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SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)最新文献

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Discrete-time variable structure control using modified recursive switching function 基于改进递归开关函数的离散变结构控制
Jung Ho Kim, Hyungjin Kim, Joo-Hyune Lee, D. Cho
This paper proposes anew second-order recursive switching function for discrete-time variable structure control (DVSC). The proposed switching function consists of the current state vector and the two previous switching function values, and has two design parameters. Using the proposed switching function, a DVSC controller is designed and combined with a decoupled disturbance compensator (DDC). For the combined DVSC structure, constraints of the two design parameters are derived to achieve robustness property against disturbances. Using numerical example, the performance of the proposed DVSC is shown.
本文提出了一种新的二阶递归切换函数用于离散变结构控制(DVSC)。所提出的开关函数由当前状态向量和前两个开关函数值组成,并具有两个设计参数。利用所提出的开关函数,设计了DVSC控制器,并将其与解耦干扰补偿器(DDC)相结合。对于组合DVSC结构,推导了两个设计参数的约束条件,以实现对扰动的鲁棒性。通过数值算例,说明了该方法的性能。
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引用次数: 3
Development of a remote controlled mobile entertainment robot system 一种遥控移动娱乐机器人系统的研制
Jihong Lee, Insik Kim, Sungsu Kim, Dongsung Kim, Baesung Seo
Deals with the design and implementation of a remote controlled mobile entertainment robot. The developed system is intended to be used in advertising, amusement and sales-promotion. The system must be able to attract people's attention. Therefore our system has the ability to move around a two-dimensional floor with wheels and control every multimedia file format including MPEG files, WAVE files, MP3 files, and so on. In the paper, the structure of the overall robot system as well as the details for each part such as motion controller, multimedia controller, wireless communication systems, and motor driving circuits, are described.
介绍了一种遥控移动娱乐机器人的设计与实现。所开发的系统主要用于广告、娱乐和促销。这个系统必须能够吸引人们的注意力。因此,我们的系统能够在二维的地板上移动,并控制各种多媒体文件格式,包括MPEG文件、WAVE文件、MP3文件等。本文介绍了整个机器人系统的结构,以及运动控制器、多媒体控制器、无线通信系统、电机驱动电路等各部分的详细设计。
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引用次数: 2
A new approach to the digital redesign of continuous-time control systems with multiple loops 一种多回路连续时间控制系统数字化再设计的新方法
K. K. Ro, N. Hori
The paper is concerned with an approach, called the multi-loop plant input mapping (MLPIM) method, for redesigning a continuous-time control system with multiple loops into a multi-loop digital control system. The digital controllers are synthesized by matching the discrete-time transfer function from the reference input to the control input to be applied to the plant and that of the continuous-time counterpart. Each control loop is redesigned, taking into account the characteristics of inner loops and plant. The proposed technique is implemented on a ball-on-beam control system and the results thus obtained are compared with those obtained by the Tustin method.
本文研究了一种称为多回路对象输入映射(MLPIM)的方法,用于将具有多回路的连续时间控制系统重新设计为多回路数字控制系统。数字控制器是通过将参考输入的离散时间传递函数与要应用于被控对象的控制输入和连续时间对应的传递函数相匹配来合成的。考虑到内回路和工厂的特点,对每个控制回路进行了重新设计。将该方法应用于球-梁控制系统,并与Tustin方法的结果进行了比较。
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引用次数: 2
A necessary and sufficient condition for the stability of an /spl alpha/-/spl beta/-/spl gamma/ filter /spl α /-/spl β /-/spl γ /滤波器稳定性的充分必要条件
Y. Kosuge, M. Ito
We present a necessary and sufficient condition for the stability of an /spl alpha/-/spl beta/-/spl gamma/ filter that can be used even when the values of filter gains /spl alpha/, /spl beta/ and /spl gamma/ are larger than 1. We also present the optimal choice of the /spl alpha/, /spl beta/, /spl gamma/ combination of an /spl alpha/-/spl beta/-/spl gamma/ filter. For choice, we use the steady state errors of the predicted position of the /spl alpha/-/spl beta/-/spl gamma/ filter. More exactly, we use the steady state variance for a constant velocity target under the condition that the steady state errors for a constant jerk (derivative of the acceleration) target are the same.
给出了/spl alpha/-/spl beta/-/spl gamma/滤波器的稳定性的充分必要条件,该滤波器的增益/spl alpha/、/spl beta/和/spl gamma/大于1时也可以使用。我们还提出了/spl alpha/、/spl beta/、/spl gamma/组合/spl alpha/-/spl beta/-/spl gamma/滤波器的最佳选择。对于选择,我们使用/spl alpha/-/spl beta/-/spl gamma/滤波器的预测位置的稳态误差。更确切地说,在恒定加速度(加速度的导数)目标的稳态误差相同的条件下,我们使用恒定速度目标的稳态方差。
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引用次数: 6
Identification and modeling of friction forces at a hydraulic parallel link manipulator joints 液压并联机械臂关节摩擦力辨识与建模
Z. Zyada, T. Fukuda
Compensation for friction is essential for accurate assembly. Friction identification and modeling is the first step towards compensation for its effect. We propose an identification method and modeling of friction forces at the prismatic joints of a six d.o.f. hydraulically powered parallel link manipulator. First, we introduce a mathematical basis for friction forces identification at every prismatic joint, and then we identify friction forces at the prismatic joints using pressure sensors experimentally. The proposed method does not use any additional instruments or sensors, neither does it need any special design of the manipulator joints and hence, it is cost effective and reliable. We also present an experimental evaluation of friction forces at every prismatic joint based on the proposed method. A suitable model for friction forces at the joints is determined. The results show that friction forces may differ from one actuator to another as every actuator has its own characteristics. This assures the need for proper compensation for every actuator friction forces.
摩擦补偿是精确装配的必要条件。摩擦识别和建模是补偿其影响的第一步。提出了一种六自由度液压并联机械臂移动关节处摩擦力的辨识方法和建模方法。首先介绍了各关节处摩擦力辨识的数学基础,然后利用压力传感器对关节处摩擦力进行了实验辨识。该方法不使用任何额外的仪器或传感器,也不需要对机械手关节进行任何特殊设计,因此具有成本效益和可靠性。我们还提出了一个实验评估摩擦力在每个移动关节基于所提出的方法。确定了合适的结合部摩擦力模型。结果表明,由于每个作动器都有自己的特性,不同作动器之间的摩擦力可能不同。这保证了需要适当补偿每一个执行机构的摩擦力。
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引用次数: 6
Acoustical tactile sensor utilizing multiple reflections for principal curvature measurement 声学触觉传感器,利用多重反射测量主曲率
K. Teramoto, K. Watanabe
It is essential for robotic tactile sensors to provide capability of shape discrimination from static touch. For this purpose, the principal curvatures and corresponding principal directions play the important roles which defines the local shape of the object. This paper proposes a novel acoustic tactile sensing system which has an ability to identify the principal curvatures of the object surface by utilizing reflected acoustical wavefronts. Any smooth surface can be locally approximated by a set of independent parameters: the location of the point of contact, the normal vector of the tangent plane, the principal curvatures and the corresponding principal directions. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves nor the spherical-waves strictly such that the nonlinearity exists between TOF and the parameters defining the surface. Avoiding the difficulty, the proposed sensing system utilizes TOFs for both single and double reflections.
机器人触觉传感器必须具备静态触觉的形状识别能力。为此,主曲率和相应的主方向在确定物体的局部形状方面起着重要作用。本文提出了一种利用反射声波阵面识别物体表面主曲率的新型声触觉传感系统。任何光滑表面都可以用一组独立的参数局部逼近:接触点的位置、切平面的法向量、主曲率和相应的主方向。然而,在估计这些参数时存在的主要困难是抛物面表面反射的波前不能用平面波和球面波的线性组合来严格描述,使得TOF与定义曲面的参数之间存在非线性。为了避免这一困难,本文提出的传感系统利用tof进行单反射和双反射。
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引用次数: 8
An implementation of HIA (humoral immune algorithm) PID controller using neural network identifier 利用神经网络辨识器实现体液免疫算法PID控制器
Y.J. Lee, D. Song, S. Choi, J. Lee, K.S. Lee
In this paper, an adaptive mechanism based on HIA (humoral immune algorithm) is designed. When the HIA is applied to the PID controller, there exists the case that the plant is damaged by the abrupt change of PID parameters since the parameters are adjusted almost randomly. To solve this problem, a neural network is used to model the plant and the parameter tuning of the system is performed by the humoral immune algorithm. After the PID parameters are determined through this off-line manner, these gains are then applied to the plant for the online control using immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough initially, the weighting parameters are adjusted to be accurate through the online fine tuning. The experiment for the control of the AGV system is performed. The results show that the proposed controller has better performances than other conventional controllers.
本文设计了一种基于体液免疫算法的自适应机制。将HIA应用于PID控制器时,由于PID参数的调整几乎是随机的,存在因PID参数的突变而损坏被控对象的情况。为了解决这一问题,采用神经网络对植物进行建模,并采用体液免疫算法对系统进行参数整定。通过离线方式确定PID参数后,将这些增益应用于被控对象,利用免疫自适应算法进行在线控制。此外,即使神经网络模型最初可能不够精确,也可以通过在线微调调整权重参数以使其准确。对AGV系统的控制进行了实验研究。结果表明,该控制器具有较好的控制性能。
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引用次数: 2
Case-based lightning flash forecast support system taking account of range of thundercloud 考虑雷雨云范围的基于实例的闪电预报支持系统
W. Kise, A. Mitsuishi, Y. Kosuge
In order to prevent the damage caused by natural phenomena, such as rain, cloud, lightning and squall, we use meteorological radars for the observation. Demand has been increasing for more accurate information for natural phenomena, since it is becoming more important to analyze the observation data for the forecast. We have been applying a case-based retrieval algorithm to forecast lightning flashes. However, since the proposed method considers the partial local region in retrieving the similar case, a number of dissimilar cases may be retrieved. In order to solve this problem, we propose a new retrieval scheme which takes account of the range of the thundercloud. We show that this scheme is efficient by means of an example of the application.
为了防止雨、云、闪电、飑等自然现象造成的破坏,我们使用气象雷达进行观测。对更准确的自然现象信息的需求不断增加,因为分析观测数据以进行预报变得越来越重要。我们一直在应用基于案例的检索算法来预测闪电。然而,由于该方法在检索相似案例时考虑了局部局部区域,可能会检索到大量不相似案例。为了解决这一问题,我们提出了一种考虑雷雨云范围的检索方案。通过一个应用实例证明了该方案的有效性。
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引用次数: 2
Target tracking with adaptive sampling intervals using multiple maneuver model 基于多机动模型的自适应采样间隔目标跟踪
Akio Yanbe, M. Ito, S. Tsujimichi, Y. Kosuge
Since a phased array radar can direct the radar beam in any direction without physically moving radar antenna, it can perform adaptive sampling of the target trajectory. Proper control of the radar can improve the tracking performance. We propose the method of adaptively adjusting the sampling rate based on error covariance of the multiple maneuver model (M/sup 3/) algorithm which is an effective technique for tracking maneuvering targets. Simulation results show that proposed algorithm determines the sampling interval adapted to the changing target dynamics. The Monte Carlo simulation results have demonstrated the effectiveness of the proposed algorithm in reduction of the radar resources.
由于相控阵雷达可以在不物理移动雷达天线的情况下将雷达波束引导到任意方向,因此可以对目标轨迹进行自适应采样。适当的控制可以提高雷达的跟踪性能。提出了基于误差协方差的多机动模型(M/sup 3/)算法自适应调整采样率的方法,这是一种有效的机动目标跟踪技术。仿真结果表明,该算法确定了适应目标动态变化的采样间隔。蒙特卡罗仿真结果证明了该算法在减少雷达资源方面的有效性。
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引用次数: 1
Two dimensional binary pattern exhibiting zero correlation over a wide range of phase shift 在宽相移范围内显示零相关的二维二值模式
T. Hayashi
A two-dimensional binary pattern is used as a two-dimensional bar-code, a position detection pattern, a diffraction pattern for calibration of a laser beam, and so on. Most applications of two-dimensional binary data require a wide zone of zero-correlation. There exist reports on a one-dimensional binary sequence with wide range of zero-correlation. We extend one of the methods to synthesize one dimensional binary sequences with wide zero-correlation previously reported by our group to two-dimensional data. The size of the synthesized pattern is (2/sup u+2/m)/spl times/(2/sup v+2/n), where mn is equal to the rank of a Hadamard matrix (not restricted to be a Walsh-Hadamard matrix) and u /spl ges/ 0, and v /spl ges/ 0. The size of zero correlation zone is (2/sup u/)/spl times/(2/sup v/). The number of synthesized patterns is 4 mn. The flexibility of the number of patterns, the size of a pattern, and the size of zero correlation zone is very useful for the design of its applications. The applications of the synthesized pattern for measurement are also discussed.
二维二进制图案用作二维条形码、位置检测图案、用于校准激光束的衍射图案等。大多数二维二进制数据的应用需要宽的零相关区域。已有关于宽范围零相关的一维二值序列的报道。本文将前人报道的一种合成一维宽零相关二值序列的方法推广到二维数据中。合成模式的大小为(2/sup u+2/m)/spl乘以/(2/sup v+2/n),其中mn等于Hadamard矩阵(不限于沃尔什-Hadamard矩阵)的秩,u /spl ges/ 0, v /spl ges/ 0。零相关区大小为(2/sup u/)/ sp1倍/(2/sup v/)。合成图案数为4 mn。模式的数量、模式的大小和零相关区大小的灵活性对其应用程序的设计非常有用。本文还讨论了合成模式在测量中的应用。
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引用次数: 2
期刊
SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)
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