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Discretisation & Control of Irregularly Actuated and Sampled LTI systems 19

Discretisation & Control of Irregularly Actuated and Sampled...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Klauer, Christian Schauer, thomas Tech Univ Berlin Control Syst Grp Berlin Germany

ISBN: (纸本)9781479950812

Motivated by control tasks in neuro-prosthetic systems, a method for the exact discretisation of continuoustime LTI systems in presence of irregular actuation and sampling times is presented. In this approach, sequences for the desired sampling and actuation times form additional inputs to the discrete-time systems. An analytical evaluation for a class of practically relevant systems is presented that yields discretetime state-space systems with non-constant coe ffi cients. Because of the non-linearity introduced by the irregular time intervals, a linearising controller is proposed that allows to re-use standard linear controllers. A simulation example demonstrates the feasibility of the presented control approach for a neuroprosthetic system.

关键词： discrete time systems linear systems neurophysiology prosthetics state-space methods continuous-time LTI systems control approach control tasks discrete-time state-space systems irregular actuation irregularly actuated sampled LTI systems linear controllers linear time-invariant systems neuroprosthetic systems sampling times Continuous time systems Control systems Discrete-time systems Eigenvalues and eigenfunctions Fatigue Time measurement Vectors discrete time systems control task linear controllers Continuous time systems State-space methods time measurement Eigenfunctions Prosthesis control systems Neurophysiology Linear system Fatigue sampling time LTI Time invariant systems

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Nonlinear Voltage Control for Motion State Detection in Solenoid Valves: A Lyapunov Approach 19

Nonlinear Voltage Control for Motion State Detection in Sole...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Schwab, Manuel Braun, Tristan Straussberger, Florian Reuter, Johannes Univ Appl Sci Konstanz Inst Syst Dynam Constance Germany

ISBN: (纸本)9781479950812

In this paper, a control strategy that enables a reliable dip detection for solenoid valves is presented. For this purpose, the power electronics components are temporarily switched into a linear mode, using a power MOSFET as a voltage controlled resistor. the voltage is stabilized via a nonlinear controller that has been designed using Lyapunov's direct method. the stability region is determined and theoretical investigations are conducted in order to find appropriate controller parameters. the usefulness of the method is demonstrated by several experiments deploying an FPGA based hardware platform.

关键词： Lyapunov methods control system synthesis field programmable gate arrays motion control nonlinear control systems power MOSFET solenoids valves voltage control FPGA based hardware platform Lyapunov approach Lyapunov direct method dip detection field programmable gate array metal oxide semiconductor field effect transistor motion state detection nonlinear controller design nonlinear voltage control power electronics components solenoid valves stability region voltage controlled resistor voltage stability Asymptotic stability MOSFET Resistors Solenoids Stability analysis Valves Voltage control Field programmable gate arrays Power MESFETs Voltage regulation Solenoids solenoid valves metal-oxide-semiconductor field effect transistors VALVE GATE stability region control system synthesis Nonlinear control systems Lyapunov methods Resistor Device Component Voltage stability EMOSFET Motor Control

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Spatio-temporal responses of a class of 2 x 2 hyperbolic systems 19

Spatio-temporal responses of a class of 2 x 2 hyperbolic sys...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Bartecki, Krzysztof Opole Univ Technol Inst Control & Comp Engn PL-45272 Opole Poland

ISBN: (纸本)9781479950812

Results of the spatio-temporal analysis of a class of distributed parameter systems described by hyperbolic partial differential equations defined on a one-dimensional spatial domain are presented. For the case of the two boundary inputs of Dirichlet type applied at the same point of the spatial domain, the analytical expressions for the impulse response functions are derived based on the inverse Laplace transform of individual elements of the 2 x 2 transfer function matrix. the considerations are illustrated with a practical example of a coaxial heat exchanger operating in parallel-flow mode which correspond to the analyzed boundary conditions.

关键词： Laplace transforms control system analysis distributed control hyperbolic equations matrix algebra partial differential equations Dirichlet type boundary inputs boundary conditions coaxial heat exchanger distributed parameter systems hyperbolic partial differential equations hyperbolic systems inverse Laplace transform one-dimensional spatial domain parallel-flow mode spatio-temporal analysis spatio-temporal response transfer function matrix Boundary conditions Equations Laplace equations Resistance heating Transfer functions Transmission line matrix methods transmission line matrix methods inverse Laplace transform hyperbolic systems Distributed parameter systems Boundary conditions Resistance heating Laplace's equation Laplace transform Control system analysis TRANSFER FUNCTIONS hyperbolic equations Differential equations matrix algebra decentralised control Spatio-Temporal Analysis

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Fostering Functional Safety of Real-time Systems with Concepts of Object Orientation 19

Fostering Functional Safety of Real-time Systems with Concep...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Houben, Christina K. Fernuniv Chair Comp Engn Hagen Germany

ISBN: (纸本)9781479950812

Hard-wired control systems are increasingly replaced by program-controlled embedded systems. the programming languages currently employed for their implementation lack constructs and design patterns enforcing intelligible code fostering its verification by certification authorities. Recommendations for such constructs necessary to guarantee safety integrity are given in the international standard IEC 61508-3. One of the recommendations refers to object-oriented programming (OOP). therefore, we analyse both basic and advanced properties of OOP like encapsulation, polymorphism, inheritance, prototyping, delegation etc. with respect to functional safety. In a resulting programming language based on PEARL90 [1] we demonstrate coding with examples from hard real-time systems.

关键词： IEC standards control engineering computing embedded systems object-oriented programming program verification safety-critical software OOP PEARL90 certification authorities design patterns functional safety hard real-time systems hard-wired control systems intelligible code international standard IEC 61508-3 object orientation program-controlled embedded systems programming languages safety integrity verification Computer languages Concrete Prototypes Real-time systems Runtime Safety Software object oriented programming Computer Programming Languages object orientation real-time systems hard real-time system design pattern control engineering computing IEC publications safety-critical software program verification Runtime Embedded systems Consumer safety safety PROTOTYPE

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Model-Based Synthesis for Diagnostic Neuro-Classifiers 19

Model-Based Synthesis for Diagnostic Neuro-Classifiers

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Korniak, Jacek Opole Univ Technol Fac Elect Engn Automat Control & Informat Inst Control & Comp Engn PL-45272 Opole Poland

ISBN: (纸本)9781479950812

the paper presents certain approach, based on model (group of model-based methods), in the synthesis of neuro-classifier used to design a diagnostic system of an exemplary process model. As learning patterns for neural network the input/output signal samples from the process were used (method III) as well as the parameters of ARX model (method I) and eigenvalues of process model (method II). there were considered two types of the process, i.e. operating nominally (without any faults) and in the presence of some selected faults. the considered diagnostic system with neuro-classifiers has been tested to verify the correctness of its actions towards fault detection and isolation.

关键词： autoregressive processes learning (artificial intelligence) medical diagnostic computing neural nets neurophysiology pattern classification ARX model autoregressive processes with exogeneous input diagnostic neuro-classifiers eigenvalues-of-process model fault detection fault isolation learning patterns model-based methods model-based synthesis neural network neuro-classifier synthesis Computational modeling Control systems Eigenvalues and eigenfunctions Fault detection Mathematical model Neural networks Neurons Neural network Defect detection medical diagnostic computing autoregressive processes fault isolation Eigenfunctions Pattern recognition control systems Neurophysiology Computational modeling Mathematical Model diagnostic system Neurons procedural model Learning-based method

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Design of an Adaptive Gait Trajectory Controller based on a Hybrid Two-Legged Robot Model 19

Design of an Adaptive Gait Trajectory Controller based on a ...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Malita, Victor Misgeld, Berno J. E. Leonhardt, Steffen Rhein Westfal TH Aachen Philips Chair Med Informat Technol D-52074 Aachen Germany

ISBN: (纸本)9781479950812

this paper presents a new algorithm for the automatic adaptation of planar motion for an exoskeleton device. the designed control algorithm aims at adapting the motion of the hemiparetic patient "wearing" the exoskeleton to the desired gait based on the patient's active torque. the patient-exoskeleton coupling is modeled as a stand-alone planar nonlinear hybrid two-legged robot model with point feet. the control algorithm consists of a feedback linearization method extended with an optimal controller that assures the tracking of the reference trajectories and disturbance rejection. this control structure is capsuled by an adaptive iterative learning control, which in every motion cycle adapts the reference joint-angle trajectories for the exoskeleton to follow in the next cycle. Motion captured data from healthy subjects was used as reference input in the closed-loop system, because these trajectories guarantee human-like behavior for the robot model with point feet. Simulation results of the iterative learning controller show promising results with respect to cyclic disturbances, as associated with hemiparetic spasticity.

关键词： adaptive control closed loop systems feedback iterative methods learning systems legged locomotion medical robotics optimal control trajectory control adaptive gait trajectory controller adaptive iterative learning control automatic adaptation closed-loop system cyclic disturbances disturbance rejection exoskeleton device feedback linearization method hemiparetic patient hemiparetic spasticity human-like behavior iterative learning controller optimal controller patient active torque patient-exoskeleton coupling planar motion planar nonlinear hybrid two-legged robot model point feet reference joint-angle trajectories reference trajectory tracking Equations Exoskeletons Legged locomotion Mathematical model Robot kinematics Trajectory Biped locomotion Closed loop systems trajectory optimal controllers Disturbance rejection Robot kinematics Iterative learning control medical robotics trajectory control learning systems shelling iterative methods Exoskeleton Device adaptive control Optimal control

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Secure handwriting using a robot arm for educational purpose 19

Secure handwriting using a robot arm for educational purpose

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2014 19th international conference on methods and models in automation and robotics, MMAR 2014

作者： Crainic, Marius-Florin Preitl, Stefan Şandru, Lucian Alexandru Dolga, Valer Dept. of Automation and Applied Informatics 'Politehnica' University of Timisoara Timisoara Romania Dept. of Mechatronics 'Politehnica' University of Timisoara Timisoara Romania

ISBN: (纸本)9781479950812

As the educational system is growing there is a lot of paperwork to do like completing different types of certificates, or traditional gradebook. the paper presents a different approach to facilitate and secure the writing of certificates or traditional gradebooks. this system uses a robot arm, RV-2AJ, which has a pen attached. the setups are easy to be made because they involve the reading of only three points for calibration which forms a right-angled triangle. After the calibration the robotic arm can write even if the writing surface is on an inclined plane, or the paper is rotated. this system is more secure than the one that uses the ink printer, because the movement of the robot arm to reproduce the font on the paper is unique. Another secure element is the embossing stamp. the embossing stamp is created by changing the pen with a needle. the needle creates small closed holes using a pattern in which the information used for writing is encrypted. © 2014 IEEE.

关键词： Calibration

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Estimating the time-varying parameters of SDE models by maximum principle 19

Estimating the time-varying parameters of SDE models by maxi...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Filatova, Darya V. Orlowski, Andrzej Dicoussar, Vasilii Jan Kochanowski Univ Kielce PL-25029 Kielce Poland RAS Dorodnicyn Comp Ctr Moscow 119991 Russia

ISBN: (纸本)9781479950812

We present a parameter estimation method of stochastic differential equations with time-varying coefficients, where data can be observed at discrete points of time. Our objective is to develop the uniform mathematical technique to solve the parameter estimation problem for stochastic differential equations with both ordinary and fractional Brownian motions. this estimation principle is based on the replacement of a stochastic differential equation by a system of ordinary differential equations, which present the moment functions, and on the application of the Pontryagin's maximum principle to find the optimal estimates of the time-varying coefficients of the initial equation. the key point is the constraints structural selection, which leads to major modifications of algorithms of analytical and numerical solutions. this estimation method is applied to study the North Atlantic herring population dynamics.

关键词： differential equations maximum principle parameter estimation stochastic processes time-varying systems North Atlantic herring population dynamics Pontryagin maximum principle SDE models constraints structural selection estimation principle fractional Brownian motion moment functions ordinary Brownian motion ordinary differential equations stochastic differential equations time-varying coefficients time-varying parameters Differential equations Equations Estimation Optimal control Parameter estimation Sociology Stochastic processes maximum principle Parameter estimation time varying parameters Markov chain Brownian motion Differential equations stochastic differential equation Ordinary differential equation time-varying systems Sociology Stochastic Processes time-varying coefficient Differentiation Optimal control

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the Mathematical Model of the Human Arm as a Switched Linear System 19

The Mathematical Model of The Human Arm as a Switched Linear...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Babiarz, Artur Czornik, Adam Klamka, Jerzy Niezabitowski, Michal Zawiski, Radoslaw Silesian Tech Univ Inst Automat Control 16 Akad St PL-44101 Gliwice Poland

ISBN: (纸本)9781479950812

the article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. the moment of shape change depends on the two-state coordinates: the angular displacement q(1) and q(2). Based on the analysis of the arm movement, a mathematical model has been proposed. the design process was made on the basis of switched systems theory. In the first step, we present the transition from the general equation of the two-link arm dynamics to the state equation for stationary linear models. In the second step, a mathematical model has been shown as a switched linear system. the article also shows that the switching rule depends on the two components of the state vector. A switching method was presented in the schematic drawings.

关键词： biomechanics linear systems system theory vectors angular displacement arm modelling arm movement design process human arm mathematical model rectangular prism rotational link schematic drawings state equation state vector stationary linear models switched linear system switched systems theory two-link arm dynamics Equations Joints Mathematical model Muscles Robots Switches Vectors Mathematical Model Linear system Schematic diagrams Rectangular prism equations of state arm movement design process angular variation Systems theory Switches Robot Joints Joints Biomechanics muscles

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A novel concept for realistic simulation of industrial pick and place applications 45

A novel concept for realistic simulation of industrial pick ...

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Joint conference of ISR 2014 - 45th international Symposium on robotics and Robotik 2014 - 8th German conference on robotics, ISR/ROBOTIK 2014

作者： Stumm, Sven Pintar, Daniel Kuhlenkötter, Bernd TU Dortmund University Dortmund Germany ABB Automation GmbH Friedberg Germany

ISBN: (纸本)9783800736010

Current automated production requires a high amount of production flexibility. In order to achieve a more efficient use of the available resources and a faster time to production, digital commissioning is used;this allows efficient planning of production environments before a real implementation. At present the design and planning of robot-aided production environments, leaves a lot to be desired. Focussing on Pick & Place applications, a very common task in production environments, we present simulation approaches that allow realistic representation of product flow and the arising dynamic changes within product flow. the following paper proposes a direct integration of Pick & Place planning into a robot simulation software as well as methods for the exchange of simulation models between software solutions. We will present two approaches for Pick & Place simulation along with future possibilities to combine both methods. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Machine design

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