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Proceedings of the IEEE Internatinal Symposium on Intelligent Control最新文献

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A new approximation method of estimating common mode (CM) model impedance parameters for EMI emissions in motor drive system 提出了一种估计电机驱动系统电磁干扰共模模型阻抗参数的近似方法
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-12-01 DOI: 10.1109/ISIC.2002.1157839
K. Gulez, N. Mutoh, M. Ogata, F. Harashima, K. Ohnishi
{"title":"A new approximation method of estimating common mode (CM) model impedance parameters for EMI emissions in motor drive system","authors":"K. Gulez, N. Mutoh, M. Ogata, F. Harashima, K. Ohnishi","doi":"10.1109/ISIC.2002.1157839","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157839","url":null,"abstract":"Predicting and solving electromagnetic interference (EMI) emissions related to common mode (CM) types in inverter (also, in pulse with modulation (PWM) inverter)-induction motor drive systems requires various frequency-dependent effects to be considered. Thus, the application of filter circuitry to prevent dependency on some parameters of the motor for EMI filtering is considered. The proposed neural network method allows one to determine common mode (CM) impedance components in the application stage of EMI filter to prevent the EMI noise being applied to the conducted electromagnetic emissions caused by the power supply to the CM path of the motor drive system in control environments.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122177232","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: 1
A switching approach to visual servo control 视觉伺服控制的切换方法
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-12-01 DOI: 10.1109/ISIC.2002.1157859
N. Gans, S. Hutchinson
{"title":"A switching approach to visual servo control","authors":"N. Gans, S. Hutchinson","doi":"10.1109/ISIC.2002.1157859","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157859","url":null,"abstract":"In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper we introduce a new switching approach, in which a high-level decision maker determines which of two low level visual servo controllers should be used at each control cycle. We introduce two new low-level controllers, one that relies on the homography between initial and goal images, and one that uses an affine transformation to approximate the motion between initial and goal camera configurations. Since an affine transformation can only approximate a restricted set of camera motions, this choice of low-level controllers illustrates the strength of the switching approach. We evaluated our approach with several simulations using three candidate switching rules. Although our results are preliminary, we believe that the proposed method is very promising for visual servo tasks in which there is a significant distance between the initial and goal configurations.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129501679","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: 23
Execution and description of dexterous hand task by using multi-finger dual robot hand system - realization of Japanese sign language 多指双机械手灵巧手任务的执行与描述——日语手语的实现
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-12-01 DOI: 10.1109/ISIC.2002.1157821
H. Sugiuchi, T. Morino, M. Terauchi
{"title":"Execution and description of dexterous hand task by using multi-finger dual robot hand system - realization of Japanese sign language","authors":"H. Sugiuchi, T. Morino, M. Terauchi","doi":"10.1109/ISIC.2002.1157821","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157821","url":null,"abstract":"A multi-fingered dual robot hand and its control and programming system, e.g. the state action event network (SAEN), have been developed to achieve dexterous hand works in human mimetic approach. Some dexterous hands tasks such as paper cutting and chopsticks handling have also been achieved by using this system. The final goal of the study is to perform the sign language as a means of communication with the hard of hearing people. We deal with sign language tasks by using our SAEN system. As the result, it is shown that our software system is quit effective for implementation, but the hardware does not have enough facility for the sign language.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132113456","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
Run-to-run process control for chemical mechanical polishing in semiconductor manufacturing 半导体制造中化学机械抛光的运行过程控制
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157854
Li Da, Varadarajan Ganesh Kumar, A. Tay, A. Mamun, W. Ho, A. See, Lap Chan
{"title":"Run-to-run process control for chemical mechanical polishing in semiconductor manufacturing","authors":"Li Da, Varadarajan Ganesh Kumar, A. Tay, A. Mamun, W. Ho, A. See, Lap Chan","doi":"10.1109/ISIC.2002.1157854","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157854","url":null,"abstract":"Chemical mechanical polishing (CMP) has become, in a few short years, an indispensable semiconductor processing module used in fabrication facilities worldwide. The lack of in-situ measurements of the product qualities of interest, in this case, the surface thickness uniformity, makes Run to run (R2R) control the only viable scheme in most semiconductor manufacturing processes. The literature contains many variations of R2R control schemes to control the CMP process. In this paper, we analyze the performance of these R2R control schemes and proposed a self-tuning predictor-corrector controller (PCC). Initial simulation results depicts order of magnitude improvement in the within wafer uniformity as compared to traditional R2R control schemes.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115402071","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: 3
Using a nonlinear mechanism to speed up the neural optimization processes 采用非线性机制加速神经优化过程
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157876
Z. Hou, Fengshui Jing, Min Tan
{"title":"Using a nonlinear mechanism to speed up the neural optimization processes","authors":"Z. Hou, Fengshui Jing, Min Tan","doi":"10.1109/ISIC.2002.1157876","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157876","url":null,"abstract":"Recurrent neural networks based on gradient descent algorithms have been widely used in computation of various optimization and control problems. With the aid of a nonlinear mechanism, an improved method for accelerating the neural computation of optimization processes is proposed. We analyze its convergence property and compare it with other methods. Finally, we give simulation results to show its effectiveness for high-speed computation.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"34 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124410880","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: 1
Design of optimal fuzzy logic controller with genetic algorithms 基于遗传算法的最优模糊控制器设计
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157745
C. Rekik, M. Djemel, N. Derbel, A. Alimi
{"title":"Design of optimal fuzzy logic controller with genetic algorithms","authors":"C. Rekik, M. Djemel, N. Derbel, A. Alimi","doi":"10.1109/ISIC.2002.1157745","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157745","url":null,"abstract":"This paper looks into the determination of optimal trajectories of a nonlinear model of a two-link articulated manipulator. In a first step, genetic algorithms are used to generate an optimal control sequence which is used to bring the manipulator robot into a desired position. In a second step, genetic algorithms optimize the parameters of membership functions to facilitate the realization of a Sugeno fuzzy logic based optimal controller. Simulation results show that the second step gives suboptimal solutions, however the first step yields to optimal solutions which are very sensitive with respect to the parameter variation of the system.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114652578","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: 5
Weight optimisation of brush-type wound-field direct current motors 电刷式绕线场直流电机重量优化
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157796
M. N. Aker, Tien-Fu Lu, Q. Li
{"title":"Weight optimisation of brush-type wound-field direct current motors","authors":"M. N. Aker, Tien-Fu Lu, Q. Li","doi":"10.1109/ISIC.2002.1157796","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157796","url":null,"abstract":"Weight optimised direct current motors have been used lately as actuators for micro-robotics and biomedical equipment. Many techniques have been used in developing permanent magnet and wound-field motors, such as numerical analysis, selecting adequate magnetic material, finite element analysis and optimisation models. Yet, published articles reveal problems with wound-field motors: for example nonproportional geometry, saturated magnetic core, weak output torque and high temperature rise. A mathematical model is introduced in this paper for developing a new design method to overcome these problems. A 900 W DC motor is optimised separately and concurrently with a proportional, integral and derivative (PID) controller, as an example for illustrating the proposed method.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"14 20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124741972","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: 1
Design of multi-stage composite nonlinear feedback control for hard disk drives 硬盘驱动器多级复合非线性反馈控制设计
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157853
K. Peng, Guoyang Cheng, Ben M. Chen, Tong-heng Lee
{"title":"Design of multi-stage composite nonlinear feedback control for hard disk drives","authors":"K. Peng, Guoyang Cheng, Ben M. Chen, Tong-heng Lee","doi":"10.1109/ISIC.2002.1157853","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157853","url":null,"abstract":"The multistage composite nonlinear feedback (MCNF) control is proposed to improve effectiveness of the composite nonlinear feedback (CNF) control. The latter is developed for a class of linear systems with actuator saturation and consists of a linear and a nonlinear feedback part without any switching element. There is another nonlinear feedback part added in the MCNF control compared to the CNF control. The added nonlinear feedback will be effective after the original one has been set to be linear and a new CNF control will be constructed. Experimental results show that the MCNF control can produce better performances than the CNF control to design hard disk drive (HDD) servo systems.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124797643","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: 0
Selection of optimal learning rates in CMAC based control schemes 基于CMAC控制方案中最优学习率的选择
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157764
W. Luo, K. Song
{"title":"Selection of optimal learning rates in CMAC based control schemes","authors":"W. Luo, K. Song","doi":"10.1109/ISIC.2002.1157764","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157764","url":null,"abstract":"CMAC based control schemes have been studied by many researchers. It is well recognized that properly designed CMAC controllers provide useful and practical tools for precision control of nonlinear systems. For complex trajectories, however, the convergence speed of CMAC can be slow because the CMAC module takes much time in learning the inverse dynamics of the plant. Therefore, one practical difficulty of CMAC based controller design is the selection of appropriate learning rate. In this paper, we present a method for selection of optimal CMAC learning rate. Furthermore, we demonstrate that the proposed GA-based approach to parameter selection can provide a global optimal solution. Computer simulation results confirm the effectiveness of the proposed method.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115526622","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: 1
Some sensing and perception techniques for an omnidirectional ground vehicle with a laser scanner 带激光扫描仪的全向地面车辆的一些传感和感知技术
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157846
Zhen Song, Yangmei Chen, Lili Ma, Y. Chung
{"title":"Some sensing and perception techniques for an omnidirectional ground vehicle with a laser scanner","authors":"Zhen Song, Yangmei Chen, Lili Ma, Y. Chung","doi":"10.1109/ISIC.2002.1157846","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157846","url":null,"abstract":"This paper presents some techniques for sensing and perception for an omnidirectional autonomous ground vehicle equipped with a laser scanner. In an assumed structured environment, the sensor data processing methods for both 1D and 2D laser scanners, are discussed. Raw data are segmented to lines, circles, ellipses, planes and corners by task dependent segmentation algorithms. Each subset of data is then used for fitting the known template shapes as listed above. An arbitrator is used to discriminate the shape for the final object identification.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122937891","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: 19
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