检索结果-内蒙古大学图书馆

International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Shi-Jie Dai Zhan-Qun Shi Ji-Zhong Wang Hong Yue Research Institute of Robotics and Automation HeBei University of Tsxhnology Tianjin China Manchester School of Engineering University of Manchester Institute of Science and Technology UK

The paper aims to investigate two advanced methods used in fault diagnosis of electro-hydraulic (EH) control systems. The theoretical background of the neural network method and model-based approach are presented and the implementation of these methods is summarised with procedures in easy steps to follow for application. The pros and cons of these methods are also analysed based on fault detection capability. It is concluded that a combination of the neural network method and the model-based approach will be beneficial.

关键词： Neural networks Fault diagnosis Control system synthesis Control systems Fault detection Automatic control Electrical fault detection Application software Digital audio players robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Singularity analysis of a 6 DOF Stewart platform using genetic algorithm

Singularity analysis of a 6 DOF Stewart platform using genet...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Y.X. Su C.H. Zheng B.Y. Duan School of Electro-Mechanical Engineering Xidian University Xi'an China School of Electronic Engineering Xidian University Xi'an China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China

A new singularity analysis method for a general 6 degree-of-freedom (DOF) Stewart platform using genetic algorithm (GA) is proposed in the paper. The Jacobian matrix of the Stewart platform is first deduced, then the square of determinant of the Jacobian matrix is selected as the objective function, and the minimum of this objective function is searched in the workspace of the Stewart platform by a real-coded GA. The singularity of the Stewart platform depends on this minimum objective function, if this value is zero, the singularity of Stewart platform will happen, otherwise, the Stewart platform is singularity-free. The effectiveness of this new genetic singularity analysis method is validated by numerical simulation.

关键词： Algorithm design and analysis Genetic algorithms Jacobian matrices robotics and automation Kinematics DC motors Hydraulic actuators Laboratories Aerospace electronics Aerospace engineering

来源：评论

学校读者我要写书评

暂无评论

Auto disturbance rejection motion control for direct-drive motors

Auto disturbance rejection motion control for direct-drive m...

引用

Annual Conference of Industrial Electronics Society

作者： Y.X. Su B.Y. Duan Y.F. Zhang Robotics Laboratory Shenyang Institution of Automation Chinese Academy and Sciences Shenyang China School of Electro-Mechanical Engineering Xidian University Xi'an China

A simple and high performance auto-disturbance rejection controller (ADRC) only based on the rotor position measurement is proposed for motion control of direct-drive motors. The motion controller is consisted of a nonlinear tracking differentiator in the feedforward path, an extended-state observer (ESO) and a nonlinear proportional derivative synthesizer in the feedback path. The ESO obtains the estimated state of the plant and the unknown disturbance action at the plant input with simple computation using only the measurement output of the plant. The proposed method is implemented to control an AC direct-drive servomotor system to verify its high-precise and robustness performance.

关键词： Motion control Rotors Position measurement PD control Proportional control Tracking Observers Synthesizers Feedback State estimation

来源：评论

学校读者我要写书评

暂无评论

Design of one-step-ahead prediction observers for system parameter identification

Design of one-step-ahead prediction observers for system par...

引用

International Conference on Control, automation, robotics and Vision (ICARCV)

作者： R.N.K. Loh M. Lu School of Electrical and Electronic Engineering Nanyang Technological University Singapore Center for Robotics and Advanced Automation Department of Electrical and Systems Engineering Oakland University Rochester MI USA

A unifying one-step-ahead prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes has been developed. Four specific algorithms can be derive... 详细信息

关键词： Parameter estimation Filters Time measurement robotics and automation Systems engineering and theory Erbium State estimation Current measurement Prediction algorithms Equations

来源：评论

学校读者我要写书评

暂无评论

Intelligent robotised physiotherapy tested on an 8-DOF mechatronic ARM 15th

Intelligent robotised physiotherapy tested on an 8-DOF mecha...

引用

15th World Congress of the International Federation of Automatic Control, 2002

作者： Pham, D.T. Eldukhri, E.E. Zlatov, N.B. Dimov, S.S. Packianather, M.S. Bratanov, D. Toth, A. Fazekas, G. Manufacturing Engineering Centre School of Engineering Cardiff University Newport Road P.O. Box 925 CardiffCF24 0YF United Kingdom Department of Manufacturing Engineering Automation and Robotics Laboratory University of Rousse 8 Studentska Str. Rousse7017 Bulgaria Department of Manufacturing Engineering Budapest University of Technology and Economics 1 Egry J. Str. Budapest1111 Hungary Institute: National Institute for Medical Rehabilitation Szanatcrium u. 19 Budapest1528 Hungary

ISBN: (纸本)9783902661746

The successful rehabilitation of people with upper limb neuro-motor impairment depends largely on the appropriate selection and validation of a set of exercises. In this paper a knowledge-based system (KBS) for selecting a set of exercises to suit a particular patient status is proposed. Also a model of a mechatronic limb that simulates the human arm spastic characteristics will be developed. The selected set of exercises will initially be performed on the dummy arm by two industrial robots. Copyright © 2002 IFAC.

关键词： Knowledge based systems

来源：评论

学校读者我要写书评

暂无评论

Fuzzy learning tracking control of feed-supporting system for the square kilometre array

Fuzzy learning tracking control of feed-supporting system fo...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Y.X. Su B.Y. Duan B. Peng R.D. Nan School of Electro-Mechanical Engineering Xidian University Xi'an China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China National Astronomical Observatory Chinese Academy and Sciences Beijing China

The square kilometer array (SKA) is an ambitious world cooperation project to develop the next generation large radiotelescope. In Chinese engineering concept, the feed-supporting system is comprised of two parallel manipulators to realize the high precision tracking, which can be viewed as macro-micro manipulators. An independent tracking control strategy of the feed-supporting system is proposed, the dynamic coupling between the two comprising subsystems is considered as an external disturbance to the micro-system, and a high robust model reference learning controller (FMRLC) in joint space is designed to reject this coupling effect, along with any other disturbances, so that a higher tracking precision can be obtained. The effectiveness of this FMRLC is verified by numerical simulations, which has laid a solid base for the engineering accomplishment of high precision tracking for the SKA.

关键词： Fuzzy control Fuzzy systems Control systems Manipulator dynamics Optical design robotics and automation Radio astronomy Reflector antennas Robots Vibrations

来源：评论

学校读者我要写书评

暂无评论

INTELLIGENT ROBOTISED PHYSIOTHERAPY TESTED ON AN 8-DOF MECHATRONIC ARM

引用

IFAC Proceedings Volumes 2002年第1期35卷 79-84页

作者： D T Pham E E Eldukhri N B Zlatov S S Dimov M S Packianather D Bratanov A Toth G Fazekas Manufacturing Engineering Centre School of Engineering Cardiff University Newport Road P O Box 925 Cardiff CF 24 0YF Wales United Kingdom Department of Manufacturing Engineering Automation & Robotics Laboratory University of Rousse 8 Studentska str. 7017 Rousse Bulgaria Department of Manufacturing Engineering Budapest University of Technology and Economics 1 Egry J. Str. Budapest 1111 Hungary Institute: National Institute for Medical Rehabilitation 1528 Budapest Szanat¢rium u. 19 Hungary

关键词： Robotic rehabilitation knowledge-based system resistance control

来源：评论

学校读者我要写书评

暂无评论

A study on neural networks for vision-based road following of autonomous vehicle

A study on neural networks for vision-based road following o...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： D.Y. Jeong S.J. Park S.H. Han M.H. Lee T. Shibata Department of Mechanical Design Graduate School of Kyungnam University Masan South Korea School of Electricity and Electronics TongMyong University South Korea Division of Mechanical and Automation Engineering Kyungnam University Masan South Korea School of Mechanical Engineering Pusan National University busan South Korea Robotics Department Mechanical Engineering Laboratory Ministry of International Trade and Industry Japan

ISBN: (纸本)0780370902

This paper describes a neural network control for an autonomous vehicle to follow roadways with a vision camera. Without a complex geometric reasoning from visual image to vehicle-centered representation in conventional studies, the control system transfers the inputs of visual information into the output of steering angle directly. The neural networks replaces the human driving skill of nonlinear relation between vanishing lines of road boundary on the camera image and the steering angle of vehicle on the real ground. In straight and curved road, the driving performances by the proposed control scheme are measured in the configuration of disturbance and white noise correspond to vehicle joggling and sensing error.

关键词： Neural networks Road vehicles Cameras Vehicle driving Remotely operated vehicles Mobile robots Control systems Humans Land vehicles Performance evaluation

来源：评论

学校读者我要写书评

暂无评论

Fuzzy logic control of a robot manipulator based on visual servoing

Fuzzy logic control of a robot manipulator based on visual s...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： C.S. Kim W.H. Seo S.H. Han O. Khatib Department of Mechanical Design Graduate School of Kyungnam University Masan South Korea Division of Mechanical Engineering and Automation Kyungnam University Masan South Korea Computer Science and Robotics Laboratory Department University of Stanford Stanford CA USA

ISBN: (纸本)0780370902

In this paper, a solution to a manipulation control problem (target identification and grasping) using a real platform in combination with a vision system is proposed. The task for the end-effector is to approach a randomly placed spherical object of known size. The control law is approximated by using an approach based on fuzzy logic. The controller determines the parameters of the target (a spherical object acquired from the vision system mounted on the manipulator) using a vision algorithm. The fuzzy rules are built in a supervised way, after studying the behavior of the system. Experimental results obtained using an industrial manipulator (AM1 with 6 DOF model in Samsung Electronics Co., Ltd., Korea) are presented.

关键词： Fuzzy logic Robot control Manipulators Visual servoing Control systems Machine vision Fuzzy systems Electrical equipment industry Electronics industry Industrial electronics

来源：评论

学校读者我要写书评

暂无评论

The development of an automated robotic colonoscope

The development of an automated robotic colonoscope

引用

IEEE Region 10 International Conference TENCON

作者： N.O. Khessal Teng Mei Hwa Dina Tan Teng Leong Chew Robotics & Automation Group Temasek engineering School Temasek Polytechnic Singapore

Inspection and treatment of the colon cancer is carried out using a non-invasive procedure known as colonoscopy. Presently, colonoscopy is done manually which requires the endoscopists to perform the tedious task of maneuvering the scope through the colon. In order to relieve the surgeon's workload and to reduce the discomfort of the patient, an automated colonoscopy procedure was proposed. Objectives of this project are to control the movement of the colonoscope, and to develop a graphical user interface (GUI) for the proposed system. Some functions provided by the GUI include the display and processing of the captured images. In addition, a motion control panel is incorporated within the GUI to manipulate the various gait sequences of the robot.

关键词： robotics and automation Graphical user interfaces Colonoscopy Colon Inspection Cancer Surges Automatic control Control systems Displays

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：