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The model-free learning enhanced motion control of DC motor

The model-free learning enhanced motion control of DC motor

引用

International Conference on Electrical Machines and systems, ICEMS 2007

作者： Rongmin, Cao Zhongsheng, Hou Wei, Zhang Department of Computer and Automation Beijing Institute of Machinery Industry China Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University China

ISBN: (纸本)8986510081

This paper presents an approach towards learning enhanced motion control of DC motor, suitable for applications involving repeated iterations of motion trajectories. The overall structure of the control consists of a feedback and a feed-forward components. The model-free learning adaptive feedback control (MFLAC) provides for the main system stabilization and an iterative learning control (ILC) algorithm is proposed to serve as a feedforward compensation to nonlinear and unknown dynamics and disturbances, thereby enhancing the improvement achievable with PID or MFLAC alone. It serves as the basis for simulation study of the proposed control scheme. A comparison of the performance achieved with traditional PID and MFLAC is also provided to highlight the advantages of the additional intelligent feedforward mode.

关键词： DC motors

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A far-range off-line camera calibration method for stereo lane detection systems

A far-range off-line camera calibration method for stereo la...

引用

2007 IEEE Instrumentation and Measurement Technology, IMTC 2007 - Synergy of Science and Technology in Instrumentation and Measurement

作者： Bódis-Szomorú, András Dabóczi, Tamás Fazekas, Zoltán Budapest University of Technology and Economics Dept. of Measurement and Information Systems Magyar tudósok krt. 2 H-1117 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)1424410800

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods. © 2007 IEEE.

关键词： Stereo vision

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A Migration Path to IEC 61499 for the Batch Process Industry

A Migration Path to IEC 61499 for the Batch Process Industry

引用

IEEE International Conference on Industrial Informatics (INDIN)

作者： J. Peltola J. Christensen S. Sierla K. Koskinen Laboratory of Information and Computer Systems in Automation Helsinki University of Technology Finland Holobloc Inc. Cleveland Heights OH USA

Many recent contributions in the field of embedded, networked control and collaborative manufacturing, such as dynamic reconfiguration, are based on the IEC 61499 standard, which defines a general-purpose architecture for control applications. The industrial acceptance of the standard remains unclear at this time, largely because there is no obvious way to apply domain-specific, industrially accepted engineering methodologies and concepts in the context of IEC 61499. This paper proposes a way to support the established practices of the batch process domain with IEC 61499, and assesses the feasibility of the approach with an experiment involving professional designers.

关键词： IEC standards Manufacturing industries Software standards Standards development Investments Industrial control Application software Software tools Process control Instruction sets

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A Far-Range Off-line Camera Calibration Method for Stereo Lane Detection systems

A Far-Range Off-line Camera Calibration Method for Stereo La...

引用

IEEE Instrumentation and Measurement Technology Conference

作者： Andras Bodis-Szomoru Tamas Daboczi Zoltan Fazekas Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungary

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated. Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision. Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods.

关键词： Cameras Calibration Remotely operated vehicles Sensor systems Mobile robots Navigation Lenses Vehicle detection Parameter estimation Position measurement

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Elastic Grid Based Analysis of Motion Field for Object-Motion Detection in Airborne Video Flows

Elastic Grid Based Analysis of Motion Field for Object-Motio...

引用

IEEE International Symposium on Circuits and systems (ISCAS)

作者： Gergely Balazs Soos Csaba Rekeczky Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Analogic and Neural Computing Systems Laboratory Computer and Automation Research Institute Budapest Hungary

The visual navigation system of a UAV is a complex embedded device designed to modify the path of the platform depending on objects or events detected on the ground. In the visual field of the autopilot these events could be formalized as specific space-time signatures. Processing all pixels captured by the on-board camera(s) in real time with high frame rate needs huge computational effort that is often unnecessary. An adequate computational strategy would focus on the interesting locations only as in the visual system of various species. In this article we describe an automatic focusing mechanism relying on optical flow calculation for detecting moving objects on the ground, thus efficiently separating the motion of interest from ego-motion of the platform.

关键词： Motion analysis Motion detection Object detection Event detection Unmanned aerial vehicles Navigation Cameras Image motion analysis Animals Floods

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Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator

Teleoperation System of the Internet-based Omnidirectional M...

引用

IEEE International Conference on Mechatronics and automation

作者： Dawei Wang Jianqiang Yi Dongbin Zhao Guosheng Yang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Informaion Engineering Henan University Kaifeng China

A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive the live video and environment information measured by sensors. With the help of the remote video and the local simulation, users can easily communicate with the robot. Different modules are proposed and the implementation method of the system is presented. Related experiments are conducted to test the validity of the proposed system.

关键词： Internet Mobile robots Manipulators Robot sensing systems Robot control User interfaces Control systems computer interfaces Computational modeling System testing

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Runtime reconfiguration of a modular mobile robot with serial and parallel mechanisms

Runtime reconfiguration of a modular mobile robot with seria...

引用

2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： H. X. Zhang S.Y. Chen W. Wang J. W. Zhang G. H. Zong Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Dept of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotic Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

This paper presents a novel field robot JL-I based on a reconfigurable concept for urban search and rescue applications. The robot consists of three identical modules; each module is an entire robotic system that can perform distributed activities. It features three-degrees-of-freedom (DOF) active joints actuated by serial and parallel mechanisms for changing shape and flexible docking mechanism. The docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. DOF analysis, working space analysis and the kinematics of the 3D active joint between connected modules are studied thoroughly. In the end a series of successful tests confirm the principles and the robot's capabilities.

关键词： Runtime Mobile robots Orbital robotics Robotics and automation Space technology Intelligent robots Kinematics Testing Prototypes Accidents

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Proactive computing in process monitoring: information agents for operator support

Proactive computing in process monitoring: Information agent...

引用

11th IEEE International Conference on Emerging Technologies and Factory automation

作者： Pakonen, Antti Pirttioja, Teppo Seilonen, Ilkka Tommila, Teemu VTT Technical Research Centre of Finland Automation Technology Laboratory Helsinki University of Technology Finland Information and Computer Systems in Automation Helsinki University of Technology

ISBN: (纸本)9780780397583

While automation systems can track thousands of measurements it is still up to human process operators to determine the operational situation of the controlled process, particularly in abnormal situations. To fully exploit the computing power of embedded processors and to release humans from simple data harvesting activities, the concept of proactive computing tries to exploit the strengths of both man and machine. Proactive features can be implemented using intelligent agent technology, enabling humans to move from simple interaction with computers into supervisory tasks. Autonomous information agents can handle massive amounts of heterogeneous data. They perform tedious tasks of information retrieving, combining and monitoring on the behalf of their users. This paper presents a multi-agent-based architecture for process automation, which aims to support process operators in their monitoring activities. The approach is tested with a scenario inspired by a real-world industrial challenge.

关键词： Process control

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An improved super-resolution with manifold learning and histogram matching

引用

International Conference on Biometrics, ICB 2006

作者： Chan, Tak Ming Zhang, Junping Shanghai Key Laboratory of Intelligent Information Processing Department of Computer Science and Engineering Fudan University 200433 China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China

ISBN: (纸本)3540311114

Biometric Person Authentication such as face, fingerprint, palmprint and signature depends on the quality of image processing. When it needs to be done under a low-resolution image, the accuracy will be impaired. So how to recover the lost information from down-sampled images is important for both authentication and preprocessing. Based on Super-Resolution through Neighbor Embedding algorithm and histogram matching, we propose an improved super-resolution approach to choose more reasonable training images. First, the training image are selected by histogram matching. Second, neighbor embedding algorithm is employed to recover the high-resolution image. Experiments in several images show that our improved super-resolution approach is promising for potential applications such as low-resolution mobile phone or CCTV (Closed Circuit Television) image person authentication. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Pattern matching

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Geometrical probability covering algorithm

Geometrical probability covering algorithm

引用

2nd International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2005

作者： Zhang, Junping Li, Stan Z. Wang, Jue Shanghai Key Laboratory of Intelligent Information Processing Department of Computer Science and Engineering Fudan University Shanghai 200433 China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing 100080 China

ISBN: (纸本)9783540283126

In this paper, we propose a novel classification algorithm, called geometrical probability covering (GPC) algorithm, to improve classification ability. On the basis of geometrical properties of data, the proposed algorithm first forms extended prototypes through computing means of any two prototypes in the same class. Then Gaussian kernel is employed for covering the geometrical structure of data and used as a local probability measurement. By computing the sum of the probabilities that a new sample to be classified to the set of prototypes and extended prototypes, the classified criterion based on the global probability measurement is achieved. The proposed GPC algorithm is simple but powerful, especially, when training samples are sparse and small size. Experiments on several databases show that the proposed algorithm is promising. Also, we explore other potential applications such as outlier removal with the proposed GPC algorithm. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Algorithms

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