Stable and fast switching between displacement and pressure will directly affect precision and velocity of automated equipment. Switching control between displacement and pressure, which is based on the velocity dampi...
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For a class of nonlinear differential-algebraic equations subsystems, whose index is one and interconnection is local measurable, the inversion control problem is studied by extending Interactor algorithm of nonlinear...
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For a class of nonlinear differential-algebraic equations subsystems, whose index is one and interconnection is local measurable, the inversion control problem is studied by extending Interactor algorithm of nonlinear ordinary differential equations systems. Compared with existing results, the proposed method in this paper bears better realization because of no complex matrix transformation being needed. Firstly, the definition of right inverse systems is presented. Secondly, an extended Interactor algorithm is proposed to judge whether the controlled systems are invertable. Once the controlled systems are invertable, a physical realizable right inverse system is constructed, with which the controlled systems are made linearization and decoupled so that linear control methods can be applied. Finally, an excitation controller is designed for one synchronous generator of multi-machine power systems based on the proposed method in this paper. The simulation results illustrate the validity of the proposed control method in this paper.
A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates...
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A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment (RULA) in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.
A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual targ...
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A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual target perception caused by senor, clustering background and lighting condition changes, a projection based color target recognization method is employed. A new localization algorithm combining Tsai's calibration and polynomial fitting is proposed, as well as a multi-camera collaborative strategy. This improves the accuracy and reliability of the global visual localization in a complex environment. Hardware and software structure of smart sensing nodes based on embedded DSP TMS320DM642 is developed. key functions of real-time visual information acquisition, processing and network interface are integrated in the smart nodes. Application and experiments with the mobile robot navigation control platform verifies the localization accuracy as well as other favorable performances.
There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision ...
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ISBN:
(纸本)9781479913329
There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance.
The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP ...
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The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP (iterative closest point) algorithm, corner feature matching based HAYAI algorithm, as well as point-line matching based PLICP algorithm, were used respectively to estimate the relative displacement between two consecutive measurements to calibrate the localization result from odometer approaches. Better accuracy of long-range localization of indoor mobile robot could be achieved thereby. In the simulation, both the real-time property and accuracy of the mentioned three methods used were compared, showing the effectiveness and application field of the methods.
Target tracking is one of the applications of wireless sensor networks(WSNs).It is assumed that each sensor has a limited range for detecting the presence of the object,and the network is sufficiently dense so that ...
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Target tracking is one of the applications of wireless sensor networks(WSNs).It is assumed that each sensor has a limited range for detecting the presence of the object,and the network is sufficiently dense so that the sensors can cover the area of *** to the limited battery resources of sensors,there is a tradeoff between the energy consumption and tracking *** solve this problem,this paper proposes an energy efficient tracking *** on the cooperation of dispatchers,sensors in the area are scheduled to switch their working mode to track the *** energy consumed in active mode is higher than that in monitoring or sleeping mode,for each sampling interval,a minimum set of sensors is woken up based on the select ***,other sensors keep in sleeping *** analysis and simulation results show that the proposed algorithm provides a better performance than other existing approaches.
Stable and fast switching between displacement and pressure will directly affect precision and velocity of automated equipment. Switching control between displacement and pressure, which is based on the velocity dampi...
详细信息
ISBN:
(纸本)9781479913329
Stable and fast switching between displacement and pressure will directly affect precision and velocity of automated equipment. Switching control between displacement and pressure, which is based on the velocity damping, is proposed for motion switching of automated equipment. At first, the control models were established by analyzing displacement control and pressure control. To solve the shortage of direct switching between displacement and pressure, switching control based on the velocity damping is presented. The effectiveness of this method is verified by using piezoelectric sensor in experiment. Compared to direct switching control, the proposed switching control becomes more accurate and faster. The measurement data shows that the maximal impact force of control system is 0.4N and the amplitude of forces of fluctuations are within the range of ±0.03N.
Till now, most lawn is still irrigated manually or timely. That means lack of proper irrigation strategy and information management ability. However, irrational irrigation method will not only lead to unhealthy growth...
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Till now, most lawn is still irrigated manually or timely. That means lack of proper irrigation strategy and information management ability. However, irrational irrigation method will not only lead to unhealthy growth of lawn, but also waste of water. A new idea for lawn intelligent remote irrigation was put forward. The smart sprinkler strategy was created by researching the characters of lawn, such as water demand, heat resistance and diseases law. And the embeded control system can apply the strategy to irrigate intelligently. Tying the urban lawn features, the system was designed to be driven by solar, which makes it an energy self-sufficiency system. What's more, the sprinkler system gains the CAN bus-based network management function, which simplify the user's contol and management. Finally, the experimental results show that the system has the advantages of good effect, low cost, high reliability, easy maintenance, etc. And it will meet the demand of energy saving and environmental protection.
Eliminating or reducing the influence of electromagnetic interference to control system is the key problem to improve the performance of flow calibration facility. In the paper, the sources, the action principles and ...
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