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排序方式: 共有6933条查询结果,搜索用时 171 毫秒
171.
Byung June Choi Bumsoo Kim Sung Moon Jin Ja Choon Koo Wan Kyun Chung Hyouk Ryeol Choi Hyungpil Moon 《Intelligent Service Robotics》2010,3(2):99-113
We propose a precise position error compensation and low-cost relative localization method in structured environments using
magnetic landmarks and hall sensors. The proposed methodology can solve the problem of fine localization as well as global
localization by tacking landmarks or by utilizing various patterns of magnetic landmark arrangement. In this paper, we consider
two patterns of implanted permanent magnets on the surface, namely, at each vertex of regular triangles or rectangles on a
flat surface. We show that the rectangular configuration of the permanent magnetic bars is better for a robust localization
under sensor noise. For the experiments, permanent magnet sets in rectangular configuration are placed on the floor as landmarks
at regular intervals, and magnetic hall sensors are installed at the bottom of a mobile robot. In our implementation, the
accuracy after the error compensation is less than 1 mm in the position and less than 1° in the orientation. Due to the low
cost and accuracy of the proposed methodology, it would be one of the practical solutions to the pose error correction of
a mobile robot in structured environments. 相似文献
172.
Microinjection molded disposable microfluidic lab-on-a-chip for efficient detection of agglutination 总被引:1,自引:0,他引:1
Previous diagnosing methods based on agglutination have a limitation in view of emergency and point-of-care diagnoses due
to the requirement of large scale equipments and much agglutination time. In this paper, we propose a low cost microfluidic
lab-on-a-chip for more efficient detection of agglutination. In the present lab-on-a-chip, two inlet microwells, flow guiding
microchannels, chaotic micromixer and reaction microwell are fully integrated. Mold inserts for the lab-on-a-chip were manufactured
by UV photolithography and nickel electroplating process. The complete lab-on-a-chip was realized by the microinjection molding
of cyclic olefin copolymer and the subsequent thermal bonding. The improved serpentine laminating micromixer, developed by
our group, integrated in the lab-on-a-chip showed the high-level of chaotic mixing, thereby enabling us to get a reliable
mixing of sample and reagent. The performance of the fabricated lab-on-a-chip was demonstrated by agglutination experiments
with simulated bloods of 10 μl and simulated sera of 10 μl. The results of agglutination inside the reaction microwell were
clearly read by means of the level of light transmission. The present microfluidic lab-on-a-chip could be widely applied to
various clinical diagnostics based on agglutination tests. 相似文献
173.
Hyun Uk Yun Chul Jin Kim Sung Joo Kim No Cheol Park Hyunseok Yang Young-Pil Park 《Microsystem Technologies》2009,15(10-11):1531-1538
Microactuators for micromirror system have found many applications in various areas including projection displays, optical switches, RF switches and so on. In this paper we demonstrated micromirror actuator using ionic polymer metal composites (IPMC) that is a suitable candidate, since it has many attractive qualities such as durability, aquatic, miniature and light-weighted. Specially, IPMC has extraordinary advantages which are simple bending motion for low driving voltage (1–2 V), low power consumption, and simple structure. The IPMC actuator is made of Nafion NE-1110 (Dupont Co, Ltd., 260 µm thick) layer and electrode (platinum) layers and driven by 1–4 V. The displacement measured vertically is 0.25 mm and tilting angle is 11.3°. The angular motion, which is more than 10°, is a good advantage in the field of display module. This paper shows that the IPMC actuator has enough possibility for other applications. 相似文献
174.
Choonjong Kwak Jin Sung Choi Chang Ouk Kim Ick-Hyun Kwon 《Expert systems with applications》2009,36(5):9039-9045
In this research, we deal with VMI (Vendor Managed Inventory) problem where one supplier is responsible for managing a retailer’s inventory under unstable customer demand situation. To cope with the nonstationary demand situation, we develop a retrospective action-reward learning model, a kind of reinforcement learning techniques, which is faster in learning than conventional action-reward learning and more suitable to apply to the control domain where rewards for actions vary over time. The learning model enables the inventory control to become situation reactive in the sense that replenishment quantity for the retailer is automatically adjusted at each period by adapting to the change in customer demand. The replenishment quantity is a function of compensation factor that has an effect of increasing or decreasing the replenishment amount. At each replenishment period, a cost-minimizing compensation factor value is chosen in the candidate set. A simulation based experiment gave us encouraging results for the new approach. 相似文献
175.
176.
Output feedback regulation of upper triangular nonlinear systems with uncertain time‐varying delays in states and input
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In this paper, an output feedback controller is studied to regulate a class of upper triangular nonlinear systems with uncertain time‐varying delays. The key features of our considered system are that there are uncertain time‐varying delays in both states and input and the high‐order nonlinearity is in a more relaxed form over the previous results. Theoretical analysis and numerical example are presented to show the benefits of our controller. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
177.
Muhammad Sajjad Khan Muhammad Sung Wook Baik Seungmin Rho Zahoor Jan Sang-Soo Yeo Irfan Mehmood 《Multimedia Tools and Applications》2017,76(3):3519-3536
In this paper, the problem of outsourcing the selective encryption of a medical image to cloud by resource-constrained devices such as smart phone is addressed, without revealing the cover image to cloud using steganography. In the proposed framework, the region of interest of the medical image is first detected using a visual saliency model. The detected important data is then embedded in a host image, producing a stego image which is outsourced to cloud for encryption. The cloud which has powerful resources, encrypts the image and sent back the encrypted marked image to the client. The client can then extract the selectively encrypted region of interest and can combine it with the region of non-interest to form a selectively encrypted image, which can be sent to medical specialists and healthcare centers. Experimental results and analysis validate the effectiveness of the proposed framework in terms of security, image quality, and computational complexity and verify its applicability in remote patient monitoring centers. 相似文献
178.
Stephen G. McGill Seung‐Joon Yi Hak Yi Min Sung Ahn Sanghyun Cho Kevin Liu Daniel Sun Bhoram Lee Heejin Jeong Jinwook Huh Dennis Hong Daniel D. Lee 《野外机器人技术杂志》2017,34(4):775-801
This paper describes Team THOR's approach to human‐in‐the‐loop disaster response robotics for the 2015 DARPA Robotics Challenge (DRC) Finals. Under the duress of unpredictable networking and terrain, fluid operator interactions and dynamic disturbance rejection become major concerns for effective teleoperation. We present a humanoid robot designed to effectively traverse a disaster environment while allowing for a wide range of manipulation abilities. To complement the robot hardware, a hierarchical software foundation implements network strategies that provide real‐time feedback to an operator under restricted bandwidth using layered user interfaces. Our strategy for humanoid locomotion includes a backward‐facing knee configuration paired with specialized toe and heel lifting strategies that allow the robot to traverse difficult surfaces while rejecting external perturbations. With an upper body planner that encodes operator preferences, predictable motion plans are executed in unforeseen circumstances. These plans are critical for manipulation in unknown environments. Our approach was validated during the DRC Finals competition, where Team THOR scored three points in 18 min of operation time, and the results are presented along with an analysis of each task. 相似文献
179.
A low‐complexity design for distributed containment control of networked pure‐feedback systems and its application to fault‐tolerant control
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Sung Jin Yoo 《国际强度与非线性控制杂志
》2017,27(3):363-379
》2017,27(3):363-379
This paper addresses a low‐complexity distributed containment control problem and its extension to fault‐tolerant control for networked nonlinear pure‐feedback systems under a directed graph. The multiple dynamic leaders are neighbors of only a subset of the followers described by completely non‐affine multi‐input multi‐output pure‐feedback dynamics. It is assumed that all followers' nonlinearities are heterogeneous and unknown. The proposed containment controller is implemented by using only error surfaces integrated by performance bounding functions and does not require any differential equations for compensating uncertainties and faults. Thus, compared with the previous containment control approaches for multi‐agent systems with unknown non‐affine nonlinearities, the distributed containment control structure is simplified. In addition, it is shown that the proposed control scheme can be applied to the fault‐tolerant containment control problem in the presence of unexpected system and actuator faults, without reconstructing any control structure. It is shown from Lyapunov stability theorem that all followers nearly converge to the dynamic convex hull spanned by the dynamic leaders and the containment control errors are preserved within certain given predefined bounds. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献
180.
Distributed
filtering and synchronization of diffusively state‐coupled heterogeneous systems
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This paper studies distributed filtering‐based ssynchronization of diffusively state‐coupled heterogeneous systems. For given heterogeneous subsystems and a network topology, sufficient conditions for the filtering‐based synchronization are developed with a guaranteed performance. The estimation and synchronization error dynamics are obtained in a decoupled form, and it is shown that the filter and the controller can be designed separately by LMIs. The feasibility of the proposed design method using LMIs is discussed, and the main results are validated through examples with various setup. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献