive for applications such as miniature robots for micro manufacturing. However, SMAs have not been widely used for motion control applications due to their nonlinear behavior and control difficulties. One approach to design a position controller for SMA systems is to employ an inverse-model of the system in the control loop to compensate the hysteresis properties of the material. Fuzzy systems, due to their nonlinear learning and adaptation abilities, are good candidates for obtaining inverse-models. In this paper two fuzzy modeling approaches are employed and compared to develop a model for a SMA wire actuator. A set of experiments are conducted to generate the training data. The test stand includes a Nickel-Titanium (TiNi) SMA wire, a position sensor, a bias spring and a current amplifier. By comparing the performance of the two employed fuzzy modeling techniques, it is revealed that the approach based on fuzzy Gustafson-Kessel (GK) clustering shows a better performance in the modeling of the hysteresis in the SMA wire. Thus, GK clustering algorithm is employed to develop the inverse-model for the SMA. The reported results demonstrate the ability of the employed fuzzy algorithm for modeling the hysteresis in the system, and the merits of the introduced inverse-model in the control of the position of the SMA. Copyright © 2007 by ASME.

关键词： Shape memory effect

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DIRECTIONAL CLASSIFICATION OF CORTICAL SIGNALS USING A LIQUID STATE MACHINE

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IFAC Proceedings Volumes 2008年第2期41卷 9596-9600页

作者： Jiangshuai Huang Huijuan Fang Yongji Wang Key Lab. for Image Processing & Intelligent Control of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Liquid State Machine (LSM) is a newly developed computational model with many interesting properties. It has great advantages of dealing with biologic computing when compared to the traditional computational model. In this paper, the LSM was used to deal with the direction classification problem of the spike series which were distilled from the neurons in motor cortex of a monkey. In the output layer, a linear regression and back-propagation are employed as the training algorithms. Compare to outcomes of the two algorithms, it is showed that ideal classification results were derived when using BP as the training algorithm.

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Decentralized Impedance control of Nonredundant Multi-manipulator systems

Decentralized Impedance Control of Nonredundant Multi-manipu...

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IEEE International Conference on Networking, Sensing and control

作者： Nasser Sadati Alireza Ghaffarkhah Faculty of Electrical Engineering Control Group Intelligent Systems Laboratory Sharif University of Technology Tehran Iran Intelligent Systems Lab Department of Electrical Engineering Sharif University of Technology Tehran Iran

In this paper, we propose a decentralized control scheme for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecified position/force trajectory. The proposed control scheme uses the impedance method for modeling the internal force exerted by the end effectors to the object. The precise mathematical analysis of the overall dynamical system and the proposed controller are presented and the stability of the overall system is studied. The proposed controller, then, is applied to a cooperative system composed of two PUMA560 manipulators and the simulation results are presented to verify the proposed control scheme.

关键词： control systems Force control Distributed control Robots Impedance measurement End effectors Mathematical analysis Stability analysis Cooperative systems Manipulator dynamics

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Localization-oriented coverage based on Bayesian estimation in camera sensor networks

Localization-oriented coverage based on Bayesian estimation ...

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9th IEEE International Symposium on Wireless, Mobile and Multimedia Networks, WoWMoM 2008

作者： Liu, Liang Zhang, Xi Huadong, Ma. Networking and Information Systems Laboratory Department of Electrical and Computer Engineering Texas A and M University College Station TX 77843 United States Beijing Key Lab. of Intelligent Telecomm Software and Multimedia Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9781424421008

Target tracking and localization are important applications in camera sensor networks. Although coverage is a very important research topic in wireless sensor networks, and the coverage problem for target detection has been intensively studied, few considers the coverage problem from the perspective of target localization. In this paper, we investigate the coverage problem from the perspective of target localization for camera sensor networks. We first propose a novel localization-oriented sensing model based on the perspective projection of camera. Then, we propose a new notion of Localization-oriented coverage (L-coverage for short). We assume that all camera sensors make the measurements independent of other in the field, and these camera sensors can cooperate to make an accurate estimation for the location of the target. In addition, the relationships among L-coverage, 2-coverage, and the density of camera sensors are also discussed in this paper. The obtained results show that our model can be effectively deployed in many practical scenarios. © 2008 IEEE.

关键词： Target tracking

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Optimizing gear shifting by shift pattern rescheduling and collab.rative control between engine and automatic transmission

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Review of Automotive engineering 2008年第2期29卷 277-285页

作者： Nagata, Takashi Hur, Hwan Tomizuka, Masayoshi Mechanical Systems Control Lab. Dept. of Mechanical Engineering University of California Berkeley CA 94720-1740 United States

This paper discusses two practical issues in automotive powertrain control;optimization of gear shift patterns to balance driving performance and fuel economy, and smoother gear shifting to improve riding comfort. A real-time shift rescheduling method is proposed and evaluated to show its effectiveness for flexible tuning between performance and fuel economy. For smooth gear shifting, a collab.rative control scheme between engine and automatic transmission (AT) gearbox is discussed to aim for a more fundamental torque control of the powertrain. To facilitate model-based approach, an AT gearbox model is devised using hybrid systems techniques to represent the discrete-event nature of automatic transmissions. © 2008 Society of Automotive Engineers of Japan, Inc. All rights reserved.

关键词： Fuel economy

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Effects of morphology on movement of space charge packet in polyethylene

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Gaodianya Jishu/High Voltage engineering 2008年第11期34卷 2385-2389页

作者： Zhou, Yuan-Xiang Wang, Yun-Shan Wang, Ning-Hua Sun, Qing-Hua Nie, Qiong Liang, Xi-Dong Guan, Zhi-Cheng State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept of Electrical Engineering Tsinghua University Beijing 100084 China China Electric Power Research Institute Beijing 100085 China

Polyethylene is a major kind of internal insulating material. This paper measured the space charge phenomenon in low-density polyethylene (LDPE) by the pulsed electro-acoustic (PEA) method and observed the space charge packet. This research got the LDPE films of different morphology by different annealing rate and discussed the effect of morphology and electrical field stress changing on space charge packet's moving velocity. The research shows that morphology of LDPE affects the velocity of space charge packet remarkably;bigger crystallinity results in lower velocity of space charge packet. The intensity of electrical field has little affection to the velocity. The average mobility of different crystallinity under different electric field was calculated. The relationship between crystallinity and mobility was found. The results further demonstrate there are inherent relationships among higher crystallinity, more space charge accumulation, lower mobility and deeper trap depth. Lower mobility and deeper trap depth have a monotone relationship.

关键词：空间电荷空间电荷包聚乙烯微观形态迁移率 PEA

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Adaptive Neural Network in Logistics Demand Forecasting

Adaptive Neural Network in Logistics Demand Forecasting

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International Conference on intelligent Computation Technology and Automation, ICICTA

作者： Yanling Yin Xuhui Bu Fashan Yu School of Electrical engineering and Automation Henan Polytechnic University Jiaozuo china Advanced Control Systems Lab. Beijing Jiaotong University Beijing China

Logistics demand forecasting is an important process between Logistics programming and Logistics resource allocation. The neural network algorithm is usually applied to forecasting logistics demand. However it has the problems of slow convergence and local optimization in searching results when the training data is excessive. This paper presents an adaptive neural network algorithm for logistics demand forecasting. The empirical study shows that the adaptive neural network algorithm has faster convergence and higher precision than neural network algorithm.

关键词： Adaptive systems Neural networks Logistics Demand forecasting Economic forecasting Predictive models Power generation economics Convergence Manufacturing industries Automation

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A novel type of catheter operating system for medical applications

A novel type of catheter operating system for medical applic...

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International Workshop on Modern Science and Technology 2008, IWMST 2008

作者： Guo, Shuxiang Ye, Xiufen Hao, Yanling Tamiya, Takashi Intelligent Mech. Systems Eng. Depart. Kagawa University Japan Harbin Engineering University 2217-20 Hayashi-cho Takamatsu 761-0396 Kagawa Japan Biomechatronics Lab. Automation College Harbin Engineering University 145 Nantong Street Harbin China Department of Neurological Surgery Faclty of Medicine Kagawa University 1750-1 Ikenobe Miki-cho Kida-gun Kagawa 761-0793 Kagawa Japan

In this paper, we developed a novel catheter operating system using force sensors and monitor for medical applications, which included a highly precise master-slave remote control system. We designed micro force sensors and used them in the system to ensure the operation security in intravascular neurosurgery applications, using camera to monitor the situation of simulation experiment. We carried out the operation simulation experiments and got the force information by force sensors when the catheter contacted the simulator of blood vessel. The experimental results indicated that the proposed force sensors-based catheter operating system works well and can be controlled remotely, and the force feedback can effectively improve operability, also this system can avoid danger automatically.

关键词： Catheters

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