Documents disponibles écrits par cet auteur

Infinite-mode networks for motion control / Yalcin, Baris in IEEE transactions on industrial electronics, Vol. 56 N° 8 (Août 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 8 (Août 2009) . - pp. 2933 - 2944 Titre : Infinite-mode networks for motion control Type de document : texte imprimé Auteurs : Yalcin, Baris, Auteur ; Ohnishi, Kouhei, Auteur Article en page(s) : pp. 2933 - 2944 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Artificial  intelligence  Haptics  Infinite-mode  networks  (IMNs)  Motion  control  Neural  networks  (NNs)  Noise  suppression  Teleoperation  Time  delay Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : In this paper, a novel multiple-input-multiple-output network model entitled "infinite-mode networks" (IMNs) is explained. The model proposes a new and challenging design concept. It is a dual structure and combines neural networks (NNs) to linear models. It has mathematically clear input-output relationship as compared to NNs. The model has a desired embedded internal function, which roughly determines a route for the whole system to follow as DNA does for biological systems. By this model, infinitely many error dimensions can be defined, and each error converges to zero in a stable manner. The network outputs include logical combinations of infinite modes of reference states, which consequently result in a substantial improvement of the control system performance. In order to support the network theory, time-delay and noise-suppression experiments on a four-channel haptic bilateral teleoperation control system are analyzed. An analysis between NNs, sliding-mode NNs, and IMNs is introduced. Possible future applications of IMNs are discussed. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5061565 [article] Infinite-mode networks for motion control [texte imprimé] / Yalcin, Baris, Auteur ; Ohnishi, Kouhei, Auteur . - pp. 2933 - 2944. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 8 (Août 2009) . - pp. 2933 - 2944 Mots-clés : Artificial  intelligence  Haptics  Infinite-mode  networks  (IMNs)  Motion  control  Neural  networks  (NNs)  Noise  suppression  Teleoperation  Time  delay Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : In this paper, a novel multiple-input-multiple-output network model entitled "infinite-mode networks" (IMNs) is explained. The model proposes a new and challenging design concept. It is a dual structure and combines neural networks (NNs) to linear models. It has mathematically clear input-output relationship as compared to NNs. The model has a desired embedded internal function, which roughly determines a route for the whole system to follow as DNA does for biological systems. By this model, infinitely many error dimensions can be defined, and each error converges to zero in a stable manner. The network outputs include logical combinations of infinite modes of reference states, which consequently result in a substantial improvement of the control system performance. In order to support the network theory, time-delay and noise-suppression experiments on a four-channel haptic bilateral teleoperation control system are analyzed. An analysis between NNs, sliding-mode NNs, and IMNs is introduced. Possible future applications of IMNs are discussed. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5061565

Stable and transparent time-delayed teleoperation by direct acceleration waves / Yalcin, Baris in IEEE transactions on industrial electronics, Vol. 57 N° 9 (Septembre 2010) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 57 N° 9 (Septembre 2010) . - pp. 3228 - 3238 Titre : Stable and transparent time-delayed teleoperation by direct acceleration waves Type de document : texte imprimé Auteurs : Yalcin, Baris, Auteur ; Ohnishi, Kouhei, Auteur Année de publication : 2011 Article en page(s) : pp. 3228 - 3238 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Acceleration  control  Acceleration  waves  Haptics  Motion  control  Teleoperation  Time  delay  Transparency  Wave  variables Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : For time-delayed bilateral teleoperation systems, this paper presents a novel structure to considerably improve performance in terms of transparency and perception bandwidth, which are extremely low for passive systems, as well as force-position and velocity tracking on which delay control systems suffer both necessity for provision of identical initial conditions and drift problem. Performance improvement is carried out in three steps. The first step is the utilization of a four-channel wave-transmission structure that provides direct force and velocity feedbacks to each robot by asymmetric damping. Since the common dimension of wave variables is acceleration, the second step is the conversion of wave data into acceleration terms and the employment of acceleration control. The third step is the scaling of both the force- and position-based acceleration dimensions. Perception-bandwidth-limiting filters are used neither in wave space nor in control space. We showed the validity by experiments and superiority to previous systems by various comparative analyses. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5371818 [article] Stable and transparent time-delayed teleoperation by direct acceleration waves [texte imprimé] / Yalcin, Baris, Auteur ; Ohnishi, Kouhei, Auteur . - 2011 . - pp. 3228 - 3238. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 9 (Septembre 2010) . - pp. 3228 - 3238 Mots-clés : Acceleration  control  Acceleration  waves  Haptics  Motion  control  Teleoperation  Time  delay  Transparency  Wave  variables Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : For time-delayed bilateral teleoperation systems, this paper presents a novel structure to considerably improve performance in terms of transparency and perception bandwidth, which are extremely low for passive systems, as well as force-position and velocity tracking on which delay control systems suffer both necessity for provision of identical initial conditions and drift problem. Performance improvement is carried out in three steps. The first step is the utilization of a four-channel wave-transmission structure that provides direct force and velocity feedbacks to each robot by asymmetric damping. Since the common dimension of wave variables is acceleration, the second step is the conversion of wave data into acceleration terms and the employment of acceleration control. The third step is the scaling of both the force- and position-based acceleration dimensions. Perception-bandwidth-limiting filters are used neither in wave space nor in control space. We showed the validity by experiments and superiority to previous systems by various comparative analyses. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5371818