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Pivotal Switching and Motion Invariance in Switched Systems

IFAC Proceedings Volumes 2011年第1期44卷 2407-2412页

作者： Thanh-Trung Han Shuzhi Sam Ge The Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China The Robotics Institute and Institute of Intelligent Systems and Information Technology (ISIT) University of Electronic Science and Technology of China Chengdu 611731 China

Abstract This paper formulates the notions of pivotal switching sequence and pivotal switched system as well as quasi-invariance to investigate ultimate motion of switched autonomous systems. The family of switching sequences that eventually drive the system motion is captured by pivotal switching sequences and the system ultimate motion is captured by pivotal switched systems through the quasi-invariance property of limit set. An invariance principle combining quasi-invariance property and Lyapunov functions for better estimate of resting region of system trajectories is introduced. An example of verifying the existence of limit cycle of a switched system using proposed invariance principle is provided.

关键词： Qualitative theory switched systems invariance principle

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Sensitivity Analysis Of Mouse Embryos In Needle Injection Experiment Using Artificial Neural Network

Sensitivity Analysis Of Mouse Embryos In Needle Injection Ex...

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2011 International Conference on Future Information Technology (ICFIT 2011)

作者： Ali A. Abbasi H. Sayyaadi G.R.Vossoughi school of mechanical engineering Sharif university of technology Tehran Iran Center of excellence in design robotics and automation(CEDRA) school of mechanical engineeringSharif university of technology Tehran Iran

In this paper sensitivity analysis is performed to investigate the influence of the significance of cell membrane deformation and dimple depth under needle injection using neural network modeling. To achieve these goals two neural network models are implemented. In the first model dimple depth, dimple radius and radius of the semi-circular curved surface of the cell are used as inputs of the neural network model and indentation force has been predicted. In the second model indentation force, dimple radius and radius of the semi-circular curved surface of the cell are used as inputs of the neural network model and dimple depth is predicted. Results of experimental data from literature are used to train the neural network models. Sensitivity analysis showed that output parameters were less sensitive to the rate of input parameters after training the neural network models while effect of semi-circular curved surface of the cell on prediction of indentation force and dimple depth is negligible. Results of theoretical formulation by other researchers also confirm these findings.

关键词： sensitivity analysis biological cells artificial neural network,needle injection experiment.

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Low Speed Control of an Autonomous Vehicle by Using a Fractional PI Controller

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IFAC Proceedings Volumes 2011年第1期44卷 15025-15030页

作者： Inés Tejado Vicente Milanés Jorge Villagrá Jorge Godoy Hassan HosseinNia Blas M. Vinagre Industrial Engineering School University of Extremadura 06006 Badajoz Spain AUTOPIA Program Center for Automation and Robotics (CAR UPM-CSIC) 28500 Arganda del Rey Madrid Spain

Abstract Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. This paper focuses on the design and experimental implementation of a fractional PI α controller for the low speed control problem in an autonomous prototype Citroen vehicle. Experimental tests at low speeds, obtained with a real vehicle on a real circuit at the Center for automation and robotics facilities, show the effectiveness of the proposed controller.

关键词： Road Vehicle Control Linear Model Longitudinal Control PI α

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Prediction Of Normalized Hydrodynamic Force Of Flexural And Torsional Mode For Micro Cantilever Beams Immersed In Viscous Fluid Using Adaptive Neural Fuzzy Inference

Prediction Of Normalized Hydrodynamic Force Of Flexural And ...

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2011 International Conference on Future Information Technology (ICFIT 2011)

作者： Ali A. Abbasi H. Sayyaadi G.R.Vossoughi M. pourMohammadi school of mechanical engineering Sharif university of technology Tehran Iran Center of excellence in design robotics and automation(CEDRA) school of mechanical engineeringSharif university of technology Tehran Iran

In this paper adaptive neural fuzzy inference (ANFI) technique is used to predict normalized hydrodynamic force (NHF) of flexural and torsional modes. For this purpose, one parallel ANFI model is used to predict real and imaginary parts of NHF of flexural mode while another parallel ANFI model is used to predict real and imaginary parts of NHF of torsional mode. Inputs to the models are Reynolds number and normalized mode number. For these aims in the first step, with varying the type and number of three popular membership functions (MFs), Gaussian, triangular and generalized bell typed, effect of them on outputs are investigated and in the second step , type and number of MFs which yield the maximum correlation and minimum root mean square error (RMSE) values are used for prediction purposes. Data for training and testing capability of ANFI models have been captured from a published work by Van Eysden and Sader, [Van Eysden,C. A., and Sader,J.E.,2007. "Frequency response of cantilever beams immersed in viscous fluids with applications to the atomic force microscope: Arbitrary mode order" Journal of applied physics, 101, February, pp. 044908- 044919.]. Results of prediction using testing samples show that ANFI models are capable to predict NHF of flexural and torsional modes, successfully.

关键词： Adaptive neural fuzzy inference normalized hydrodynamic force flexural mode torsional mode micro cantilever beams .

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Application Of Adaptive Neural Fuzzy Inference Technique For Biological Cell Modeling-Part A:Deformation Prediction

Application Of Adaptive Neural Fuzzy Inference Technique For...

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2011 International Conference on Future Information Technology (ICFIT 2011)

作者： Ali A. Abbasi G.R.Vossoughi M.T. Ahmadian school of mechanical engineering Sharif university of technology Tehran Iran Center of excellence in design robotics and automation(CEDRA) school of mechanical engineeringSharif university of technology Tehran Iran

In this paper, two adaptive neural fuzzy inference (ANFI) models are used to predict deformation of mouse oocyte and mouse embryos cells. Inputs to the models are indentation force, dimple radius and radius of semi-circular curve surface of the cell and outputs of the models are deformation. Experimental data for training and testing of adaptive neural fuzzy inference models captured from literatures. Predicted results with correlation of 0.9976 and 0.9967, respectively for prediction of mouse oocyte and mouse embryos deformation have a good agreement with experimental observations. Moreover with investigation of three popular type (Gaussian, triangular and generalized bell shaped) and different number of membership functions (MFs) on outputs, it is found that in deformation prediction of mouse oocyte 6 generalized bell type MFs have the minimum RMSE value (0.9523) whereas in deformation prediction of mouse embryos cell 4 Gaussian type MFs have the minimum error value (0.6335).

关键词： Adaptive neural fuzzy inference(ANFI) biological cells cell indentation experiment.

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Easy Generation of Airborne Ultrasonic Helical Wavefronts

Easy Generation of Airborne Ultrasonic Helical Wavefronts

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2011 IEEE Ultrasonics Symposium (IUS 2011)

作者： Joao L. Ealo Jose Carlos Prieto Fernando Seco School of Mechanical Engineering University of Valle Cali COLOMBIA Centre for Automation and Robotics (CAR) CSIC-UPM Arganda del Rey Madrid SPAIN

ISBN: (纸本)9781457712531

In this work, the feasibility to easily generate airborne ultrasonic helical wavefronts is demonstrated. We have experimentally obtained airborne ultrasonic Helical Wavefronts (HW) of great quality by gluing a ferroelectret film on a helicoid surface. A comparison between measured and theoretical results of the pressure and phase distributions of this type of wavefront is accomplished. The simple fabrication procedure, which results inexpensive and reliable, opens up a new alternative to explore the special features of wavefronts with screw-type dislocations.

关键词： Acoustics Transducers Acoustic beams Surface impedance Acoustic measurements Substrates Surface treatment

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Networked Tank Gunnery Skill Training Based on Haptic Interaction

Networked Tank Gunnery Skill Training Based on Haptic Intera...

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2011 4th International Conference on Biomedical engineering and Informatics(第四届生物医学工程与信息学国际会议 BMEI 2011)

作者： Guanyang Liu Keke Lu State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

This paper introduces networked tank gunnery skill training based on haptic interaction. "Hand in hand" training mode is implemented by constructing a networked haptic display system. A teacher and a trainee can respectively manipulate his own haptic device to realize skill transferring. In this process, the trainee can experience the teacher's motor skill and can be corrected by the teacher. A local network is built to connect two haptic devices and computers. Two modes for tank gunnery skill training are designed in this system: haptic guidance and real-time correction. A prototype system is established to testify the effectiveness of such a new type "Hand in hand" training system.

关键词： networked skill training hand in hand haptic display haptic guidance real-time correction

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Kinematic and dynamic optimizations of the redundant manipulator via local degrees of freedom

Kinematic and dynamic optimizations of the redundant manipul...

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International Conference on Mechanic automation and Control engineering (MACE)

作者： Yushu Bian Zhihui Gao Min Liu State Key Laboratory for Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Beihang University Beijing China

In order to conquer the difficulty of simultaneous optimizations on kinematic and dynamic indices of the redundant manipulator, a new type of redundant manipulator with local degrees of freedom is proposed. Redundant degrees of freedom are used to optimize kinematic index, and local degrees of freedom are used to optimize dynamic index. The corresponding optimization method is suggested. As a result, the kinematic and dynamic indices of the redundant manipulator can be optimized simultaneousely. Some simulations are carried out, and the optimization method is verified to be effective.

关键词： Manipulator dynamics Moment methods Kinematics Optimization Jacobian matrices

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Industrial fault detection and isolation using Dominant Feature Identification

Industrial fault detection and isolation using Dominant Feat...

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作者： Pang, Chee Khiang Zhou, Jun-Hong Zhong, Zhao-Wei Lewis, Frank L. Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore ASTAR Singapore Institute of Manufacturing Technology Singapore Singapore School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore Automation and Robotics Research Institute University of Texas at Arlington Fort Worth TX United States

ISBN: (纸本)9788995605646

In this paper, we show how to find a reduced feature subset which is optimal in both estimation and clustering least square errors using two new Dominant Feature Identification (DFI) methods. We apply DFI to to identify the important features in a given set of faults, and a Neural Network (NN) is used for online fault classification based on the determined reduced feature set in the proposed two-stage framework. Our experimental results on an industrial machine fault simulator show the effectiveness in fault diagnosis and classification. Accuracy of 99.4% for fault identification is observed when using proposed new DFI followed by NN classification, reducing the number of required features from 120 to 13 and the number of sensors from 8 to 4. © 2011 Asian Control Association.

关键词： Singular value decomposition

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