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computer systems architecture Conference (ACSAC), Australasian

作者： M. Aron Yoonho Park T. Jaeger J. Liedtke K. Elphinstone L. Deller Department of Computer Science Rice University USA IBM Thomas J. Watson Research Center USA System Architecture Group University of Karlsruhe Germany School of Computer Science and Engineering University of New South Wales Sydney Australia

ISBN: (纸本)0769509541

We present a framework that allows applications to build and customize VM services on the LA microkernel. While the LA microkernel's abstractions are quite powerful, using these abstractions effectively requires higher-level paradigms. We propose the dataspace paradigm which provides a modular VM framework. The modularity introduced by the dataspace paradigm facilitates implementation and permits dynamic configurability. Initial performance results from a prototype are promising.

关键词： Virtual manufacturing Yarn computer science Costs Prototypes computer architecture Power engineering and energy Application software Virtual prototyping Programming profession

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Abnormal failure mechanism of the asymmetrical emitter turn-off thyristor in high-frequency converters

Abnormal failure mechanism of the asymmetrical emitter turn-...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Z. Xu K. Motto A.Q. Huang Center for Power Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA Power/Control Systems Northrop Grumman Corporation Sykesville MD USA

The emitter turn-off thyristor (ETO) is a new MOS-controlled thyristor that is suitable for use in high-power converters due to its improved switching performance and easy control. This paper analyzes the abnormal failures related to the parasitic diode of the ETO in high-frequency converters for the first time. To prevent this failure, several solutions are proposed and improved ETOs are developed. Experimental results show that the proposed solutions can properly solve this problem.

关键词： Failure analysis Thyristors Anodes P-i-n diodes Switches control systems MOSFETs Tail Switching loss Cathodes

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Feedback control for electromagnetic vibration feeder (application of two-degrees-of-freedom proportional plus integral plus derivative controller with nonlinear element)

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JSME International Journal, Series C: Mechanical systems, Machine Elements and Manufacturing 2001年第1期44卷 44-52页

作者： Doi, Tomoharu Yoshida, Koji Tamai, Yutaka Kono, Katsuaki Naito, Kazufumi Ono, Toshiro Department of Systems and Control Engineering Faculty of Engineering Osaka Prefectural College of Technology 26-12 Saiwai-cho Neyagawa Osaka 572-8572 Japan Department of System Engineering Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Research and Development Department Ishida Co. Ltd. 959-1 Shimomagari Ritto-cho Kurita-gun Shiga 520-3026 Japan Department of Mechanical Systems Engineering College of Engineering Osaka Prefecture University 1 1 Gakuen-cho Sakai Osaka 599-8531 Japan

An electromagnetic-type vibratory feeder of is a typical transportation device used in automatic weighers. As existing feeders are driven by feedforward control, the so-called "firing angle control", the driver cannot negate sudden disturbances. In this study, we consider applying a feedback control for such a feeder system. First, we give the two details of modelings for the vibration part and for the electromagnetic force part. Next, a feedback control system is constructed for the electromagnetic vibration feeder for which we propose a two-degrees-of-freedom proportional plus integral plus derivative (PID) controller with nonlinear elements. Next, we apply the feedback control to the feeder with a standard trough. Finally, we consider a method compatible with many varieties of troughs by adjusting a nonlinear element. On the basis of the results of some experiments, we confirm that the two-degrees-of-freedom PID control is more effective than the conventional firing angle control.

关键词： Mechanics

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High frequency operation of a megawatt voltage source inverter equipped with ETOs

High frequency operation of a megawatt voltage source invert...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： K. Motto Yuxin Li Zhenxue Xu A.Q. Huang Power Control Systems Northrop Grumman Corporation Sykesville MD USA Power Managemen Analog Devices Inc.orporated San Jose CA USA Center for Power.Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

ISBN: (纸本)0780366182

The fast switching speed, snubberless turn-off capability and voltage controlled turn-off property enable the emitter turn-off (ETO) thyristor the capability of high switching frequency-about 5-10 times as high as its GTO counterpart. A one-megawatt ETO-based voltage source inverter system is constructed with a switching frequency up to 3-5 kHz. Experimental results have shown that the ETO is a promising device for use in high frequency systems.

关键词： Voltage Inverters Thyristors Switching frequency Power semiconductor switches Snubbers Energy management Power system management Power conversion MOSFETs

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Some aspects of human-friendly control for movement-helping devices

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Artificial Life and Robotics 2000年第4期4卷 198-205页

作者： Stefanov, Dimitar H. Bien, Zeungnam Song, Won-Kyung Institute of Mechanics Bulgarian Academy of Sciences Sofia Bulgaria Department of Electrical Engineering and Computer Sciences Human-Friendly Welfare Robot System Engineering Research Center (HWRS-ERC) KAIST Taejon Korea Bien's System Control Laboratory at KAIST Taejon Korea

Future welfare models should meet the needs of a large group of aged and disabled people. Present research and technology efforts in this direction are oriented toward the development of highly effective home-installed devices which will provide the user with continuous assistance in different everyday activities. The problems and needs of the elderly and the disabled vary from person to person over a large range, and with many serious requirements. Modern designs for such devices are oriented toward solutions where the user is less engaged in the control process, and the interaction between the device and the user ishuman-friendly, i.e., the devices should possess a high level of intelligence in their controls, actions, and interactions with the user, offering him/her a high level of comfort and functionality. This paper considers a mixed control mode as a better alternative for human-machine interactions for users with great movement disability. Some examples of easy direct control are discussed.

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Design of the TUAT/Karlsruhe humanoid hand

Design of the TUAT/Karlsruhe humanoid hand

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： N. Fukaya S. Toyama T. Asfour R. Dillmann Department of Mechanical System Engineering Tokyo University of Agriculture슠and슠Technology Japan Department of Computer Science Institute for Control and Robotics University of Karlsruhe Germany

The increasing demand for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which can cope with the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have been carried out to develop artificial robot hands with capabilities similar to the human hand. In this paper the mechanism and design of a new humanoid-type hand (called TUAT/Karlsruhe Humanoid Hand) with human-like manipulation abilities is discussed. The new hand is designed for the humanoid robot ARMAR which has to work autonomously or interactively in cooperation with humans and for an artificial lightweight arm for handicapped persons. The arm is developed as close as possible to the human arm and is driven by spherical ultrasonic motors. The ideal end-effector for such an artificial arm or a humanoid would be able to use the tools and objects that a person uses when working in the same environment. Therefore a new hand is designed for anatomical consistency with the human hand. This includes the number of fingers and the placement and motion of the thumb, the proportions of the link lengths and the shape of the palm. It can also perform most part of human grasping types. The TUAT/Karlsruhe Humanoid Hand possesses 20 DOF and is driven by one actuator which can be placed into or around the hand.

关键词： Humanoid robots Actuators Intelligent robots Grasping Cognitive robotics Agriculture Shape Human robot interaction Intelligent sensors Space technology

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C4ISR architectures: I. Developing a process for C4ISR architecture design

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systems engineering 2000年第4期3卷 225-247页

作者： Levis, Alexander H. Wagenhals, Lee W. System Architectures Laboratory C3I Center MSN 4D2 George Mason University Fairfax VA 22030 United States Department of Electrical Computer and Systems Engineering C3I Center System Architectures Laboratory United States Institute of Electrical and Electronic Engineers (IEEE) Advancement of Science (AAAS) United States Center of Excellence Command Control Communications and Intelligence George Mason University Fairfax VA United States System Architectures Laboratory United States

The C4ISR architecture Framework document issued by the department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to serve as the basis for C4ISR system development and acquisition. The Framework does not provide a process for architecture design. In this paper, information architectures are described in the context of Structured Analysis, and then the architecture views of the Framework and the related products are interpreted in that context. A methodology for architecture design is developed that is then implemented using Structured Analysis and object orientation in two companion papers. © 2000 John Wiley & Sons, Inc.

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The application of multilayer dynamic forward net in predicting of oil field system

The application of multilayer dynamic forward net in predict...

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World Congress on Intelligent control and Automation (WCICA)

作者： Chen Lizhi Mao Zhangqing Liu Tienan Qiu Haiping Zhang Quan Department of Computer Science University of Science and Technology Hefei China Department of Control Engineering Daqing Petroleum Institute Anda Heilongjiang China Science Research Department Architecture Material Company Daqing China

In order to eliminate limitations of conventional modeling and dynamic prediction methods, multilayer dynamic forward networks are considered as the models of oil field systems, the prediction models and technology of multilayer dynamic forward networks are studied. The deficiency of a recursive prediction error learning algorithm is analysed. An improvement scheme is given. So, the algorithm performance is improved. Thus the method of modeling and prediction for an oil field is renewed. During using the new scheme, excellent results have been obtained which proves that the new scheme is very effective.

关键词： Nonhomogeneous media Predictive models Petroleum Prediction algorithms Intelligent control Automation Application software computer science Materials science and technology Automated highways

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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An independent joint-based compliance control method for a five-bar finger mechanism via redundant actuators

An independent joint-based compliance control method for a f...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： B.R. So B.-J. Yi S.-R. Oh I.H. Suh Department of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Cente KIST South Korea

We discuss an inherent problem occurring in the former operational-based compliance control scheme. In order to obviate this problem, an independent joint-based compliance control scheme is proposed. This control method requires that for the adjustment of the operational compliance matrix, a manipulator should have at least the same number of joints as the number of independent components of the desired compliance matrix specified in the operational space. Types of robot structures which are appropriate to independent joint-based compliance scheme are addressed. A five-bar finger with redundant actuators is treated as an illustrative example. Our experimental results show that the proposed compliance modulation method gave satisfactory performance. We also consider an additional stiffness effect due to the antagonistic conflict between the controlled-operational force and the equilibrium joint torque vector. It is also experimentally shown that this additional term notably improved the force tracking performance of the given mechanism.

关键词： Fingers Actuators Manipulators Orbital robotics Jacobian matrices control systems Force control computer science Intelligent systems Intelligent control

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