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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Bolandhemmat, Hamidreza Clark, Christopher M. Golnaraghi, M.F. Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Lab. for Autonomous and Intelligent Robotics Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Mechatronics and Smart Materials Systems Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada

ISBN: (纸本)0791837904

This paper presents the design of a distributed sensing system that uses an Extended Kalman Filter (EKF) to fuse measurements, so that automotive vehicle states can be estimated for use by a Semi-active Suspension control system. To improve ride comfort and handling quality, relative displacements and velocities of suspension systems are estimated. To control the stability of vehicles, roll, yaw, and pitch must also be determined. The designed (EKF) uses easily accessible measurements such as accelerations and body's angular velocities. These measurements are provided by 8 accelerometers and an Inertial Measurement Unit (IMU). The accelerometers are strategically mounted on the two ends of each individual shock absorber (damper). The IMU was mounted near the vehicle's center of gravity. Computer simulations and experiments were conducted for full vehicle state estimation of a 1993 Toyota Tercel equipped with the above mentioned sensor suite. Results show that except relative displacements, all states of the automobile's semi-active suspension systems can be estimated using this set of sensors. The designed EKF works well despite not knowing accurate information about road inputs, external disturbances and car characteristics such as moments of inertia, mass, and equivalent spring and damping coefficients. Both simulation results and experimental results show the effectiveness of the designed EKF in estimating the required states. Copyright © 2006 by ASME.

关键词： Remote sensing

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Common metrics for human-robot interaction

Common metrics for human-robot interaction

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HRI 2006: 2006 ACM Conference on Human-Robot Interaction

作者： Steinfeld, Aaron Fong, Terrence Kaber, David Lewis, Michael Scholtz, Jean Schultz, Alan Goodrich, Michael Robotics Institute Carnegie Mellon University Pittsburgh PA United States Intelligent Systems Division NASA Ames Research Center Moffett Field CA United States Dept. of Industrial Engineering North Carolina State University Raleigh NC United States Sch. of Information Science University of Pittsburgh Pittsburgh PA United States Information Access Div. NIST Gaithersburg MD United States Intelligent Systems Section US Naval Research Lab. Washington DC United States Computer Science Dept. Brigham Young University Provo UT United States

ISBN: (纸本)1595932941

This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing factors that must be taken into consideration. Finally, we present suggested common metrics for standardization and a case study. Preparation of a larger, more detailed toolkit is in progress. Copyright 2006 ACM.

关键词： Human computer interaction

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Risk-based study on under voltage load shedding schemes

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2006年第19期26卷 18-22页

作者： Dai, Jian-Feng Zhu, Ling-Zhi Zhou, Shuang-Xi Lu, Zong-Xiang State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Beijing 100084 China

A risk based method is proposed to design under voltage load shedding (UVLS) scheme. Different with traditional methods, the proposed one employs a series of risk indices, which are obtained based on a full-scale contingencies analysis, to determine the operating parameters of load shedding. According to this method, the load bus, in which the UVLS can exert itself with the highest efficiency to prevent voltage collapse, is selected as the first candidate to execute load shedding. And the amount of loads to be shed is identified though a relationship between risk values and shedding amount. The selection of shedding time conforms to the principle that the compound risk brought by failed shedding and unexpected shedding must be the minimum. Experiments conducted for IEEE 39-bus system reveal that the proposed method redound to identify the location, amount and time of load shedding more accurately and reasonably due to taking into account a great deal of uncertain factors.

关键词： Electric load shedding

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Study on probability of voltage instability based on the stochastic characteristic of load margin index

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2006年第13期26卷 26-30页

作者： Dai, Jian-Feng Wang, Hai-Chao Zhou, Shuang-Xi Lu, Zong-Xiang Zhu, Ling-Zhi State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Beijing 100084 China

In order to make up the deficiency of traditional analytical method used in the research of voltage stability problem, we need to know the probability information concerned with voltage instability. Therefore, this paper proposes a method to calculate the probability of voltage instability based on the stochastic characteristic of load margin index. This method firstly determines the stochastic characteristic of load margin index through an analysis about the randomicity of parameters which tie up with the tracing of critical point in continue power flow computation, and then figures out the probability of voltage instability by using moment and cumulate method. Owing to take into account more uncertain factors' influence on the voltage stability, the result acquired by this method is much more accurate and reasonable. A numerical simulation based on IEEE 39-bus system reveals that the proposed method works properly.

关键词： Electric power systems

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Calibration method of 3-D profile measurement by grating projection

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Journal of Hunan University of Science and Technology 2006年第2期21卷 40-43页

作者： Huang, Meng-Tao Guo, Ying-Fu Jiang, Zhuang-De Tian, Ai-Ling Li, Bing State Key Lab. for Manufacturing Systems Engineering Institute of Precise Engineering Xi'an Jiaotong University Xi'an 710049 China Institute of Electrical and Control Engineering Xi'an University of Science and Technology Xi'an 710054 China

Aiming at the problem of inferior precision and bad maneuverability during system calibration of the conventional system construction, In this paper, a new system construction of three-dimension profile measurement was presented. Because of without parallel and perpendicular restricted condition in this system, the CCD camera and the projecting device could be located arbitrarily. By importing the camera calibration technique and the lens distortion is considered of the CCD camera, the new system has better maneuverability and higher accuracy than conventional method.

关键词： Grating projection Parameter calibration Profile measurement

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Improved simultaneous extrapolation in sharp impulse signals in time and frequency domains

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2006年第18期26卷 133-137页

作者： Zou, Jun Guo, Jian He, Jin-Liang Zhang, Bo Teng, Wen-Rui State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Tsinghua University Beijing 100084 China Dept. of Electrical Engineering Henan University of Technology Zhengzhou 450042 China

The characteristic of the transient response of the grounding system takes on a fast rising and slow damping with the lightning excitation. An improved simultaneous time and frequency domain extrapolation method is presented based on Hermite function expansion, which takes the above mentioned characteristic of the transient signal into account, using early time response and low-frequency data, the complete electromagnetic response is generated. By using mutually complementary data, simultaneous extrapolation in time and frequency domains are carried out by using the Hermite polynomials as the basis function. However, the extrapolation method is not suitable to deal with the transient response with the fast pulse excitation. The improvement for the extrapolation method is to pre- and post-process the transient response data with the fast pulse excitation. As a pre-processed procedure, in order to reduce the condition number of the matrix used for determined the coefficient of basis function, the scale transformation is used in time and frequency domain respectively, and the data in time domain is smoothed and padded with zero. An adaptive algorithm to determine the order of Hermite function is also proposed. As a post-processed step, the transient data are smoothed by using GPOF to obtain a convergent result. The numerical example and the field measurement are presented to illustrate the application of this methodology. The method proposed enhances the ability of the simultaneous time and frequency extrapolation techniques.

关键词： Signal processing

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Adaptive Galerkin approach of the indirect boundary element method for calculating 3D linear magnetostatic field

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2006年第1期26卷 96-100页

作者： Zou, Jun He, Jin-Liang Yu, Hai-Yu Teng, Wen-Rui State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Tsinghua University Beijing 100084 China Dept. of Electrical Engineering Henan University of Technology Zhengzhou 450042 China

The indirect boundary element method has some special advantages for the 3D linear magnetostatic field calculation by using the equivalent magnetic surface charge. In order to improve the accuracy of solutions and decrease the computational costs, an adaptive Galerkin approach to solve the magnetostatic integral equation is presented by using the h-type refinement technology. The basic idea of the proposed approach can be summarized as follows. The error of magnetic flux density is globally minimized in the Galerkin sense in the implementation, so the continuity error of magnetic flux density of each element can be served as a criterion to guide the adaptive refinement. The singularity of geometric corners and edges can be overcome due to the scheme of the discretization of the integral equation with Galerkin's approach. In addition, a local resolution technology is proposed, which leads to the minimal refined unknown. The numerical examples show the proposed method is efficient and accurate by comparison to the analytical solutions and the measured results.

关键词： Magnetic fields

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The new rough neuron

The new rough neuron

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2005 International Conference on Neural Networks and Brain Proceedings, ICNNB'05

作者： Chandana, Sandeep Mayorga, Rene V. Wise Intelligent Systems and Entities Lab. Faculty of Engineering University of Regina Saskatchewan Canada

ISBN: (纸本)0780394224

This paper proposes a novel method of combining Rough concepts with Neural Computation. The proposed New Rough Neuron consists of, one Lower Bound Neuron and another Boundary Neuron. The combination is designed in such a way that the boundary neuron deals only with the random and unpredictable part of the applied signal. Such architecture effectively prunes the search space for the respective constituent neurons based on the certain and uncertain behaviors. This division results in an improved rate of error convergence in the back propagation of the neural network along with an improved parameter approximation during the network learning process. Preliminary structures of the rough neural network along with some testing results have been presented. Further, the performance of the Rough Neural Network has been compared with some of the prevalent designs. © 2005 IEEE.

关键词： Neurology

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Design and implementation of live commentary system in soccer simulation environment

Design and implementation of live commentary system in socce...

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RoboCup 2004 Symposium

作者： Sedaghat, Mohammad Nejad Gholami, Nina Iravanian, Sina Kangavari, Mohammad Reza Intelligent Systems Lab. Computer Engineering Department Iran University of Science and Technology Tehran Iran

Soccer simulation commentary system is a suitable test bed for exploring real time systems. The rapidly changing simulation environment requires that the system generates real time comments based on the information received from the Soccer Server. In this article, a three-layer architecture of Caspian Soccer Commentary system is presented, and each component of the system is briefly described. The emphasis of this paper is on design and implementation of the Analyzer and the Content Selector subsystems. The Analyzer takes advantage of the State Machine to keep track of the game situations. The Scheduling and Interruption mechanism is proposed to improve the efficiency of the Content Selector subsystem. The presented Commentary System together with the other Caspian presentation and analysis tools won the first place in RoboCup 2003 Game Presentation and Match Analysis competitions. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Real time systems

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Hardware implementation of a neuralnetwork controler with an MCU and an FPGA for a nonlinear system

Hardware implementation of a neuralnetwork controler with an...

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作者： Jung, Seul Kim, Sung-Su Department of Mechatronics Engineering Intelligent Systems and Emotional Engineering Lab. Chungnam National University Daejeon Korea Republic of

ISBN: (纸本)008045108X

This paper presents the hardware implementation of a neural network controller for a nonlinear system. As a learning algorithm for a neural network, the reference compensation technique has been implemented on a low cost micro-controller unit (MCU), while PID controllers with counters and PWM generators are implemented on an FPGA chip. Interface between an MCU and a field programmable gate array (FPGA) chip has been developed to complete hardware implementation of a neural controller. The neural controller has been tested for controlling the inverted pendulum as a nonlinear system. Copyright © 2005 IFAC.

关键词： Nonlinear systems

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