Search results for: Augmented Automatic Choosing Control

Authors: Mihai Caramihai Ana A Chirvase, Irina Severin

Abstract:

Bioprocesses are appreciated as difficult to control because their dynamic behavior is highly nonlinear and time varying, in particular, when they are operating in fed batch mode. The research objective of this study was to develop an appropriate control method for a complex bioprocess and to implement it on a laboratory plant. Hence, an intelligent control structure has been designed in order to produce biomass and to maximize the specific growth rate.

Keywords: Fed batch bioprocess, mass-balance model, fuzzy control.

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Authors: S. Soommat, S. Patamatamkul, T. Prempridi, M. Sritulyachot, P. Ineure, S. Yimman

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Currently, slider process of Hard Disk Drive Industry become more complex, defective diagnosis for yield improvement becomes more complicated and time-consumed. Manufacturing data analysis with data mining approach is widely used for solving that problem. The existing mining approach from combining of the KMean clustering, the machine oriented Kruskal-Wallis test and the multivariate chart were applied for defective diagnosis but it is still be a semiautomatic diagnosis system. This article aims to modify an algorithm to support an automatic decision for the existing approach. Based on the research framework, the new approach can do an automatic diagnosis and help engineer to find out the defective factors faster than the existing approach about 50%.

Keywords: Slider process, Defective diagnosis and Data mining.

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Authors: Pradip Peter Dey, Ronald F. Gonzales, Gordon W. Romney, Mohammad Amin, Bhaskar Raj Sinha

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Natural language processing systems pose a unique challenge for software architectural design as system complexity has increased continually and systems cannot be easily constructed from loosely coupled modules. Lexical, syntactic, semantic, and pragmatic aspects of linguistic information are tightly coupled in a manner that requires separation of concerns in a special way in design, implementation and maintenance. An aspect oriented software architecture is proposed in this paper after critically reviewing relevant architectural issues. For the purpose of this paper, the syntactic aspect is characterized by an augmented context-free grammar. The semantic aspect is composed of multiple perspectives including denotational, operational, axiomatic and case frame approaches. Case frame semantics matured in India from deep thematic analysis. It is argued that lexical, syntactic, semantic and pragmatic aspects work together in a mutually dependent way and their synergy is best represented in the aspect oriented approach. The software architecture is presented with an augmented Unified Modeling Language.

Keywords: Language engineering, parsing, software design, user experience.

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Authors: Mohammad Nasri, Hossein Mirshekarpour

Abstract:

We aimed to investigate how can target and optimize pulmonary delivery distribution by changing physicochemical characteristics of instilled liquid.Therefore, we created a new liquids group: a. eligible for desired distribution within lung because of assorted physicochemical characteristics b. capable of being augmented with a broad range of chemicals inertly c. no interference on respiratory function d. compatible with airway surface liquid We developed forty types of new liquid,were composed of Carboxymethylcellulose sodium,Glycerin and different types of Polysorbates.Viscosity was measured using a Programmable Rheometer and surface tension by KRUSS Tensiometer.We subsequently examined the liquids and delivery protocols by simple and branched glass capillary tube models of airways.Eventually,we explored pulmonary distribution of liquids being augmented with technetium-99m in mechanically ventilated rabbits.We used a single head large field of view gamma camera.Kinematic viscosity between 0.265Stokes and 0.289Stokes,density between 1g/cm3 and 1.5g/cm3 and surface tension between 25dyn/cm and 35dyn/cm were the most acceptable.

Keywords: Pulmonary delivery, Liquid instillation into airway, Physicochemical characteristics, Optimal distribution.

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Authors: M. G. Papoutsidakis, G. Chamilothoris, F. Dailami, N. Larsen, A Pipe

Abstract:

Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. A methodology for obtaining high position accuracy with a linear pneumatic actuator is presented. During experimentation with a number of PID classical control approaches over many operations of the pneumatic system, the need for frequent manual re-tuning of the controller could not be eliminated. The reason for this problem is thermal and energy losses inside the cylinder body due to the complex friction forces developed by the piston displacements. Although PD controllers performed very well over short periods, it was necessary in our research project to introduce some form of automatic gain-scheduling to achieve good long-term performance. We chose a fuzzy logic system to do this, which proved to be an easily designed and robust approach. Since the PD approach showed very good behaviour in terms of position accuracy and settling time, it was incorporated into a modified form of the 1st order Tagaki- Sugeno fuzzy method to build an overall controller. This fuzzy gainscheduler uses an input variable which automatically changes the PD gain values of the controller according to the frequency of repeated system operations. Performance of the new controller was significantly improved and the need for manual re-tuning was eliminated without a decrease in performance. The performance of the controller operating with the above method is going to be tested through a high-speed web network (GRID) for research purposes.

Keywords: Fuzzy logic, gain scheduling, leaky integrator, pneumatic actuator.

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Authors: Sophia Fry, Mahir Irtiza, Alexa Hoffman, Yousef Sardahi

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This study presents an intelligent control algorithm for a flexible robotic arm. Fuzzy control is used to control the motion of the arm to maintain the arm tip at the desired position while reducing vibration and increasing the system speed of response. The Fuzzy controller (FC) is based on adding the tip angular position to the arm deflection angle and using their sum as a feedback signal to the control algorithm. This reduces the complexity of the FC in terms of the input variables, number of membership functions, fuzzy rules, and control structure. Also, the design of the fuzzy controller is model-free and uses only our knowledge about the system. To show the efficacy of the FC, the control algorithm is implemented on the flexible joint manipulator (FJM) developed by Quanser. The results show that the proposed control method is effective in terms of response time, overshoot, and vibration amplitude.

Keywords: Fuzzy logic control, model-free control, flexible joint manipulators, nonlinear control.

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Authors: J. Chatthong, W. Boonchouytan, R. Burapa

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The purpose of study was to design and construction the semi-automatic sliced ginger machine for reduce production times in sheet and slice ginger procedure furthermore, reduced amount of labor of slides and cutting method. Take consider into clean and safety of workers and consumers. The principle of machines, used 1 horsepower motor, rotation speed of sliced blade 967 rpm, the diameter of sliced dish 310 mm, consists of 2 blades for sheet cutting ginger and the power from motor which transfer to rotate the sliced blade roller, rotation speed 440 rpm. The slice cutter roller was sliced ginger from sheet ginger to line ginger. The conveyer could adjustment level of motors, used to the beginning area that sheet ginger was transference to the roller for sheet and sliced cutting in next process. The cover of sliced cutting had channel for 1 tuber of ginger. The semi-automatic sliced ginger machine could produced sheet ginger 81.8 kg/h (6.2 times of labor) and line ginger 17.9 kg/h (2.5 times of labor) compare with, labor work could produced sheet ginger 13.2 kg/h and line ginger 7.1 kg/h, and when timekeeper, the total times of semi auto machine 30.86 kg/h and labor 4.6 kg/h, there for the semi auto machine was 6.7 times of labor. The semiautomatic sliced ginger machine convenient, easy for use and maintain, in addition to reduce fatigue of body and seriousness from works; must be used high skill, and protection accident in slicing procedure. Beside, machine could used with other vegetables for example potato, carrot .etc

Keywords: Sliced Machine, Sliced Ginger, Line Ginger

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Authors: Chih-Hui Chiu, Chun-Hsien Lin

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In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation control (AORCMAC) and H∞ control technique is proposed for wheeled inverted pendulums (WIPs) real-time control with exact system dynamics unknown. Moreover, a robust H∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. The experimental results indicate that the WIPs can stand upright stably when using the proposed RIBTC.

Keywords: Wheeled inverted pendulum, backsteppingtracking control, H∞ control, adaptive output recurrentcerebellar model articulation control.

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Authors: Alia Abdul Ghaffar, Tom Richardson

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A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitations. The combination of both adaptive and fixed gain control in the controller architecture can result in an enhanced tracking performance in the presence parametric uncertainties.

Keywords: UAV, quadrotor, model reference adaptive control, LQR control.

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Authors: Sheren H. Salah, Ahmed Y. Ben Sasi

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The inverted pendulum system is a classic control problem that is used in universities around the world. It is a suitable process to test prototype controllers due to its high non-linearities and lack of stability. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. This paper presents the possibility of balancing an inverted pendulum system using sliding mode control (SMC). The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart's position. Therefore, proportional-integral-derivative (PID) is used for comparison. Results have proven SMC control produced better response compared to PID control in both normal and noisy systems.

Keywords: Inverted pendulum (IP) proportional-integralderivative (PID), sliding mode control (SMC).

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Authors: Jaehwan Kang, Haejung Lee

Abstract:

This paper introduces an automatic voice classification system for the diagnosis of individual constitution based on Sasang Constitutional Medicine (SCM) in Traditional Korean Medicine (TKM). For the developing of this algorithm, we used the voices of 309 female speakers and extracted a total of 134 speech features from the voice data consisting of 5 sustained vowels and one sentence. The classification system, based on a rule-based algorithm that is derived from a non parametric statistical method, presents 3 types of decisions: reserved, positive and negative decisions. In conclusion, 71.5% of the voice data were diagnosed by this system, of which 47.7% were correct positive decisions and 69.7% were correct negative decisions.

Keywords: Voice Classifier, Sasang Constitution Medicine, Traditional Korean Medicine, SCM, TKM.

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Authors: Hamed Zolfaghari, Mojtaba Kord

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Project planners and controllers are frequently faced with the challenge of inadequate software for the preparation of automatic project progress reports based on actual project information updates. They usually make dashboards in Microsoft Excel, which is local and not applicable online. Another shortcoming is that Microsoft project does not store the data in database, so the data cannot automatically be imported from Microsoft Project into Microsoft Excel. This study aimed to propose a model for the preparation of reports on automatic online project progress based on actual project information updates by the integration of Primavera P6, SQL database, and Power BI (Business Intelligence) for a construction project. The designed model could be applicable to project planners and controller agents by enabling them to prepare project reports automatically and immediately after updating the project schedule using actual information. To develop the model, the data were entered into P6, and the information was stored on the SQL database. The proposed model could prepare a wide range of reports, such as earned value management, Human Resource (HR) reports, and financial, physical, and risk reports automatically on the Power BI application. Furthermore, the reports could be published and shared online.

Keywords: Primavera P6, SQL, Power BI, Earned Value Management, Integration Management.

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Authors: K. Parandhama Gowd

Abstract:

Space technologies have changed the way we live in the present day society and manage many aspects of our daily affairs through Remote sensing, Navigation & Communications. Further, defense and military usage of spacecraft has increased tremendously along with civilian purposes. The number of satellites deployed in space in Low Earth Orbit (LEO), Medium Earth Orbit (MEO), and the Geostationary Orbit (GEO) has gone up. The dependency on remote sensing and operational capabilities are most invariably to be exploited more and more in future. Every country is acquiring spacecraft in one way or other for their daily needs, and spacecraft numbers are likely to increase significantly and create spacecraft traffic problems. The aim of this research paper is to propose innovative design concepts for adaptive spacecraft. The main idea here is to improve existing design methods of spacecraft design and development to further improve upon design considerations for futuristic adaptive spacecraft with inbuilt features for automatic adaptability and self-protection. In other words, the innovative design considerations proposed here are to have future spacecraft with self-organizing capabilities for orbital control and protection from anti-satellite weapons (ASAT). Here, an attempt is made to propose design and develop futuristic spacecraft for 2030 and beyond due to tremendous advancements in VVLSI, miniaturization, and nano antenna array technologies, including nano technologies are expected.

Keywords: Satellites, low earth orbit, medium earth orbit, geostationary earth orbit, self-organizing control system, anti-satellite weapons, orbital control, radar warning receiver, missile warning receiver, laser warning receiver, attitude and orbit control systems, command and data handling.

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Authors: Francisco Aparisi, Marco A. de Luna

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In some real applications of Statistical Process Control it is necessary to design a control chart to not detect small process shifts, but keeping a good performance to detect moderate and large shifts in the quality. In this work we develop a new quality control chart, the synthetic T2 control chart, that can be designed to cope with this objective. A multi-objective optimization is carried out employing Genetic Algorithms, finding the Pareto-optimal front of non-dominated solutions for this optimization problem.

Keywords: Multi-objective optimization, Quality Control, SPC, Synthetic T2 control chart.

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Authors: P. Georgieva, S. Feyo de Azevedo

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This paper is focused on issues of process modeling and two model based control strategies of a fed-batch sugar crystallization process applying the concept of artificial neural networks (ANNs). The control objective is to force the operation into following optimal supersaturation trajectory. It is achieved by manipulating the feed flow rate of sugar liquor/syrup, considered as the control input. The control task is rather challenging due to the strong nonlinearity of the process dynamics and variations in the crystallization kinetics. Two control alternatives are considered – model predictive control (MPC) and feedback linearizing control (FLC). Adequate ANN process models are first built as part of the controller structures. MPC algorithm outperforms the FLC approach with respect to satisfactory reference tracking and smooth control action. However, the MPC is computationally much more involved since it requires an online numerical optimization, while for the FLC an analytical control solution was determined.

Keywords: artificial neural networks, nonlinear model control, process identification, crystallization process

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Authors: Benjapol Auprasert, Yachai Limpiyakorn

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Measuring the complexity of software has been an insoluble problem in software engineering. Complexity measures can be used to predict critical information about testability, reliability, and maintainability of software systems from automatic analysis of the source code. During the past few years, many complexity measures have been invented based on the emerging Cognitive Informatics discipline. These software complexity measures, including cognitive functional size, lend themselves to the approach of the total cognitive weights of basic control structures such as loops and branches. This paper shows that the current existing calculation method can generate different results that are algebraically equivalence. However, analysis of the combinatorial meanings of this calculation method shows significant flaw of the measure, which also explains why it does not satisfy Weyuker's properties. Based on the findings, improvement directions, such as measures fusion, and cumulative variable counting scheme are suggested to enhance the effectiveness of cognitive complexity measures.

Keywords: Cognitive Complexity Measure, Cognitive Weight of Basic Control Structure, Counting Rules, Cumulative Variable Counting Scheme.

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Authors: Kaveh Shahi, Helmi Z. M. Shafri, Ebrahim Taherzadeh

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In remote sensing, shadow causes problems in many applications such as change detection and classification. It is caused by objects which are elevated, thus can directly affect the accuracy of information. For these reasons, it is very important to detect shadows particularly in urban high spatial resolution imagery which created a significant problem. This paper focuses on automatic shadow detection based on a new spectral index for multispectral imagery known as Shadow Detection Index (SDI). The new spectral index was tested on different areas of WorldView-2 images and the results demonstrated that the new spectral index has a massive potential to extract shadows with accuracy of 94% effectively and automatically. Furthermore, the new shadow detection index improved road extraction from 82% to 93%.

Keywords: Spectral index, shadow detection, remote sensing images, WorldView-2.

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Authors: Somaye Abdollahi Pour, Mohsen Saneei

Abstract:

This paper describes a novel monitoring scheme to minimize total active power in digital circuits depend on the demand frequency, by adjusting automatically both supply voltage and threshold voltages based on circuit operating conditions such as temperature, process variations, and desirable frequency. The delay monitoring results, will be control and apply so as to be maintained at the minimum value at which the chip is able to operate for a given clock frequency. Design details of power monitor are examined using simulation framework in 32nm BTPM model CMOS process. Experimental results show the overhead of proposed circuit in terms of its power consumption is about 40 μW for 32nm technology; moreover the results show that our proposed circuit design is not far sensitive to the temperature variations and also process variations. Besides, uses the simple blocks which offer good sensitivity, high speed, the continuously feedback loop. This design provides up to 40% reduction in power consumption in active mode.

Keywords: active mode, delay monitor, body biasing, VDD scaling, low power.

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Authors: Sorawit Stapornchaisit, Sidshchadhaa Aumted, Hiroshi Takami

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In this paper, we propose a novel adaptive voltage control strategy for boost converter via Inverse LQ Servo-Control. Our presented strategy is based on an analytical formula of Inverse Linear Quadratic (ILQ) design method, which is not necessary to solve Riccati’s equation directly. The optimal and adaptive controller of the voltage control system is designed. The stability and the robust control are analyzed. Whereas, we can get the analytical solution for the optimal and robust voltage control is achieved through the natural angular velocity within a single parameter and we can change the responses easily via the ILQ control theory. Our method provides effective results as the stable responses and the response times are not drifted even if the condition is changed widely.

Keywords: Boost converter, optimal voltage control, inverse LQ design method, type-1 servo-system, adaptive control.

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Authors: Abhijit Mitra, Pranab Kumar Banerjee, C. Ardil

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We introduce an effective approach for automatic offline au- thentication of handwritten samples where the forgeries are skillfully done, i.e., the true and forgery sample appearances are almost alike. Subtle details of temporal information used in online verification are not available offline and are also hard to recover robustly. Thus the spatial dynamic information like the pen-tip pressure characteristics are considered, emphasizing on the extraction of low density pixels. The points result from the ballistic rhythm of a genuine signature which a forgery, however skillful that may be, always lacks. Ten effective features, including these low density points and den- sity ratio, are proposed to make the distinction between a true and a forgery sample. An adaptive decision criteria is also derived for better verification judgements.

Keywords: Handwritten document verification, Skilled forgeries, Low density pixels, Adaptive decision boundary.

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Authors: Ahcene Habbi, Yassine Boudouaoui

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This paper deals with the problem of automatic rule generation for fuzzy systems design. The proposed approach is based on hybrid artificial bee colony (ABC) optimization and weighted least squares (LS) method and aims to find the structure and parameters of fuzzy systems simultaneously. More precisely, two ABC based fuzzy modeling strategies are presented and compared. The first strategy uses global optimization to learn fuzzy models, the second one hybridizes ABC and weighted least squares estimate method. The performances of the proposed ABC and ABC-LS fuzzy modeling strategies are evaluated on complex modeling problems and compared to other advanced modeling methods.

Keywords: Automatic design, learning, fuzzy rules, hybrid, swarm optimization.

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Authors: Ronal Muresano, Andrea Pagano

Abstract:

Nowadays, the mathematical/statistical applications are developed with more complexity and accuracy. However, these precisions and complexities have brought as result that applications need more computational power in order to be executed faster. In this sense, the multicore environments are playing an important role to improve and to optimize the execution time of these applications. These environments allow us the inclusion of more parallelism inside the node. However, to take advantage of this parallelism is not an easy task, because we have to deal with some problems such as: cores communications, data locality, memory sizes (cache and RAM), synchronizations, data dependencies on the model, etc. These issues are becoming more important when we wish to improve the application’s performance and scalability. Hence, this paper describes an optimization method developed for Systemic Model of Banking Originated Losses (SYMBOL) tool developed by the European Commission, which is based on analyzing the application's weakness in order to exploit the advantages of the multicore. All these improvements are done in an automatic and transparent manner with the aim of improving the performance metrics of our tool. Finally, experimental evaluations show the effectiveness of our new optimized version, in which we have achieved a considerable improvement on the execution time. The time has been reduced around 96% for the best case tested, between the original serial version and the automatic parallel version.

Keywords: Algorithm optimization, Bank Failures, OpenMP, Parallel Techniques, Statistical tool.

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Authors: R. Chakib, A. Essadki, M. Cherkaoui

Abstract:

This paper proposes the study of a robust control of the doubly fed induction generator (DFIG) used in a wind energy production. The proposed control is based on the linear active disturbance rejection control (ADRC) and it is applied to the control currents rotor of the DFIG, the DC bus voltage and active and reactive power exchanged between the DFIG and the network. The system under study and the proposed control are simulated using MATLAB/SIMULINK.

Keywords: Doubly fed induction generator DFIG, Active disturbance rejection control ADRC, Vector control, MPPT, Extended state observer, back to back converter, Wind turbine.

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Authors: Huynh Quyet Thang, Vo Sy Nam

Abstract:

Schema matching plays a key role in many different applications, such as schema integration, data integration, data warehousing, data transformation, E-commerce, peer-to-peer data management, ontology matching and integration, semantic Web, semantic query processing, etc. Manual matching is expensive and error-prone, so it is therefore important to develop techniques to automate the schema matching process. In this paper, we present a solution for XML schema automated matching problem which produces semantic mappings between corresponding schema elements of given source and target schemas. This solution contributed in solving more comprehensively and efficiently XML schema automated matching problem. Our solution based on combining linguistic similarity, data type compatibility and structural similarity of XML schema elements. After describing our solution, we present experimental results that demonstrate the effectiveness of this approach.

Keywords: XML Schema, Schema Matching, SemanticMatching, Automatic XML Schema Matching.

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Authors: Sheng-Shu Cheng, Fong-Jung Yu

Abstract:

C-control chart assumes that process nonconformities follow a Poisson distribution. In actuality, however, this Poisson distribution does not always occur. A process control for semiconductor based on a Poisson distribution always underestimates the true average amount of nonconformities and the process variance. Quality is described more accurately if a compound Poisson process is used for process control at this time. A cumulative sum (CUSUM) control chart is much better than a C control chart when a small shift will be detected. This study calculates one-sided CUSUM ARLs using a Markov chain approach to construct a CUSUM control chart with an underlying Poisson-Gamma compound distribution for the failure mechanism. Moreover, an actual data set from a wafer plant is used to demonstrate the operation of the proposed model. The results show that a CUSUM control chart realizes significantly better performance than EWMA.

Keywords: Nonconformities, Compound Poisson distribution, CUSUM control chart.

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Authors: Tayfun Çay, Yaşar İnceyol, Abdurrahman Özbeyaz

Abstract:

Land reallocation is one of the most important steps in land consolidation projects. Many different models were proposed for land reallocation in the literature such as Fuzzy Logic, block priority based land reallocation and Spatial Decision Support Systems. A model including four parts is considered for automatic block reallocation with genetic algorithm method in land consolidation projects. These stages are preparing data tables for a project land, determining conditions and constraints of land reallocation, designing command steps and logical flow chart of reallocation algorithm and finally writing program codes of Genetic Algorithm respectively. In this study, we designed the first three steps of the considered model comprising four steps.

Keywords: Genetic algorithm, land consolidation, landholding, land reallocation.

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Authors: D. B. L. Bong, K.C. Lai, A. Joseph

Abstract:

The uses of road map in daily activities are numerous but it is a hassle to construct and update a road map whenever there are changes. In Universiti Malaysia Sarawak, research on Automatic Road Extraction (ARE) was explored to solve the difficulties in updating road map. The research started with using Satellite Image (SI), or in short, the ARE-SI project. A Hybrid Simple Colour Space Segmentation & Edge Detection (Hybrid SCSS-EDGE) algorithm was developed to extract roads automatically from satellite-taken images. In order to extract the road network accurately, the satellite image must be analyzed prior to the extraction process. The characteristics of these elements are analyzed and consequently the relationships among them are determined. In this study, the road regions are extracted based on colour space elements and edge details of roads. Besides, edge detection method is applied to further filter out the non-road regions. The extracted road regions are validated by using a segmentation method. These results are valuable for building road map and detecting the changes of the existing road database. The proposed Hybrid Simple Colour Space Segmentation and Edge Detection (Hybrid SCSS-EDGE) algorithm can perform the tasks fully automatic, where the user only needs to input a high-resolution satellite image and wait for the result. Moreover, this system can work on complex road network and generate the extraction result in seconds.

Keywords: Road Network Recognition, Colour Space, Edge Detection, Urban Planning.

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Authors: J. Fernandez de Canete, S. Gonzalez-Perez, P. del Saz-Orozco

Abstract:

LABVIEW is a graphical programming language that has its roots in automation control and data acquisition. In this paper we have utilized this platform to provide a powerful toolset for process identification and control of nonlinear systems based on artificial neural networks (ANN). This tool has been applied to the monitoring and control of a lab-scale distillation column DELTALAB DC-SP. The proposed control scheme offers high speed of response for changes in set points and null stationary error for dual composition control and shows robustness in presence of externally imposed disturbance.

Keywords: Distillation, neural networks, LABVIEW, monitoring, identification, control.

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Authors: Hossein Nezamabadi-pour, Saeid Saryazdi

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In this paper, we present a new and effective image indexing technique that extracts features directly from DCT domain. Our proposed approach is an object-based image indexing. For each block of size 8*8 in DCT domain a feature vector is extracted. Then, feature vectors of all blocks of image using a k-means algorithm is clustered into groups. Each cluster represents a special object of the image. Then we select some clusters that have largest members after clustering. The centroids of the selected clusters are taken as image feature vectors and indexed into the database. Also, we propose an approach for using of proposed image indexing method in automatic image classification. Experimental results on a database of 800 images from 8 semantic groups in automatic image classification are reported.

Keywords: Object-based image retrieval, DCT domain, Image indexing, Image classification.

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Authors: Alexander Winkler, Jozef Suchý

Abstract:

This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: Damping control, impedance control, robot force control, stability, stiffness control.

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