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2006 IEEE International Conference on Networking, Sensing and control, ICNSC'06

作者： Yonghong, Tan Miyong, Su Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China Xidian University China Department of Computer Science Guilin University of Electronic Technology Guilin 541004 China

ISBN: (纸本)1424400651

A hybrid model used to approximate hysteresis and creep nonlinear system is proposed. This model is constructed by a weighted superposition of both backlash operators and creep operators. Then, the corresponding inverse models for both hysteresis and creep are developed. Based on the obtained models, a nonlinear internal model control strategy is applied to the control of system with hysteresis and creep nonlinearities. © 2006 IEEE.

关键词： Nonlinear control systems

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EHM based neural model for hysteresis

EHM based neural model for hysteresis

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2006 IEEE International Conference on Networking, Sensing and control, ICNSC'06

作者： Lianwei, Ma Yonghong, Tan Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China Department of Automation Shanghai Jiaotong University Shanghai 200030 China

ISBN: (纸本)1424400651

This paper proposes a neural model for hysteresis. A method of continuous transformation is used to construct an elementary hysteresis model (EHM), which implements a one-to-one mapping between the input space and the output space of the hysteresis. The output of the EHM is used as one of the input signals of the neural network (NN) to approximate the behavior of hysteresis. A parabolic factor is introduced to improve the modeling performance for the major and minor loops of the hysteresis. © 2006 IEEE.

关键词： Neural networks

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Flushing phenomenon due to the impact force on the powder surface by free falling of particles

Flushing phenomenon due to the impact force on the powder su...

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2006 AIChE Spring National Meeting - 5th World Congress on Particle technology

作者： Tashiro, Hiroyuki Ogata, Koichiro Wakamizu, Yoh Funatsu, Katsuya Tomita, Yuji Department of Mechanical Systems Engineering Kurume Institute of Technology Department of Electronic and Mechanical Engineering Oshima National College of Maritime Technology Design2 3rd Designing Department Development Management Department Nikon Corporation Department of Mechanical and Control Engineering Kyushu Institute of Technology

We examined the onset condition of flushing by falling the fluidized soft wheat flour into the vessel that has the orifice at the bottom, where the mean size of flour is 69.8 μm, material density is 1417 kg/m3, and moisture content is between 11.9 and 13.4 %. The flour of about 25 kg is fluidized in the upper hopper in each experiment, of which voidage is changed by different air flow rates from 0.1710-3 to 0.5010 -3 m3/s. The exit diameter of the upper hopper is changed from 10 to 50 mm, and the diameter of flushing orifice is change from 1 to 10 mm. We obtained the following results: (1) The flushing occurs when the interstitial air pressure at the bottom of the vessel is larger than 300 Pa and the initial voidage is more than 0.54, where the mass flow rate of powder into the vessel exceeds 500 g/s. (2) The interstitial air pressure at the beginning and end of flushing increases with decreasing the orifice diameter, and that at the beginning of flushing is larger than that at the end of flushing.

关键词： Orifices

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A theoretical study about parameter estimation of space distributed local tissue impedance

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on electronics, Information and systems 2006年第3期126卷 319-326+4页

作者： Yasuno, Emiko Zhao, Xueli Kinouchi, Yohsuke Morimoto, Tadaoki Department of Systems and Control Engineering Anan National College of Technology Anan-shi 774-0017 Japan Department of Electrical and Electronic Engineering Faculty of Engineering University of Tokushima Tokushima-shi 770-8506 Japan School of Health Sciences University of Tokushima Tokushima-shi 770-8509 Japan Anan National College of Technology Japan University of Tokushima Japan

In this paper, a new configuration of the electrodes, called divided electrode, is proposed for a short time measurement of bio-impedance in a cross section of a local tissue. Its capability is examined by computer simulations, where a distributed equivalent circuit is used as a model of the tissue. Estimation of impedance parameters is carried out by use of the Gauss-Newton Method. As a result of them, usefulness of the proposed method is confirmed by computer simulations using a typical layered tissue model.

关键词： Tissue

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Modeling and massage control of human skin muscle by using multi-fingered robot hand

Modeling and massage control of human skin muscle by using m...

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作者： Terashima, Kazuhiko Kitagawa, Hideo Miyoshi, Takanori Minyong, Panya Kondo, Taku System and Control Engineering Laboratory Production Systems Engineering Toyohashi University of Technology 1-1 Hibarigaoka Tempaku-cho Toyohashi Aichi 441-8580 Japan Department of Electronic Control Engineering Gifu National College of Technology 2236-2 Kamimakuwa Motosu-city Gifu 501-0495 Japan Toyohashi University of Technology 1-1 Hibarigaoka Tempaku-cho Toyohashi Aichi 441-8580 Japan

The purpose of this paper is to present the expert massage robot using a multi-fingered robot hand. First, the fingertip forces applied by an expert human therapist was measured using sheet distribution pressure sensors, and the obtained data was recorded in a computer. After the measurements were taken, the human expert's fingertip force was reproduced by teaching and playback method using the robot. Through simulation and experiments, the usefulness of the proposed control systems was demonstrated. Second, in order to advance the above teaching and playback control system, the present paper gives a modeling of human skin muscle through robot perception of impedance, and a control strategy using impedance control to implement adaptive control system, even if human condition is changed. The model validity is demonstrated via many experiments by using multi-fingered robot hand and human body. Based on robot perception of human muscle impedance, impedance control is proposed, and its effectiveness is shown via computer simulation study. © 2006-IOS Press and the author (s). All rights reserved.

关键词： Robotic arms

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Shifted 2D Non-negative Tensor Factorisation

Shifted 2D Non-negative Tensor Factorisation

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2006 IET Irish Signals and systems Conference

作者： Derry FitzGerald Matt Cranitch Eugene Coyle Department of Electronic Engineering Cork Institute of Technology Ireland School of Control Systems and Electrical Engineering Dublin Institute of Technology Ireland

Recently, non-negative matrix factor 2D deconvolution was developed as a means of separating harmonic instruments from single channel mixtures. This technique uses a model which is convolutive in both time and frequency, and so can capture instruments which have both time-varying spectra and time-varying fundamental frequencies simultaneously. However, in many cases two or more channels are available, in which case it would be advantageous to have a multi-channel version of the algorithm. To this end, a shifted 2D non-negative tensor factorisation algorithm is derived, which extends non-negative matrix factor 2D deconvolution to the multi-channel case. The use of this algorithm for multi-channel sound source separation of pitched instruments is demonstrated

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Neural adaptive control of dynamic sandwich systems with hysteresis

Neural adaptive control of dynamic sandwich systems with hys...

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IEEE International Conference on Computer-Aided Design

作者： Xinlong Zhao Yonghong Tan The Department of automatic control Shanghai Jiaotong University Shanghai China The Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic and Technology Guilin China

An adaptive control strategy is presented for dynamic sandwich systems with hysteresis. The so-called sandwich system with hysteresis is the system that can be represented by a cascade of a dynamic smooth nonlinear (DSNL1), a hysteresis nonlinear (HNL) and another dynamic smooth nonlinear (DSNL2) subsystem. In this control strategy, a neural network based inverse model is constructed to compensate for the effect of the first dynamic block (i.e. DSNL1) of the sandwich system. Thus, the sandwich system can be transformed into a dynamic nonlinear subsystem preceded by hysteresis. Then a novel hysteretic operator is proposed to transform the multi-valued mapping of hysteresis into a one-to-one mapping. Base on the proposed hysteretic operator, a neural adaptive controller is developed for the modified system. One of the advantages of the controller is that it does not need to construct the inverse model of hysteresis to cancel the hysteretic effect

关键词： Adaptive control Hysteresis Nonlinear dynamical systems control systems Inverse problems Programmable control Neural networks Optimal control Feedback control Intelligent control

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Neural nets based modeling of inverse model for hysteresis using continuous transformation

Neural nets based modeling of inverse model for hysteresis u...

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IEEE International Conference on Computer-Aided Design

作者： Lianwei Ma Yonghong Tan Department of automatic control Shanghai Jiaotong University Shanghai China Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic and Technology Guilin China

This paper proposes a novel and simple approach for modeling of the inverse hysteresis. In this method, the continuous transformation technique is utilized to construct an elementary inverse hysteresis model (EIHM), which sets up a one-to-one mapping between the input space and the output space of the inverse hysteresis nonlinearity. Then the output of the EIHM is used as one of the input signals of the neural network (NN) to approximate the inverse behavior of hysteresis. Finally, the proposed method is applied to the modeling of the inverse model of hysteresis inherent in piezoelectric actuator

关键词： Inverse problems Neural networks Magnetic hysteresis Piezoelectric actuators Intelligent control control system synthesis Artificial neural networks Oscillators Piezoelectric materials Magnetic levitation

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An Iterative Approach to Eigenvalue Assignment for Nonlinear systems.

An Iterative Approach to Eigenvalue Assignment for Nonlinear...

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IEEE Conference on Decision and control

作者： M. Tomas-Rodriguez S.P. Banks Department of Electrical and Electronic Engineering Imperial College of Science and Technology London UK Department of Automatic Control and Systems Engineering University of Sheffield UK

ISBN: (纸本)1424401704

In this paper, the authors present a method of eigenvalue assignment for nonlinear systems. A time-varying approach to nonlinear exponential stability via eigenvalue placement is studied based on an iteration technique that approaches a nonlinear system by a sequence of LTV equations. The convergent behavior of this method is shown and applied to a practical example to illustrate these ideas

关键词： Iterative methods Eigenvalues and eigenfunctions Nonlinear systems State feedback Stability Nonlinear equations Time varying systems Output feedback Optimal control Nonlinear control systems

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Real-time path planning of mobile robots in dynamic uncertain environment

Real-time path planning of mobile robots in dynamic uncertai...

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6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Zhuang, Hui-Zhong Li, Han Du, Shu-Xin Mechanical Electronical Engineering Department Vocational Technical College Shanghai University of Engineering Science Shanghai 200437 China Electronic Information Department Physics and Electronic Information College Wenzhou University Wenzhou 325000 Zhejiang Province China Institute of Intelligent Systems and Decision Making National Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 Zhejiang Province China

ISBN: (纸本)1424403324

A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position treated as instantaneously static, a motion path of the mobile robot is planned by means of a real-time path planning technique based on polar coordinates space in which the desirable direction angle is taken into consideration as an index of path optimization. Its effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples. © 2006 IEEE.

关键词： Mobile robots

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