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检索条件"机构=Measurement and Control Engineering Research Center and the Department of Computer Science"

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The research on multi-mode sequential flocking in uncertain environment for multiple mobile robots

The research on multi-mode sequential flocking in uncertain ...

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Chinese control Conference (CCC)

作者： Lei Cheng Huaiyu Wu Yongji Wang Quanmin Zhu Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology 430081 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Faculty of Environment and Engineering University of the West of England Bristol United Kingdom BS16 1QY

To provide a generic solution to the local minimum problem encountered within flocking systems in uncertain environment, this paper presents a further design of a multi-model flocking control for multiple mobile robots in terms of behavior-based robotics. Within this framework, several new behavior modes are integrated with the sequential flocking strategy, including multi-robot rigid-body bouncing behavior, multi-robot wall-following behavior and their fusion state. The simulation studies are comprehensively conducted to demonstrate the well environment-adaptability of the proposed procedure in static/dynamic irregular obstacles environment.

关键词： Lead Mobile robots Electronic mail Argon Automation

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A motion-information-based vision-tracking system with a stereo camera on mobile robots

A motion-information-based vision-tracking system with a ste...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Wook Bahn Jaehong Park Chang-hun Lee Tae-il Kim Teajae Lee Muhammad Muneeb Shaikh Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea ASRI/Inter-university Semiconductor Research Center (ISRC) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

This paper presents a vision-tracking system for a mobile robot, using robot motion and stereo vision data. The mobile robot has an actuator module which pans and tilts an integrated stereo camera. The proposed system controls the actuator to maintain the line of sight of the stereo camera towards a stationary target by using the robot motion data. The robot motion data are obtained from a gyroscope and encoders of the mobile robot. The stereo vision data from the camera is used to compensate for errors in the motion measurements, and to prevent a long term error accumulation. This vision-based compensation is used only when the robot stops or moves slowly, because the long vision processing times can cause the loop time to overrun. The proposed system is experimentally evaluated while the robot moves on a trajectory.

关键词： Cameras Mobile robots Robot vision systems Robot kinematics Vectors Stereo vision

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Spectral analysis of sEMG signals to investigate skeletal muscle fatigue

Spectral analysis of sEMG signals to investigate skeletal mu...

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IEEE Conference on Decision and control

作者： Parmod Kumar Anish Sebastian Chandrasekhar Potluri Yimesker Yihun Madhavi Anugolu Jim Creelman Alex Urfer D. Subbaram Naidu Marco P. Schoen Measurement and Control Engineering Research Center (MCERC) School of Engineering Idaho State University Pocatello ID USA MCERC School of Engineering Idaho State University Pocatello ID USA Department of Physical and Occupational Therapy Idaho State University Pocatello ID USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello ID USA Department of Mechanical Engineering MCERC Idaho State University Pocatello ID USA

ISBN: (纸本)9781612848006;9781612848013

Our recent investigations are focused to develop dynamic models for skeletal muscle force and finger angles for prosthetic hand control using surface electromyographic sEMG as input. Since sEMG is temporal and spatially distributed and is influenced by various factors, muscle fatigue and its related sEMG becomes of importance. This study is an effort to spectrally analyze the sEMG signal during progression of muscle fatigue. The sEMG is captured from the arms of healthy subjects during muscle fatiguing experiments for dynamic and static force levels. Filtered sEMG signal is segmented in five parts with 75% overlap between adjacent segments. The analysis is done using different classical (fast Fourier transform, Welch's averaged modified periodogram), model-based (Yule-Walker, Burg, Covariance and Modified Covariance autoregressive (AR) method), and eigenvector methods (Multiple Signal Classification (MUSIC) and eigenvector spectral estimation method) in frequency domain. Results show that the classical and eigenvector based methods are more sensitive than the model-based methods to fatigue related changes in sEMG signals.

关键词： Muscles Fatigue Force Multiple signal classification Dynamics Estimation Electromyography

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The research on multi-mode sequential flocking in uncertain environment for multiple mobile robots

The research on multi-mode sequential flocking in uncertain ...

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作者： Cheng, Lei Wu, Huaiyu Wang, Yongji Zhu, Quanmin Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology 430081 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Faculty of Environment and Engineering University of the West of England Bristol BS16 1QY United Kingdom

ISBN: (纸本)9789881725592

关键词： Multipurpose robots

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Implementation of sEMG-Based Real-Time Embedded Adaptive Finger Force control for a Prosthetic Hand

Implementation of sEMG-Based Real-Time Embedded Adaptive Fin...

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IEEE Conference on Decision and control

作者： Chandrasekhar Potluri Madhavi Anugolu Yimesker Yihun Parmod Kumar Steve Chiu Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center (MCERC) Idaho State University Pocatello Idaho 83201 USA MCERC Idaho State University Pocatello Idaho 83201 USA MCERC College of Engineering Idaho State University Pocatello Idaho 83201 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83209 USA Department of Mechanical and Nuclear Engineering MCERC Idaho State University Pocatello Idaho 83209 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83201 USA

ISBN: (纸本)9781612848006

This paper presents surface electromyographic (sEMG)-based, real-time Model Reference Adaptive control (MRAC) strategy for a prosthetic hand prototype. The proposed design is capable of decoding the prerecorded sEMG signal as well as the sensory force feedback from the sensors to control the force of the prosthetic hand prototype using a PIC 32MX360F512L microcontroller. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system provides the estimated finger forces to be produced as input to the prosthetic hand prototype. A simple MRAC method along with a two stage embedded design is used for the force control of the prosthetic hand. The sensed force at the fingertip is fed back to the controller for real-time operation. The data is transmitted to the computer through an universal asynchronous receiver/transmitter (UART) interface of the proposed embedded design. Results show good performance in controlling the finger force as well as shortcomings of the mechanical design of the prosthetic hand prototype to be addressed in future.

关键词： Prosthetic hand Force control model reference adaptive control Force force feedback Equipment Design Fingers Hydrologic models Embedded design

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An application of fractional intelligent robust controller for electromechanical valve

An application of fractional intelligent robust controller f...

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World Congress on Information and Communication Technologies (WICT)

作者： Tribeni Prasad Banerjee Suman Saha Swagatam Das Ajith Abraham Department of Electronics and Telecommunication Engineering Jadavpur University Kolkata India Drives and Control System Laboratory CSIR-Central Mechanical Engineering Research Institute Durgapur West Bengal India IT For Innovations EU Center of excellence Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Czech Republic Scientific Network for Innovation and Research Excellence Machine Intelligence Research Laboratories-MIR Laboratories WA USA

The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. This is for controlling the velocity of worm gear so that the friction torque due to uneven rotational speed can be avoided. Because with the friction and stiction and backlash the valve system performance is reduced and more and more unstable this leads the system to failure. The proposed controller can provide robustness against the uncertain loading torque and system parameter.

关键词： Valves Gears Equations control systems Robustness Mathematical model Torque

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Development of bar code scanner application for windows mobile devices using a symbol mobility developer kit for .NET compact framework

Development of bar code scanner application for windows mobi...

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2010 2nd International Conference on Mechanical and Electronics engineering, ICMEE 2010

作者： Krejcar, Ondrej Macecek, Marcel Department of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science 17. Listopadu 15 70833 Ostrava-Poruba Czech Republic

ISBN: (纸本)9781424474806

The problem we would like to discuss and solve is based on a remote controlling of created packages containing predefined components with a predefined numbers of these components. In principle the problem acts as a check out control problem. By the help of mobile device with integrated bar code scanner an application for such mobile device can be developed as a remote client of server, which contains a database with predefined properties, numbers of packages, etc. A web services and mobile client application was created using a Microsoft Visual Studio 2008. © 2010 IEEE.

关键词： Bar codes

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3D reconstruction for hand tracking and estimation

3D reconstruction for hand tracking and estimation

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2010 International Conference on Image Processing, computer Vision, and Pattern Recognition, IPCV 2010

作者： Karepey, Himabindu Ahsan, Hidayatullah Chiu, Steve C. Perez-Gracia, Alba Measurement and Control Engineering Research Center College of Engineering Idaho State University Pocatello ID 83209 United States Department of Electrical and Computer Engineering College of Engineering Boise State University Boise ID 83725 United States

ISBN: (纸本)9781601321541

In this paper we developed a framework for a computer vision system to determine kinematic information of the human hand motion, i.e., joint motion in discrete intervals of time. Since a 2D computer vision system developed does not provide complete kinematic information of the human hand, to overcome this we need a 3D vision system that uses multiple cameras and reconstructs a 3D image using reconstruction techniques. The resulting 3D image is used to determine the joint angles for all joints in the human hand. The vision system obtained is relatively inexpensive compared to commercial applications available, and can be used by persons who do not have expert knowledge of vision systems.

关键词： computer vision

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RETRACTED ARTICLE: Remote access of building management system on windows mobile devices

RETRACTED ARTICLE: Remote access of building management syst...

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2010 International Conference on Networking and Information Technology, ICNIT 2010

作者： Krejcar, Ondrej Horkem, Jindrich Department of Measurement and Control Center for Applied Cybernetics VSB Technical University of Ostrava 17. Listopadu 15 70833 Ostrava-Poruba Czech Republic Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB Technical University of Ostrava 17. Listopadu 15 70833 Ostrava-Poruba Czech Republic

ISBN: (纸本)9781424475773

The purpose of this project is to allow a free movement of Building Management System (BMS) operator in all controlled building area. The current state of the problem consists in an impossibility of operator's movement from control centre. We found a solution in using of mobile devices like PDA with a client of BMS to allow a remote access to all alarms of system. Solution consist in use of web services and web methods interface on BMS server, where is possible to connect a remote PDA client to interchange a requested info about alarms and trends. A web services and mobile client application was created using a Microsoft Visual Studio 2008. Future trends are also discussed to provide a solution for small and mid size constructions in direction of use a Microsoft .NET Micro Framework. © 2010 IEEE.

关键词： Web services

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Evaluation and testing of RT-Java parameters on aJiJe aJ-80 real time embedded platform

Evaluation and testing of RT-Java parameters on aJiJe aJ-80 ...

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2010 International Conference on Networking and Information Technology, ICNIT 2010

作者： Krejcar, Ondrej Adamec, Ondrej Department of Measurement and Control Center for Applied Cybernetics VSB Technical University of Ostrava 17. Listopadu 15 70833 Ostrava-Poruba Czech Republic Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB Technical University of Ostrava 17. Listopadu 15 70833 Ostrava-Poruba Czech Republic

ISBN: (纸本)9781424475773

The purpose of this work is the implementation of the program code that enables digital filtration on aJ-80 embedded JAVA processor. While working the implementation filter we need to provide the fastest calculation with the greatest accuracy. Next, it is almost always necessary for the results to be available after the same time from the sample upload. These matters determine the digital filtration as a problem called RT, which is the problem suitable for testing of the processor aJ-80 and its RT features. The work also describes the chosen task example, which examines RT features of this processor. We also mention the attained results and their evaluation. Based on the evaluation, the performance of the hardware program of the processor aJ-80 is very effective. In this respect, the product is recommended to use in many hard RT areas. © 2010 IEEE.

关键词： IIR filters

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