This paper presents the design, development and implementation of an adaptive Takagi-Sugeno fuzzy neural networks (A-FNN) controller suitable for real-time manipulator control applications. The unique feature of the A-FNN controller is that it has dynamic self-organizing structure, fast learning speed, good generalization and flexibility in learning. The proposed adaptive algorithm focuses on fast and efficiently optimizing weighting parameters of A-FNN controller. This approach of rapid prototyping is employed to implement the A-FNN controller with a view of controlling the prototype 2-axes pneumatic artificial muscle (PAM) manipulator in real time. The A-FNN controller was implemented through real-time Windows target run in real-time Matlab Simulinkreg. The performance of this novel proposed controller was found to be outperforming and it matches favorably with the simulation results. Keywords: pneumatic artificial muscle (PAM), highly nonlinear 2-axes PAM manipulator, adaptive fuzzy neural networks controller (A-FNN), real-time position control, trajectory tracking, rehabilitation device.
{"title":"Design & Implementation an Adaptive Takagi-Sugeno Fuzzy Neural Networks Controller for the 2-Links Pneumatic Artificial Muscle (PAM) Manipulator using in Elbow Rehabilitation","authors":"K. Ahn, H. Anh","doi":"10.1109/CCE.2006.350793","DOIUrl":"https://doi.org/10.1109/CCE.2006.350793","url":null,"abstract":"This paper presents the design, development and implementation of an adaptive Takagi-Sugeno fuzzy neural networks (A-FNN) controller suitable for real-time manipulator control applications. The unique feature of the A-FNN controller is that it has dynamic self-organizing structure, fast learning speed, good generalization and flexibility in learning. The proposed adaptive algorithm focuses on fast and efficiently optimizing weighting parameters of A-FNN controller. This approach of rapid prototyping is employed to implement the A-FNN controller with a view of controlling the prototype 2-axes pneumatic artificial muscle (PAM) manipulator in real time. The A-FNN controller was implemented through real-time Windows target run in real-time Matlab Simulinkreg. The performance of this novel proposed controller was found to be outperforming and it matches favorably with the simulation results. Keywords: pneumatic artificial muscle (PAM), highly nonlinear 2-axes PAM manipulator, adaptive fuzzy neural networks controller (A-FNN), real-time position control, trajectory tracking, rehabilitation device.","PeriodicalId":148533,"journal":{"name":"2006 First International Conference on Communications and Electronics","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124418120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Energy consumption and reliability are two critical issues in wireless sensor networks (WSNs). What is the length of lifetime of a WSN in an unreliable environment is our focus. In this paper, the clustering scheme is introduced firstly. A data aggregation tree model is formed in the periodic data collection application. Based on this model, the energy consumption and reliability issues are analyzed, which are both related to the lifetime of a WSN. Accordingly we obtain the lifetime T of the network, which is defined as the time after which the probability of connectivity is less than 1 - epsiv. Here epsiv is a small parameter. Simulation results demonstrate that our analysis is correct and effective.
{"title":"Lifetime Analysis of Data Aggregation Tree with Unreliable Sensor Node","authors":"Yan Jin, Ling Wang, Yoohwan Kim, Xiaozong Yang","doi":"10.1109/CCE.2006.350844","DOIUrl":"https://doi.org/10.1109/CCE.2006.350844","url":null,"abstract":"Energy consumption and reliability are two critical issues in wireless sensor networks (WSNs). What is the length of lifetime of a WSN in an unreliable environment is our focus. In this paper, the clustering scheme is introduced firstly. A data aggregation tree model is formed in the periodic data collection application. Based on this model, the energy consumption and reliability issues are analyzed, which are both related to the lifetime of a WSN. Accordingly we obtain the lifetime T of the network, which is defined as the time after which the probability of connectivity is less than 1 - epsiv. Here epsiv is a small parameter. Simulation results demonstrate that our analysis is correct and effective.","PeriodicalId":148533,"journal":{"name":"2006 First International Conference on Communications and Electronics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127177179","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A novel compact printed antenna of planar monopole type for WLAN applications is proposed and analyzed in this paper. The proposed antenna fed by a 50-Omega microstrip line covers the WLAN frequency bands: 2.4 GHz (2400-2484 MHz) for IEEE 802.11b/g, 5 GHz (5150-5825 MHz) for IEEE 802.11a, within return loss S11 < - 10 dB. The proposed antenna has compact size of 13 times 20 mm2, which is suitable for integrating in small size devices, such as mobile handsets. Numerical results of return loss and radiation pattern are shown, which have been calculated by resorting a computer code based on the method of moments technique.
{"title":"A Novel Dual-Band Antenna for WLAN Applications","authors":"Le Huu Truong, D. Chien","doi":"10.1109/CCE.2006.350864","DOIUrl":"https://doi.org/10.1109/CCE.2006.350864","url":null,"abstract":"A novel compact printed antenna of planar monopole type for WLAN applications is proposed and analyzed in this paper. The proposed antenna fed by a 50-Omega microstrip line covers the WLAN frequency bands: 2.4 GHz (2400-2484 MHz) for IEEE 802.11b/g, 5 GHz (5150-5825 MHz) for IEEE 802.11a, within return loss S11 < - 10 dB. The proposed antenna has compact size of 13 times 20 mm2, which is suitable for integrating in small size devices, such as mobile handsets. Numerical results of return loss and radiation pattern are shown, which have been calculated by resorting a computer code based on the method of moments technique.","PeriodicalId":148533,"journal":{"name":"2006 First International Conference on Communications and Electronics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126140211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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