ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)最新文献_第5页

Virtual reality testbed for mobile robots 移动机器人虚拟现实试验台

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.801801

Denis Gracanin, K. Matijasevic, N. Tsourveloudis, K. Valavanis

{"title":"Virtual reality testbed for mobile robots","authors":"Denis Gracanin, K. Matijasevic, N. Tsourveloudis, K. Valavanis","doi":"10.1109/ISIE.1999.801801","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801801","url":null,"abstract":"This paper presents a distributed, multi-user virtual reality testbed for a mobile robot. The main components of the testbed include user interface, networking, simulation and robot control. The user interface is implemented as a combination of a virtual environment and a standard graphical user interface (GUI). The virtual environment is developed using the Virtual Reality Modeling Language (VRML) and it corresponds to the laboratory environment where the robot is placed and tested. The standard GUI is implemented using Java Programming language. The World Wide Web (WWW) browser is used to integrate the virtual environment (embedded VRML) and the standard GUI (Java applet) in a single user interface. Users can access a dedicated WWW server and download the user interface. Networking component (communication among users and robots) is implemented using the Distributed Interactive Simulation (DIS) protocol. The existing robot development system has been utilized to provide simulation capabilities. A separate stand-alone Java application has been developed to communicate and control the robot using a wireless Ethernet link. In addition to user's direct control, control algorithms (e.g. fuzzy logic based) can be used to replace the user. A Nomad200 mobile robot has been used for initial measurements and evaluations of the testbed.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128295173","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}

引用次数: 10

Sensorless force reflecting teleoperation for low cost web-interfaced systems 低成本网络接口系统的无传感器力反射远程操作

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.801770

R. Oboe, S. Piovan

{"title":"Sensorless force reflecting teleoperation for low cost web-interfaced systems","authors":"R. Oboe, S. Piovan","doi":"10.1109/ISIE.1999.801770","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801770","url":null,"abstract":"An ever-growing number of Internet connected devices is now accessible to a multitude of users. Most of those devices, however, offer to the user a simple command interface which does not allow for a real time command of the remote apparatus. In this paper, the authors present the JBIT system, a Java-Based Interface for Telerobotics, which provides a web-based real time interface to a robot located in their laboratory. In order to enhance the sense of immersion in the remote environment, force feedback is added to visual and virtual reality feedback and common button interfaces. In order to maintain the cost of the overall system low, however, force sensor capabilities has to be replaced by an estimator. In this paper, the authors present their direct-drive 2 and 3 DOF mini robots, based on off-the-shelf hard disk drive technology. Given their negligible friction, the force arising during interaction with the environment is easily obtained from the dynamic model of the mechanical system. Simulation results and experiments are presented. Interested users can access the authors' site and enjoy playing with the robots at the web address: http://www.dei.unipd.it//spl sim/oboe/.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129783611","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}

引用次数: 7

Genetic algorithms in real-time imprecise computing 遗传算法在实时非精确计算中的应用

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.801762

L. Budin, D. Jakobović, M. Golub

{"title":"Genetic algorithms in real-time imprecise computing","authors":"L. Budin, D. Jakobović, M. Golub","doi":"10.1109/ISIE.1999.801762","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801762","url":null,"abstract":"This article describes the use of genetic algorithms in real-time systems that employ the imprecise computation paradigm. In real-time systems, the focus is on ensuring that a set of tasks each complete within their deadlines. Faults may occur in the computation or the environment that can cause missed deadlines. That is why the idea of using partial results when exact ones cannot be produced within the deadline has been introduced. This idea has been formalized using the concepts of anytime algorithms and imprecise computation and specific techniques have been developed for designing programs which can produce partial results and for developing systems that can support imprecise computation techniques. Genetic algorithms are methods that can be, without any adaptation, used in an imprecise computation system. They produce a solution that bears a certain measure of reliability. During the process of their execution, this solution is constantly improving. They can be used as a part of a real-time system, especially for optimizing tasks where no classical algorithm exists or its computational time proves to be too expensive.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130055159","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}

引用次数: 14

Stability analysis of uncertain time-delay systems with saturating actuator 含饱和执行器的不确定时滞系统稳定性分析

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.796783

Pin-Lin Liu, T. Su

引用次数: 5

Frequency domain analysis of B-spline interpolation b样条插值的频域分析

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.801783

Z. Mihajlovic, A. Goluban, M. Zagar

引用次数: 18

Monitoring of the cavitation in the Kaplan turbine 卡普兰涡轮空化现象的监测

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.796873

B. Širok, M. Hočevar, I. Kern, M. Novák

{"title":"Monitoring of the cavitation in the Kaplan turbine","authors":"B. Širok, M. Hočevar, I. Kern, M. Novák","doi":"10.1109/ISIE.1999.796873","DOIUrl":"https://doi.org/10.1109/ISIE.1999.796873","url":null,"abstract":"The phenomena of cavitation in water machines usually causes mechanical damage to the vital parts of the turbine. Because cavitation is usually frequent and unpredictable, the development of a monitoring method is of great importance. Present methods for cavitation detection in water turbines are based on observation of pressure pulsations, acoustic emission and mechanical vibrations on the turbine casing. Changes of dynamic properties of the above variables enable empirical analysis and are measured for the presence of the cavitation and its consequences. On the vital parts of the turbine, a new method of cavitation detection was implemented. Cavitation, a two-phase phenomenon (gas flow in the liquid phase), can be optically established when using proper illumination of the control volume. A method of computer-aided visualization was used, which offers real time evaluation of the cavitation topological structures in the turbine flow field. A new method of cavitation monitoring was tested on a model Kaplan turbine where, besides the computer-aided visualization, various integral parameters were simultaneously observed. The procedure was tested and performed in different integral operational regimes. Results of the study indicate that visualization method is the most suitable for cavitation monitoring; further effort however should be made in this research sphere.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130287450","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}

引用次数: 10

Synthesis and digital implementation of a reduced order rotor flux observer for IM drive IM驱动降阶转子磁链观测器的合成与数字化实现

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.798703

A. Damiano, G. Gatto, I. Marongiu, Alessandro Pisano

引用次数: 4

A novel direct control scheme for SVM inverter-fed induction motor drives 一种新的支持向量机变频感应电机驱动直接控制方案

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.796883

G. Buja, M. Candela, R. Menis

引用次数: 11

The power system trade off of the multimedia constellation satellite for the Skybridge Missions. Trade off study using the PowerCap software 电力系统为Skybridge任务的多媒体星座卫星进行了交换。使用PowerCap软件进行权衡研究

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.801788

A. Capel, S. Defoug

引用次数: 2

Direct frequency converters for induction motor drives 用于感应电机驱动的直接变频器

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI: 10.1109/ISIE.1999.801751

L. Ribickis, I. Galkin

引用次数: 4