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IEEE transactions on automation science and engine...IEEE transactions on automation science and engineering 43건

  1. [해외논문]   Adaptive Fault-Tolerant Tracking Control for MIMO Discrete-Time Systems via Reinforcement Learning Algorithm With Less Learning Parameters   SCI SCIE

    Liu, Lei (College of Information Science and Engineering, Northeastern University ) , Wang, Zhanshan (College of Information Science and Engineering, Northeastern University ) , Zhang, Huaguang (College of Information Science and Engineering, Northeastern University)
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 299 - 313 , 2017 , 1545-5955 ,

    초록

    This paper is concerned with a reinforcement learning-based adaptive tracking control technique to tolerate faults for a class of unknown multiple-input multiple-output nonlinear discrete-time systems with less learning parameters. Not only abrupt faults are considered, but also incipient faults are taken into account. Based on the approximation ability of neural networks, action network and critic network are proposed to approximate the optimal signal and to generate the novel cost function, respectively. The remarkable feature of the proposed method is that it can reduce the cost in the procedure of tolerating fault and can decrease the number of learning parameters and thus reduce the computational burden. Stability analysis is given to ensure the uniform boundedness of adaptive control signals and tracking errors. Finally, three simulations are used to show the effectiveness of the present strategy.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  2. [해외논문]   Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data   SCI SCIE

    Wu, Liao , Ren, Hongliang
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 314 - 324 , 2017 , 1545-5955 ,

    초록

    When a robot is required to perform specific tasks defined in the world frame, there is a need for finding the coordinate transformation between the kinematic base frame of the robot and the world frame. The kinematic base frame used by the robot controller to define and evaluate the kinematics may deviate from the mechanical base frame constructed based on structural features. Besides, by using kinematic modeling rules such as the product of exponentials (POE) formula, the base frame can be arbitrarily located, and does not have to be related to any feature of the mechanical structure. As a result, the kinematic base frame cannot be measured directly. This paper proposes to find the kinematic base frame by solving a hand-eye calibration problem using 3D position measurements only, which avoids the inconvenience and inaccuracy of measuring orientations and thus significantly facilitates practical operations. A closed-form solution and an iterative solution are explicitly formulated and proved effective by simulations. Comprehensive analyses of the impact of key parameters to the accuracy of the solution are also carried out, providing four guidelines to better conduct practical operations. Finally, experiments on a 7-DOF industrial robot are performed with an optical tracking system to demonstrate the superiority of the proposed method using position data only over the method using full pose data.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  3. [해외논문]   A Novel Control Approach for High-Precision Positioning of a Piezoelectric Tube Scanner   SCI SCIE

    Habibullah, H. , Pota, Hemanshu Roy , Petersen, Ian R.
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 325 - 336 , 2017 , 1545-5955 ,

    초록

    An optimal controller for high-precision spiral positioning of a piezoelectric tube scanner used in an atomic force microscope (AFM) is proposed in this paper. In the proposed control scheme, a second-order vibration compensator is incorporated with the piezoelectric tube scanner (PTS) to suppress the vibration of the PTS at the resonant frequency. An internal model of a reference sinusoidal signal is included with the augmented plant model and an integrator is introduced with a linear quadratic Gaussian controller which reduces the phase error between the input and output sinusoids. The proposed method allows a commercial AFM to scan at high scanning speeds as an alternative to the raster scanning approach. The performance of this controller is assessed with closed-loop frequency response, tracking accuracy, and a set of spiral scanned images. The raster scanned images obtained using the standard AFM PI controller is also presented for comparison with the spiral images. Experimental results prove the effectiveness of the proposed method.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  4. [해외논문]   Temporal Task Scheduling With Constrained Service Delay for Profit Maximization in Hybrid Clouds   SCI SCIE

    Yuan, Haitao (School of Software Engineering, Beijing University of Technology) , Bi, Jing , Tan, Wei , Li, Bo Hu
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 337 - 348 , 2017 , 1545-5955 ,

    초록

    As cloud computing is becoming growingly popular, consumers’ tasks around the world arrive in cloud data centers. A private cloud provider aims to achieve profit maximization by intelligently scheduling tasks while guaranteeing the service delay bound of delay-tolerant tasks. However, the aperiodicity of arrival tasks brings a challenging problem of how to dynamically schedule all arrival tasks given the fact that the capacity of a private cloud provider is limited. Previous works usually provide an admission control to intelligently refuse some of arrival tasks. Nevertheless, this will decrease the throughput of a private cloud, and cause revenue loss. This paper studies the problem of how to maximize the profit of a private cloud in hybrid clouds while guaranteeing the service delay bound of delay-tolerant tasks. We propose a profit maximization algorithm (PMA) to discover the temporal variation of prices in hybrid clouds. The temporal task scheduling provided by PMA can dynamically schedule all arrival tasks to execute in private and public clouds. The sub problem in each iteration of PMA is solved by the proposed hybrid heuristic optimization algorithm, simulated annealing particle swarm optimization (SAPSO). Besides, SAPSO is compared with existing baseline algorithms. Extensive simulation experiments demonstrate that the proposed method can greatly increase the throughput and the profit of a private cloud while guaranteeing the service delay bound.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  5. [해외논문]   Comparing Theoretical and Experimental Results in Gen2 RFID Throughput   SCI SCIE

    Solic, Petar , Maras, Josip , Radic, Josko , Blazevic, Zoran
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 349 - 357 , 2017 , 1545-5955 ,

    초록

    Radio frequency identification (RFID) technology, based on wireless communication between a reader and tags, is the most popular technology for indoor item identification and tracking. Among competing RFID technologies, Gen2 has emerged as the most popular one, due to the best price/performance ratio. In order to communicate with multiple tags, Gen2 RFID systems use dynamic frame slotted ALOHA (DFSA) as a medium access control (MAC) mechanism. To maximize DFSA throughput simple calculations show that the number of tags should equal the DFSA frame size. However, the number of tags in an environment is usually unknown and has to be estimated. So far, significant effort has been invested in estimating the correct number of tags. However, to the best of our knowledge, no one has explored the estimator performance in a real RFID measuring scenario. In this paper, we evaluate the throughput of a real RFID system by using the Software Defined Radio (SDR) technology. Our results show that phenomena related to radio waves propagation and reception have a significantly bigger influence on Gen2 RFID throughput than traditional approaches take into account.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  6. [해외논문]   Learning Bayesian Network Structures to Augment Aircraft Diagnostic Reference Models   SCI SCIE

    Mack, Daniel L. C. , Biswas, Gautam , Koutsoukos, Xenofon D. , Mylaraswamy, Dinkar
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 358 - 369 , 2017 , 1545-5955 ,

    초록

    Fault detection and isolation schemes are designed to detect the onset of adverse events during operations of complex systems, such as aircraft and industrial processes. The state-of-the-art fault diagnosis systems on aircraft combine an expert-created reference model of the associations between faults and symptoms, and a Naïve Bayes reasoner. For complex systems with many dependencies between components, the expert-generated reference models are often incomplete, which hinders timely and accurate fault diagnosis. Mining aircraft flight data is a promising approach to finding these missing relations between symptoms and data. However, mining algorithms generate a multitude of relations, and only a small subset of these relations may be useful for improving diagnoser performance. In this paper, we adopt a knowledge engineering approach that combines data mining methods with human expert input to update an existing reference model and improve the overall diagnostic performance. We discuss three case studies to demonstrate the effectiveness of this method.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

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  7. [해외논문]   A Method for Optimizing the Base Position of Mobile Painting Manipulators   SCI SCIE

    Ren, Shunan , Xie, Ying , Yang, Xiangdong , Xu, Jing , Wang, Guolei , Chen, Ken
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 370 - 375 , 2017 , 1545-5955 ,

    초록

    This paper presents an algorithm to optimize the base position of a mobile manipulator to meet the requirements of local painting tasks. Considering the physical limits and singularity of the manipulator, the feasible base positions are first discretely calculated with the given poses of the end effector by inverse kinematics. Then, the joint-level performance criteria are proposed with respect to the requirements of the painting process. The weight coefficients are also determined by the critic method to balance the contribution of every criterion. Thus, the globally near-optimal base position is selected by sorting all feasible positions according to the evaluation criteria. The experimental results show that the planning result is well executed and has an acceptable computation time, thus demonstrating that the algorithm is both practical and effective compared with previous methods.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

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  8. [해외논문]   Stochastic Point-to-Point Iterative Learning Tracking Without Prior Information on System Matrices   SCI SCIE

    Shen, Dong , Han, Jian , Wang, Youqing
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 376 - 382 , 2017 , 1545-5955 ,

    초록

    This paper contributes to a point-to-point iterative learning control problem for stochastic systems without prior information on system matrices. The stochastic approximation technique with gradient estimation by random difference is introduced to design the update law for input. It is strictly proved that the input sequence would converge almost surely to the optimal one, which minimizes the averaged tracking performance index. An illustrative simulation shows the effectiveness of the proposed algorithm.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

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  9. [해외논문]   Discretization-Based and Look-Ahead Algorithms for the Dubins Traveling Salesperson Problem   SCI SCIE

    Cohen, Izack , Epstein, Chen , Isaiah, Pantelis , Kuzi, Saar , Shima, Tal
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 383 - 390 , 2017 , 1545-5955 ,

    초록

    A new class of discretization-based look-ahead algorithms (DLAAs) for the Dubins traveling salesperson problem (DTSP) is presented that compares favorably with the existing algorithms from the literature. The discretization level and the length of the look-ahead horizon are the two parameters that uniquely determine a DLAA, and depending on the application in hand, their values can be easily modified to strike a balance between the execution time and the length of the resulting admissible tour. The time complexity of a DLAA is the sum of two terms, one linear in the number of targets (cities) and one that corresponds to the specification of an initial order for the targets. For instances of the DTSP with densely distributed targets, an algorithm that relies on clustering and leads to shorter tours than the DLAA is also presented.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  10. [해외논문]   Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot   SCI SCIE

    Wilson, Andrew D. , Schultz, Jarvis A. , Ansari, Alex R. , Murphey, Todd D.
    IEEE transactions on automation science and engineering v.14 no.1 ,pp. 391 - 397 , 2017 , 1545-5955 ,

    초록

    This paper presents experimental results from the real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research Robot from Rethink Robotics. An active estimator maximizing Fisher information is used in real time with a closed-loop, nonlinear control technique known as sequential action control. Baxter is tasked with estimating the length of a string connected to a load suspended from the gripper with a load cell providing the single source of feedback to the estimator. Following the active estimation, a trajectory is generated using the trep software package that controls Baxter to dynamically swing a suspended load into a box. Several trials are presented with varying initial estimates showing that the estimation is required to obtain adequate open-loop trajectories to complete the prescribed task. The result of one trial with and without the active estimation is also shown in the accompanying video.

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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