检索结果-内蒙古大学图书馆

IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

来源：评论

学校读者我要写书评

暂无评论

Attitude control without angular velocity measurement: a passivity approach

Attitude control without angular velocity measurement: a pas...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： F. Lizarralde J.T. Wen Department of Electrical Engineering COPPE UFRJ Rio de Janeiro Brazil Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

It is well known that the linear feedback of the quarternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear filter of the quarternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a dynamic observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem. Simulation results are included to illustrate the theoretical results.

关键词： Angular velocity Velocity measurement PD control Feedback Quaternions Robot control Orbital robotics robotics and automation Space vehicles Proportional control

来源：评论

学校读者我要写书评

暂无评论

Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

引用

IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

来源：评论

学校读者我要写书评

暂无评论

Task-based servoing in quaternion space

Task-based servoing in quaternion space

引用

IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh H. Stephanou New York State Center for Advanced Technology in Robotics Automation and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the control law required to control a plant in such a space. A complete set of derivations of the quaternion algebra used to accomplish the optimal control have also been developed. The advantage of this approach is that it decouples the position and orientation states, thereby reducing the complexity of the control algorithms. The intended application of this research is task-level control of the five-fingered Anthrobot mounted on a PUMA 760.

关键词： Quaternions Optimal control Space technology Orbital robotics Force control robotics and automation Manufacturing automation computer aided manufacturing Motion control Acceleration

来源：评论

学校读者我要写书评

暂无评论

Systems, Modelling and Control Theory Issues in the Global Operation of Industrial Processes

引用

IFAC Proceedings Volumes 1995年第10期28卷 221-228页

作者： N. Karcanias H.N. Koivo C. Kyriakopoulos Control Engineering Centre City University Northampton Square London EC1V OHB England Department of Electrical Engineering Tampere University of Technology P O B 692 SF-33101 Tampere Finland Laboratory of Automation and Robotics Department of Electrical Engineering University of Patras 26001 RION Greece

The paper deals with the overall problem of process operations of large industrial processes and aims to idenify a number of important Systems and Control Theory type issues which are of generic character and they are also relevant to both continuous and discrete type processes. It is argued that modelling is central to the overall exercise of understanding global process operations and that some new form of systems theory is needed to transcent the boundaries of a given type model family. The development of the systems approach for understanding the issues of global operations is shown to be based on four general clusters of system type problems. These are the Model Embedding Problem (MEP), the Model Interface Problem (MIP), the Variable Complexity Modelling Problem (VCMP) and the Model Composition Problem (MCP) families. The role of such problems for global process operations is discussed and their main features are established

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robust neural network control of rigid-link electrically-driven robots

Robust neural network control of rigid-link electrically-dri...

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： C.M. Kwan F.L. Lewis D.M. Dawson Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA

A robust neural network (NN) controller is proposed for the motion control of rigid-link electrically-driven (RLED) robots. The NNs are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the uniformly, ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require persistent excitation conditions and no lengthy and tedious preliminary analysis to determine a regression matrix is needed.

关键词： Robust control Neural networks Robots robotics and automation Stability Actuators Nonlinear dynamical systems Motion control Error correction computer aided manufacturing

来源：评论

学校读者我要写书评

暂无评论

Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： F.W. DePiero R.L. Kress Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Roboticsand Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.

关键词： Calibration Testing Measurement standards Measurement errors Robot sensing systems Position measurement Decontamination Data acquisition Sensor phenomena and characterization Costs

来源：评论

学校读者我要写书评

暂无评论

Tetrobot: A Modular System for Hyper-Redundant Parallel robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering Systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

来源：评论

学校读者我要写书评

暂无评论

Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

引用

IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

来源：评论

学校读者我要写书评

暂无评论

Robust adaptive control of robots using neural network: global tracking stability

Robust adaptive control of robots using neural network: glob...

引用

IEEE Conference on Decision and Control

作者： C.M. Kwan D.M. Dawson F.L. Lewis Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering Center for Advanced Manufacturing Clemson University Clemson SC USA

A desired compensation adaptive law-based neural network (DCAL-NN) controller is proposed for the robust position control of rigid-link robots. The NN is used to approximate a highly nonlinear function. The controller can guarantee the global asymptotic stability of tracking errors and boundedness of NN weights. In addition, the NN weights here are tuned on-line, with no off-line learning phase required. When compared with standard adaptive robot controllers, one does not require persistent excitation conditions, linearity in the parameters, or lengthy and tedious preliminary analysis to determine a regression matrix. The controller can be regarded as a universal reusable controller because the same controller can be applied to any type of rigid robots without any modifications.

关键词： Robust control Adaptive control Neural networks Programmable control Adaptive systems Position control Asymptotic stability Error correction Robot control Linearity

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：