Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** there are various wireless communication protocols available to accomplish the control networks. Recently,...
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Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** there are various wireless communication protocols available to accomplish the control networks. Recently, IEEE802.15.4e protocol for low latency deterministic network has been introduced that shows prominent theoretical characteristics under effective frequency planning to minimize mutual interference. Factory automation, highly exacting from low latency point of view, requires sensors refresh rate not more than of order 10 milliseconds. This new protocol meets such stringent requirement of industrial automation systems. In this paper, we compare the new protocol with its previous version and observe its suitability for industrial networked controlsystems as a communication protocol. We introduce different LLDN(low latency deterministic network) superframe configurations that show trade-offs among various network parameters. It gives an insight of relationship among various network parameters like sensors refresh rate, number of devices accommodated in network and data payload exchanged between coordinator and end devices with emphasis on different levels of security incorporated.
Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the de...
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ISBN:
(纸本)9781479947249
Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning *** control input is added into the derived control strategy,with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position,it can also realize obstacle avoidance for agents between themselves.
This paper presents a novel five-phase double-stator permanent-magnet synchronous motor (DSPMSM). The motor is compacted with DSPMSM and fault-tolerant motor, so that the motor not only inherits the merits of double-s...
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This paper presents a novel five-phase double-stator permanent-magnet synchronous motor (DSPMSM). The motor is compacted with DSPMSM and fault-tolerant motor, so that the motor not only inherits the merits of double-stator which with high torque density and high utilization rate of the space, but also achieves fault tolerance. A new structure of the rotor is proposed for the DSPMSM. The DSPMSM proposed in the paper poses with high air-gap flux density, torque density and fault-tolerant capacity. control strategies and electromagnetic torque characteristics of the DSPMSM with completely loss of one and two phases are described. The fault-tolerant performance of the DSPMSM is analyzed by finite element method.
This paper presents a novel adaptive IIR filter modeling for the hysteresis characteristic in PEA (piezoelectric actuator). First, the PEA hysteresis operators are introduced and the modeling methods of traditional ad...
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This paper presents a novel adaptive IIR filter modeling for the hysteresis characteristic in PEA (piezoelectric actuator). First, the PEA hysteresis operators are introduced and the modeling methods of traditional adaptive IIR (infinite-impulse response) filter are discussed. Then, delay operators of IIR adaptive filter are replaced with Backlash operators to compose a new adaptive IIR filter model. During the modeling process, LMS (Least Mean Square) algorithm is used to adjust the weight values. At last the modeling effectiveness is verified via a micro-positioning system experiment platform based on PEA. Experimental results show that the proposed Backlash operator based IIR adaptive filter can achieve accurate hysteresis modeling.
Haptic technology is highlighted in minimally invasive vascular surgery simulation. During the virtual reality-based surgery training, realistic haptic feedback can be provided by control devices to help enhance the s...
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ISBN:
(纸本)9781479939800
Haptic technology is highlighted in minimally invasive vascular surgery simulation. During the virtual reality-based surgery training, realistic haptic feedback can be provided by control devices to help enhance the surgeons' surgical performance. In this paper, we present a haptic rendering scheme for the vascular surgery simulation. The scheme consists of a self-designed haptic device, a physics-based resistance model and a virtual coupling network. The resistance model considers not only the contact forces between the vasculature and the beam element model of the guide wire but also the blood flow resistance. The virtual coupling network is applied to guarantee safety of the manipulation and stability of the simulation. Experimental results verified that the haptic force is close to reality and of good usability.
In this paper, we propose a distributed adaptive approach for tracking problem without using leader's velocity information, where agents are modeled by Euler-Lagrange equations. It is assumed that only a small fra...
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In this paper, we propose a distributed adaptive approach for tracking problem without using leader's velocity information, where agents are modeled by Euler-Lagrange equations. It is assumed that only a small fraction of agents within the leader's communication range are informed about the position of the leader. Without using the leader's velocity information, a connectivity-preserving adaptive controller is proposed to achieve tracking control on Lagrangian systems with the leader of constant velocity. Moreover, position and velocity consensus can be achieved asymptotically with the proposed control strategy. Numerical simulations are further provided to illustrate the theoretical results.
Pose variation is a major challenge in face recognition. In this paper, we propose a novel cross-pose face recognition method by learning associate appearance manifolds to model the connection of faces under different...
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ISBN:
(纸本)9781479957521
Pose variation is a major challenge in face recognition. In this paper, we propose a novel cross-pose face recognition method by learning associate appearance manifolds to model the connection of faces under different poses. The associate manifolds are built on an auxiliary set, in which each identity contains cross-pose face images. The basic assumption is that cross-pose face images from two similar identities can be projected onto similar appearance manifolds by pose-specific transforms. We first associate the input faces with alike identities from the auxiliary set. Then the manifolds of cross-pose faces in the training set are confined close to that of the associate identities in the auxiliary set. Thus, the connection of cross-pose faces is well modeled by the associate appearance manifolds on the auxiliary set. Formally, we formulate the assumption as a manifold-based distance minimization problem, so as to learn the optimal transforms. Experiments on the Multi-PIE dataset demonstrate the effectiveness of the proposed method.
Recently, much more attention has been paid to the development of minimally invasive vascular surgery. Simulating behaviors of a catheter/guide wire in a realistic 3D vascular model for minimally invasive vascular sur...
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Recently, much more attention has been paid to the development of minimally invasive vascular surgery. Simulating behaviors of a catheter/guide wire in a realistic 3D vascular model for minimally invasive vascular surgery is a challenging subject. One of the main problems for an 3D computer-based virtual reality simulator is how to design a software toolkit primarily targeted to medical simulation. In this paper, we describe an 3D interactive virtual reality software toolkit and present an example of application to a virtual minimally invasive vascular surgery procedure. Finally, experimental results are given to show that the 3D interactive virtual reality software toolkit is effective and promising.
In this paper, we establish a decentralized control law to stabilize a class of nonlinear interconnected large-scale systems using a neural-network-based online model-free integral policy iteration algorithm. The mode...
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In this paper, we establish a decentralized control law to stabilize a class of nonlinear interconnected large-scale systems using a neural-network-based online model-free integral policy iteration algorithm. The model-free approach can solve the decentralized control problem for the interconnected system which has unknown dynamics. The stabilizing decentralized control strategy is derived based on the optimal control policies of the isolated subsystems. The online model-free integral policy iteration algorithm is developed to solve the optimal control problems for the isolated subsystems with unknown system dynamics. The actor-critic technique and the least squares implementation method are used to obtain the optimal control policies. A simulation example is given to verify the applicability of the decentralized control strategy.
This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To...
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This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To overcome the problem that only positions are measured, a observer is designed to estimate the velocity for each follower. By employing the estimated states, the distributed observer-based controller is proposed using only position measurements. Furthermore, the condition for the distributed tracking problem on the directed graph is derived, such that the tracking errors and observer errors semi-globally converge to zero. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.
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