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American Control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration.

关键词： Green's function methods Lyapunov method intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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Particle swarm optimization of high-frequency transformer

Particle swarm optimization of high-frequency transformer

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Annual Conference of Industrial Electronics Society

作者： Hengsi Qin Jonathan W. Kimball Ganesh K. Venayagamoorthy Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO USA

A high frequency transformer is a critical component in a dual active bridge converter (DAB) used in a power electronics-based solid state transformer. Operation of a DAB converter requires its transformer to have a specific amount of winding leakage inductance. The demand for high efficiency requires minimization of transformer copper loss and core loss. Furthermore, available window area limits the winding arrangement of transformer. A hybrid of particle swarm optimization (PSO) and differential evolution (DE) is proposed to solve this multi-objective problem with constraints. DE provides diversity to pbest of each particle, which is missing in standard PSO. The differential evolution particle swarm optimization (DEPSO) algorithm is applied to find optimal transformer designs for DAB converters. Results show the DEPSO method is a generic effective way to find optimal high frequency transformer design.

关键词： Windings Inductance Magnetic cores Converters Resistance Particle swarm optimization Optimization

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Multipartite-to-bipartite entanglement transformations and polynomial identity testing

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Physical Review A 2010年第5期81卷 052310-052310页

作者： Eric Chitambar Runyao Duan Yaoyun Shi Physics Department University of Michigan 450 Church Street Ann Arbor Michigan 48109-1040 USA Centre for Quantum Computation and Intelligent Systems (QCIS) Faculty of Engineering and Information Technology University of Technology Sydney New South Wales 2007 Australia and State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing 100084 People’s Republic of China Department of Electrical Engineering and Computer Science University of Michigan 2260 Hayward Street Ann Arbor Michigan 48109-2121 USA

We consider the problem of deciding if some multiparty entangled pure state can be converted, with a nonzero success probability, into a given bipartite pure state shared between two specified parties through local quantum operations and classical communication. We show that this question is equivalent to the well-known computational problem of deciding if a multivariate polynomial is identically zero. Efficient randomized algorithms developed to study the latter can thus be applied to our question. As a result, a given transformation is possible if and only if it is generically attainable by a simple randomized protocol.

关键词： Quantum entanglement

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Rotary nanomotors based on head-to-head nanotube shuttles

Rotary nanomotors based on head-to-head nanotube shuttles

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Hamdi A. Subramanian L. X. Dong A. Ferreira B. J. Nelson ENSI Bourges Institut PRISME Bourges France Center for Integrated Nanotechnologies Sandia National Laboratories Albuquerque NM USA Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

A novel rotary nanomotor is described using two axially aligned, opposing chirality nanotube shuttles. Based on inter-shell screw-like motion of nanotubes, rotary motion is generated by electrostatically pulling the two cores together. Simulations using molecular dynamics show the generation of rotation from armchair nanotube pairs and their actuation properties. The simulation results, together with recently reported progress in realizing batch-fabricated ultra-high density nanotube shuttles, point towards the use of these motors as building blocks in nanoelectromechanical systems (NEMS) and nanorobotic systems for sensing, actuation, and computation applications.

关键词： Nanoelectromechanical systems Carbon nanotubes Micromotors Computational modeling intelligent robots Nanostructured materials Nanostructures Nanoscale devices Rotors Voltage

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Modified adaptive control for region 3 operation in the presence of wind turbine structural modes

Modified adaptive control for region 3 operation in the pres...

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作者： Frost, Susan A. Balas, Mark J. Wright, Alan D. NASA Ames Research Center Intelligent Systems Division M/S 269-2 Moffett Field CA 94035 United States Department of Electrical and Computer Engineering University of Wyoming 1000 E. University Avenue Laramie WY 82071 United States National Renewable Energy Laboratory M/S 3811 1617 Cole Blvd. Golden CO 80401 United States

ISBN: (纸本)9781600867392

Many challenges exist for the operation of wind turbines in an efficient manner that is reliable and avoids component fatigue and failure. Turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, possibly causing component fatigue and failure. Wind turbine manufacturers are highly motivated to reduce component fatigue and failure that can lead to loss of revenue due to turbine down time and maintenance costs. The trend in wind turbine design is toward larger, more flexible turbines that are ideally suited to adaptive control methods due to the complexity and expense required to create accurate models of their dynamic characteristics. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed horizontal axis wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the excitation of structural modes in the wind turbine. The control objective is accomplished by collectively pitching the turbine blades. The adaptive collective pitch controller for Region 3 was compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller. The adaptive controller will demonstrate the ability to regulate generator speed in Region 3, while accommodating gusts, and reducing the excitation of certain structural modes in the wind turbine.

关键词： Controllers

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Robust appearance based visual route following for navigation in large-scale outdoor environments

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International Journal of robotics Research 2009年第3期28卷 331-356页

作者： Zhang, Alan M. Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VA 3800 Australia

In this paper we present a navigation algorithm that enables mobile robots to retrace routes previously taught under the control of human operators in outdoor environments. Possible applications include robot couriers, autonomous vehicles, tour guides and robotic patrols. The appearance-based approach presented in the paper is provably convergent, computationally inexpensive compared with map-based approaches and requires only odometry and a monocular omnidirectional vision sensor. A sequence of reference images is recorded during the human-guided route-teaching phase. Before starting the autonomous phase, the robot needs to be positioned at the beginning of the route. During the autonomous phase, the measurement image is compared with reference images using image cross-correlation performed in the Fourier domain to recover the difference in relative orientation. Route following is achieved by compensating for this orientation difference. Over 18 km of experiments performed under varying conditions demonstrate the algorithm's robustness to lighting variations and partial occlusion. Obstacle avoidance is not included in the current system.

关键词： Navigation

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Delay-dependent conditions for monotonic convergence of uncertain ILC systems: An LMI approach

Delay-dependent conditions for monotonic convergence of unce...

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IEEE Conference on Decision and Control

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu Seventh Research Division the Department of Systems and Control Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

ISBN: (纸本)9781424477456

This paper deals with the iterative learning control (ILC) problem for uncertain time-delay systems (TDS). In order to ensure monotonic convergence of the ILC process, a sufficient condition is developed using an H ∞ -based framework. It shows that under this framework, the convergence condition is enabled to be delay-dependent and have a formulation in terms of linear matrix inequalities (LMIs). Moreover, formulas for the updating law design can be derived by directly solving LMIs. A numerical example is provided to verify that the delay-dependent condition in LMI forms is effective in producing monotonically convergent ILC algorithms.

关键词： Convergence Symmetric matrices Robustness Delay Uncertainty Performance analysis Linear matrix inequalities

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Observer-Based L_(2)-L_(infinity) Control for a Class of Stochastic systems with Time-Varying Delay

Observer-Based L_(2)-L_(infinity) Control for a Class of Sto...

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2010 49th IEEE Conference on Decision and Control

作者： Lin Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424477456

This paper is devoted to the problem of L_(2)-L_(infinity) control for a class of stochastic time-delay systems via observer-based feedback control. The considered observer contains no time-delay. The purpose is to design an observer-based feedback stabilizing controller such that the augmented closed-loop system is stochastically asymptotically stable with a prescribed L_(2)-L_(infinity) performance satisfied. Based on the stochastic stability theory, a delay-dependent sufficient condition is derived in terms of linear matrix inequalities (LMIs). The observer and controller design method is proposed, while the corresponding explicit expression for the observer and controller gain matrices is also given. Finally, numerical examples and simulation results are included to illustrate the effectiveness of the proposed results.

关键词： stochastic systems system clock time varying stability theory Stochastic delay systems controller gain Closed loop systems

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