Wen-Fang Xie

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— The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. The LQR is designed considering two Degrees-of-Freedom and coupling dynamics. The parameters of(More)
This paper presents a novel sliding-mode control method for torque control of induction motors. The control principle is based on sliding-mode control combined with space vector modulation technique. The sliding-mode control contributes to the robustness of induction motor drives, and the space vector modulation improves the torque, flux, and current(More)
This paper addresses the challenges of choosing proper image features for planar symmetric shape objects and designing visual servoing controller to enhance the tracking performance in image-based visual servoing (IBVS). Six image moments are chosen as the image features and the analytical image interaction matrix related to the image features are derived.(More)
In this paper, a composite approach to the adaptive neural network (NN) controller is proposed for a rigid link flexible joint (RLFJ) robot manipulator with unknown nonlinearities. Based on a singular perturbation formulation of robot motion dynamics, the RLFJ robot is described by a reduced-order flexible-joint model. The concept of integral manifold is(More)
This paper presents a new stereo image-based visual servoing (IBVS) controller for a six degrees of freedom (DOF) robot manipulator based on acceleration command. An eye-in-hand stereo vision system is utilized to capture the images of the object and to estimate the depth of the object. A proportional derivative (PD) controller is developed considering the(More)
The use of Minimally Invasive Surgery (MIS) in various types of surgical procedures has increased significantly in recent years. However, its scope is limited due mainly to the fact that this procedure does not currently provide tactile feedback without which the surgeon can neither feel nor palpate tissue. In this paper, we describe a new tactile display(More)
  • Farid Sharifi, Mr Farid, Sharifi, Al-Khalili Asim, Simon X Chair, Yang +13 others
  • 2014
complies with the regulations of this University and meets the accepted standards with respect to originality and quality. In this dissertation, motion coordination strategies are proposed for multiple mobile agents over an environment. It is desired to perform surveillance and coverage of a given area using a Voronoi-based locational optimization(More)
  • Rashid Hussain Khokhar, Li Simon, Anjali Chair, Awasthi, Wen-Fang Xie, Fung Benjamin +3 others
  • 2013
complies with the regulations of this University and meets the accepted standards with respect to originality and quality. Cost-benefit analysis is required for making good business decision. This analysis is crucial in the field of privacy-preserving data publishing. In the economic trade of data privacy and utility, organization has the obligation to(More)
This paper presents a navigation method for a mobile robot in urban environments. The navigation method employs a so-called Polar Traversability Index (PTI) to evaluate terrain traversal property along a specific direction and guide the robot's motion. In the navigation system, a 2-D Laser Rangefinder (LRF) is used to produce terrain maps in various(More)