检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Komsuoglu D. McMordie U. Saranli N. Moore M. Buehler D.E. Koditschek Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Center for Intelligent Machines Ambulatory Robotics Laboratory McGill University Montreal Canada

ISBN: (纸本)0780365763

We report on our progress in extending the behavioral repertoire of RHex, a compliant leg hexapod robot. We introduce two new controllers, one for climbing constant slope inclinations and one for achieving higher speeds via pronking, a gait that incorporates a, substantial aerial phase. In both cases, we make use of an underlying open-loop control strategy, combined with low bandwidth feedback to modulate its parameters. The inclination behavior arises from our initial alternating tripod walking controller and adjusts the angle offsets of individual leg motion profiles based on inertial sensing of the average surface slope. Similarly, the pronking controller makes use of a "virtual" leg touchdown sensing mechanism to adjust the frequency of the open-loop pronking, effectively synchronizing the controller with the natural oscillations of the mechanical system. Experimental results demonstrate good performance on slopes inclined up to /spl sim/250 and pronking up to speeds approaching 2 body lengths per second (/spl sim/1.0 m/s).

关键词： Robots Open loop systems Leg Legged locomotion Control systems Bandwidth Feedback Motion control Frequency synchronization Mechanical systems

来源：评论

学校读者我要写书评

暂无评论

Decentralized Predictive Control ofthe Heat Dynamics of a Greenhouse

引用

IFAC Proceedings Volumes 2001年第11期34卷 152-157页

作者： S.G. Tzafestast E.J. Kyriannal K.G. Arvanitis N. Sigrimis National Technical University of Athens. Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE. Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE.

This paper proposes a decentralized model - based predictive controller approach for the design of discrete-time control systems for the regulation of the air temperature and heat supply in greenhouses. A state space model is used at the greenhouse to predict the corresponding indoor temperature over a long-range time period. The sun radiation and outdoor temperature are treated as external disturbances tliat affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.

关键词： Decentralized control Predictive control Greenhouse heat dynamics control

来源：评论

学校读者我要写书评

暂无评论

Providing early feedback in the development cycle through automated application of model checking to software architectures 01

Providing early feedback in the development cycle through au...

引用

IEEE International Conference on Automated Software engineering (ASE)

作者： K.S. Barber T. Graser J. Holt Laboratory for Intelligent Processes and Systems Electrical and Computer Engineering University of Texas Austin Austin TX USA Motorola Inc. Austin TX USA

ISBN: (纸本)076951426X

The benefits of evaluating properties of software architectures stem from two important software architecture roles: (1) providing an opportunity to evaluate requirements and correct defects prior to implementation; and (2) serving as a blueprint for system developers. The paper focuses on a new software architecture evaluation tool called Architecture Analysis Dynamic Environment (Arcade) that uses model checking to provide software architecture safety and liveness evaluation during the requirements gathering and analysis phase. Model checking requires expertise not typically held by systems analysts and software developers. Thus, two barriers to applying model checking must be addressed: (1) translation of the software architecture specification to a form suitable for model checking, and (2) interpretation of the results of model checking. Arcade provides an automated approach to these barriers, allowing model checking of software architectures to be added to the list of techniques available to software analysts and developers focusing on requirements gathering and analysis.

关键词： Feedback Software architecture computer architecture Application software Software safety Software systems Power system modeling intelligent systems systems engineering and theory Business communication

来源：评论

学校读者我要写书评

暂无评论

A Simulink-based robotic toolkit for simulation and control of the PUMA 560 robot manipulator

A Simulink-based robotic toolkit for simulation and control ...

引用

Proceedings 2001 IEEE/RSJ International Conference on intelligent Robots and systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： W.E. Dixon D. Moses I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA

A Simulink robotic toolkit (SRTK) for the Puma 560 robot manipulator is developed on the MATLAB/Simulink-based platform. Through the use of the real-time Linux target and the real-time Windows target, the SRTK can be executed on the Linux or Win32-based operating systems in real-time. Moreover, the graphical user-friendly nature of Simulink allows the SRTK to be a flexible tool that can easily be customized to fit the specific needs of the user, that is, based on the layered approach of the SRTK, the user can perform operations such as calibration, joint control, Cartesian control, Cartesian PD control, impedance control, some trajectory generation tasks, and real-time simulation of the Puma 560 through a user-friendly MATLAB-based graphical user interface without writing any code. The SRTK allows a researcher to use the Puma 560 without the burden of the external issues related to the control, interface, and software issues, while providing for the flexibility for easily modifying components for increased functionality.

关键词： Robots Real time systems Linux Manipulators MATLAB Operating systems Calibration PD control Impedance computer languages

来源：评论

学校读者我要写书评

暂无评论

Fault detection for wheeled mobile robots with parametric uncertainty

Fault detection for wheeled mobile robots with parametric un...

引用

IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： W.E. Dixon I.D. Walker D.M. Dawson Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

ISBN: (纸本)0780367367

We develop a new method for wheeled mobile robot (WMR) fault detection. Specifically, we develop kinematic and dynamic models of the WMR in the presence of faults such as a change in the wheel radius (e.g., deformation, broken spoke, flat tire) or general kinematic disturbances that model slipping or skidding faults. Utilizing the WMR models, we employ a torque filtering technique to develop a prediction error based fault detection residual. The structure of the prediction error allows for fault detection despite parametric uncertainty in the WMR model.

关键词： Fault detection Mobile robots Kinematics Deformable models Predictive models Wheels Tires Torque Filtering Uncertainty

来源：评论

学校读者我要写书评

暂无评论

Developing a traceable domain reference architecture to support clinical trials at the National Cancer Institute. An experience report

Developing a traceable domain reference architecture to supp...

引用

International Conference and Workshop on engineering of computer-Based systems

作者： K.S. Barber T. Graser J. Silva Laboratory for Intelligent Proc. and Systems Electrical and Computer Engineering University of Texas Austin Austin TX USA National Cancer Institute Bethesda MD USA

ISBN: (纸本)0769510868

Presents the requirements gathering and software architecture derivation approach developed by the University of Texas at Austin and leveraged by the National Cancer Institute (NCI) in their efforts to automate the creation, management and evaluation of clinical trials. NCI must face the complexity of managing clinical trials and of coordinating large numbers and varied types of stakeholders. SEPA (systems engineering Process Activities), from the University of Texas at Austin, is well-suited to address domain modeling and software development at NCI due to a strong emphasis on explicit traceability from a derived architecture to individual knowledge acquisition sessions, as well as facilitated resolution among conflicting stakeholder contributions. Specifically, this paper focuses on the SEPA Domain Reference Architecture (DRA), a software architecture designed to capture domain requirements (i.e. domain data, functionality and timing).

关键词： Clinical trials Cancer computer architecture Software architecture Software development management Knowledge engineering systems engineering and theory Programming Knowledge acquisition Software design

来源：评论

学校读者我要写书评

暂无评论

Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

引用

IEEE International Conference on systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines systems engineering and theory computer science computer errors

来源：评论

学校读者我要写书评

暂无评论

Towards the standardization of a MATLAB-based control systems laboratory experience for undergraduate students

Towards the standardization of a MATLAB-based control system...

引用

American Control Conference (ACC)

作者： W.E. Dixon D.M. Dawson B.T. Costic M.S. de Queiroz Robotics and Process Systems Division Oak Ridge National Laboratory USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA Department of Mechanical Engineering Lousiana State University Baton Rouge LA USA

The paper seeks to begin a discussion with regard to developing standardized computer aided control system design (CACSD) tools that are typically utilized in an undergraduate controls laboratory. The advocated CACSD design tools are based on the popular, commercially available MATLAB environment, the Simulink toolbox, and the Real-Time Workshop toolbox. The primary advantages of the proposed approach are as follows: 1) the required computer hardware is low cost, 2) commercially available plants from different manufacturers can be supported under the same CACSD environment with no hardware modifications, 3) both the Windows and Linux operating systems can be supported via the MATLAB based Real-Time Windows Target and the Quality Real Time systems (QRTS) based Real-Time Linux Target, and 4) the Simulink block diagram approach can be utilized to prototype control strategies; thereby, eliminating the need for low level programming skills. It is believed that the above advantages related to standardization of the CACSD design tools will facilitate: 1) the sharing of laboratory resources within each university (i.e., between departments) and 2) the development of Internet laboratory experiences for students (i.e., between universities).

关键词： Standardization computer languages Control systems Laboratories Real time systems MATLAB computer aided manufacturing Hardware Linux Costs

来源：评论

学校读者我要写书评

暂无评论

Inverse kinematics learning by modular architecture neural networks with performance prediction networks

Inverse kinematics learning by modular architecture neural n...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： E. Oyama Nak Young Chong A. Agah T. Maeda Intelligent Systems Laboratory National Institute of Advanced Industrial Science and Technology Ibaraki Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA School of Engineering University of Tokyo Tokyo Japan

ISBN: (纸本)0780365763

Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, the inverse kinematics system of typical robot arms with joint limits is a multivalued and discontinuous function. Since it is difficult for a well-known multilayer neural network to approximate such a function, a correct inverse kinematics model cannot be obtained by using a single neural network. In order to overcome the discontinuity of the inverse kinematics function, we proposed a novel modular neural network system that consists of a number of expert neural networks. Each expert approximates the continuous part of the inverse kinematics function. The proposed system uses the forward kinematics model for selection of experts. When the number of the experts increases, the computation time for calculating the inverse kinematics solution also increases without using the parallel computing system. In order to reduce the computation time, we propose a novel expert selection by using the performance prediction networks which directly calculate the performances of the experts.

关键词： Kinematics Neural networks Artificial neural networks Multi-layer neural network computer networks Robots computer architecture Manipulators Concurrent computing Parallel processing

来源：评论

学校读者我要写书评

暂无评论

Internet-based remote sensing and manipulation in micro environment

Internet-based remote sensing and manipulation in micro envi...

引用

IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： C.K.M. Fung W.J. Li I. Elhajj Ning Xi Center for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Robotics and Automation Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)0780367367

Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote microenvironments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidene fluoride (PVDF) sensors that can be used for force-reflective control of micromechanical devices over the Internet. Internet based teleoperation between Hong Kong and Michigan State was demonstrated using an event-based control scheme, which ensured stability and synchronization. Control was enhanced by multimedia feedback, which included, in addition to the traditional video, force feedback. The force fed back augmented the limited information supplied by visual feedback. We believe this project will eventually make a great impact to the globalization of MEMS foundries because it will allow global users to micro-assemble and micro-manipulate surface micromachined devices from their laboratories, and hence, reduce the time from design to production significantly.

关键词： Internet Remote sensing Force feedback Humans Micromechanical devices Automation Automatic control Force control Actuators Biomedical engineering

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：