In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating c...In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.展开更多
To meet stringent requirements in vacuum and cleanness for semiconductor manufacturing, a new power drive module for Selective Compliant Assembly Robot Arm （SCARA） type robot has been developed for wafer-transfer. I...To meet stringent requirements in vacuum and cleanness for semiconductor manufacturing, a new power drive module for Selective Compliant Assembly Robot Arm （SCARA） type robot has been developed for wafer-transfer. In order to obtain complete hermetic volume for higher vacuum and prevent leakage of hazardous gases, feedthrough motions involving transfer between the vacuum and motors are achieved by the use of metal bellows and magnetic coupling. An analysis of the coaxial-type magnetic coupling by employing the technique of current sheet model is presented. This approach is proved to be a precise and easy method. The construction of power drive module shows its advantage in maintaining ultrahigh vacuum and also enhances the efficiency for transporting the wafer, as compared with conventional design.展开更多
Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinar...Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinarily wide range of applications,including for example:industrial quality control,street view and driver assistance systems,robot navigation,multimedia systems,and computer games.展开更多
基金Supported by the Heilongjiang Postdoctoral Foundation under Grant No. LH-04010
文摘In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.
文摘To meet stringent requirements in vacuum and cleanness for semiconductor manufacturing, a new power drive module for Selective Compliant Assembly Robot Arm （SCARA） type robot has been developed for wafer-transfer. In order to obtain complete hermetic volume for higher vacuum and prevent leakage of hazardous gases, feedthrough motions involving transfer between the vacuum and motors are achieved by the use of metal bellows and magnetic coupling. An analysis of the coaxial-type magnetic coupling by employing the technique of current sheet model is presented. This approach is proved to be a precise and easy method. The construction of power drive module shows its advantage in maintaining ultrahigh vacuum and also enhances the efficiency for transporting the wafer, as compared with conventional design.
文摘Visual imagery constitutes the most important sensory information for humans.The entire field of acquiring,analyzing and synthesizing visual data by means of computers is called visual computing.It has an extraordinarily wide range of applications,including for example:industrial quality control,street view and driver assistance systems,robot navigation,multimedia systems,and computer games.
