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Application of a human factor guideline to supervisory control interface improvement

Application of a human factor guideline to supervisory contr...

引用

4th international conference on Informatics in control, Automation and robotics

作者： Ponsa, Pere Vilanova, Ramon Diaz, Marta Goma, Anton Tech Univ Catalonia Dept Automat Control Vilanova I La Geltru 08800 Spain

ISBN: (纸本)9789728865832

In tasks of human supervision in industrial control room they are applied generic disciplines as the software engineering for the design of the computing interface and the human factors for the design of the control room layout. From the point of view of the human computer interaction, to these disciplines it is necessary to add the usability engineering and the cognitive ergonomics since they contribute rules for the user centered design. the main goal of this work is the application of a human factors guideline for supervisory control interface design in order to improve the efficiency of the human machine systems in automation. this communication presents the work developed to improve the Sports Service Area interface of the Universitat Autonoma de Barcelona.

关键词： supervisory control user interface design human computer interaction

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A multi-model approach for bilinear generalized predictive control

A multi-model approach for bilinear generalized predictive c...

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4th international conference on Informatics in control, Automation and robotics, ICINCO 2007

作者： De Oliveira Cavalcanti, Anderson Luiz Maitelli, André Laurindo De Barros Fontes, Adhemar Informatic and Industry Academic Department CEFET Natal/RN Brazil Department of Computation and Automation UFRN Campus Universitdrio S/N Natal/RN Brazil Department of Electrical Engineering UFBA Rua Aristides Novis 04 Salvador/BA Brazil

this paper presents a contribution in multivariable predictive control. A new approach of multi-model based control is presented. the controller used is the quasilinear multivariable generalized predictive control (QMGPC). A metric based in 2-norm is presented in order to build a global model using local models. Simulation results in a distillation column, with a comparative analysis, are presented.

关键词： Model predictive control

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Motion control of an omnidirectional mobile robot

Motion control of an omnidirectional mobile robot

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4th international conference on Informatics in control, Automation and robotics

作者： Li, Xiang Zell, Andreas Univ Tubingen Dept Comp Architecture Wilhelm Schickard Inst D-72076 Tubingen Germany

ISBN: (纸本)9789728865832

this paper focuses on the motion control problem of an onmidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.

关键词： mobile robots and autonomous systems system identification actuator saturation path following control

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Tracking control of wheeled mobile robots with a single steering input control using reference time-scaling

Tracking control of wheeled mobile robots with a single stee...

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4th international conference on Informatics in control, Automation and robotics, ICINCO 2007

作者： Kiss, Balint Szadeczky-Kardoss, Emese Department of Control Engineering and Information Technology Budapest University of Technology and Economics Magyar Tuddsok krt. 2 Budapest Hungary

this paper presents a time-scaling based control strategy of the kinematic model of wheeled mobile robots with one input which is the steering angle. the longitudinal velocity of the mobile robot cannot be influenced by the controller but can be measured. Using an on-line time-scaling, driven by the longitudinal velocity of the robot and its time derivatives, one can achieve exponential tracking of any sufficiently smooth reference trajectory with non-vanishing velocity. the price to pay is the modification of the traveling time along the reference trajectory according to the time-scaling. the measurement of the time derivatives of the velocity is no longer necessary if the tracking controller is designed to the linearized tracking error dynamics.

关键词： Mobile robots

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the prototype of human - robot interactive voice control system

The prototype of human - robot interactive voice control sys...

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4th international conference on Informatics in control, Automation and robotics, ICINCO 2007

作者： Holada, Miroslav Kopetschke, Igor Pirkl, Pavel Peic, Martin Matela, Lukáš Horcicka, Jirí Štilec, Jakub Faculty of Mechatronics and Interdisciplinary Engineering Studies Technical University of Liberec Hálkova 6 Liberec Czech Republic

this contribution shows our recent activities of human - robot voice-control system. the keynote lays in design of a system that allows easy control and programming of various robots by a uniform interactive interface. Generally the robots are actuated by sets of control commands, sometimes by a manual control interface (touchpad, joystick). the operator has to know the control commands, syntax rules and other properties necessary for successful robot control. Our system offers commands like move left or elevate arm that are translated and sent into the corresponding device (robot). Speech recognition is based on an isolated-word HMM engine with distributed recognition system (DSR). the vocabulary may contain thousands of word and short phrases. It allows us to design an easy dialogue scenario for the robot control system. the system allows direct robot control like moving or programming short sequences. A video camera is included for displaying the working place and employed algorithms of image processing allow the system to detect the position of objects in the working area and facilitate robot's navigation.

关键词： Video cameras

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Robust control of hysteretic base-isolated structures under seismic disturbances

Robust control of hysteretic base-isolated structures under ...

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4th international conference on Informatics in control, Automation and robotics

作者： Pozo, Francesc Rodellar, Jose Acho, Leonardo Guerra, Ricardo Univ Politecn Cataluna CoDAlab Comte Urgell 187 Barcelona 08036 Spain Inst Politecn Nacl Ctr Invest & Desarrollo Tecnol Digital Tijuana 22510 Baja California Mexico

ISBN: (纸本)9789728865849

the main objective of applying robust active control to base-isolated structures is to protect them in the event of an earthquake. Taking advantage of discontinuous control theory, a static discontinuous active control is developed using as a feedback only the measure of the velocity at the base. Moreover, due to that in many engineering applications, accelerometers are the only devices that provide information available for feedback, our velocity feedback controller could be easily extended by using just acceleration information through a filter. the main contributions of this paper are: (a) a static velocity feedback controller design, and (b) a dynamic acceleration feedback controller design, for seismic attenuation of structures. Robustness performance is analyzed by means of numerical experiments using the 1940 El Centro earthquake.

关键词： base-isolated structures seismic disturbances active control

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Automatic estimation of parameters for the hierarchical reduction of rules of complex fuzzy controllers

Automatic estimation of parameters for the hierarchical redu...

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4th international conference on Informatics in control, Automation and robotics

作者： Ledeneva, Yulia Reyes-Garcia, Carlos A. Diaz-Mendez, Alejandro Inst Politecn Nacl Ctr Invest Comp Unidad Adolfo Lopez Mateos Mexico City 07738 DF Mexico Inst Nacl Astrofis Optica & Elect Puebla Mexico

ISBN: (纸本)9789728865825

the application of fuzzy control to large-scale complex systems is not a trivial task. For such systems the number of the fuzzy IF-thEN rules exponentially explodes. If we have m linguistic properties for each of n variables, we will have m(n) rules combinations of input values. Large-scale systems require special approaches for modelling and control. In our work the system's hierarchical structure is studied in an attempt to reduce the size of the inference engine for large-scale systems. this method reduces the number of rules considerably. But, in order to do so, the adequate parameters should be estimated, which, in the traditional way, depends on the experience and knowledge of a skilled operator. In this work, we are proposing a method to automatically estimate the corresponding parameters for the hierarchical rule base reduction method to be applied to fuzzy control complex systems. In our approach, the parameters of the hierarchical structure are found through the use of genetic algorithms. the implementation process, the simulation experiments and some results are presented.

关键词： fuzzy control rule base reduction hierarchical method genetic algorithm

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Change-point detection with supervised learning and feature selection

Change-point detection with supervised learning and feature ...

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4th international conference on Informatics in control, Automation and robotics

作者： Eruhimov, Victor Martyanov, Vladimir Tuv, Eugene Runger, George C. Intel Corp Anal & Control Technol Chandler AZ 85226 USA Arizona State Univ Dept Ind Engn Tempe AZ 85281 USA

ISBN: (纸本)9789728865825

Data streams with high dimensions are more and more common as data sets become wider. Time segments of stable system performance are often interrupted with change events. the change-point problem is to detect such changes and identify attributes that contribute to the change. Existing methods focus on detecting a single (or few) change-point in a univariate (or low-dimensional) process. We consider the important high-dimensional multivariate case with multiple change-points and without an assumed distribution. the problem is transformed to a supervised learning problem with time as the output response and the process variables as inputs. this opens the problem to a wide set of supervised learning tools. Feature selection methods are used to identify the subset of variables that change. An illustrative example illustrates the method in an important type of application.

关键词： data streams ensembles variable importance multivariate control

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Scheduling of multi-product batch plants using reachability analysis of timed automata models

Scheduling of multi-product batch plants using reachability ...

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4th international conference on Informatics in control, Automation and robotics

作者： Subbiah, Subanatarajan Panek, Sebastian Engell, Sebastian Stursberg, Olaf Univ Dortmund Proc Control Lab BCI AST D-44221 Dortmund Germany Tech Univ Munich Ind Automat Syst EI LSR Munich Germany

ISBN: (纸本)9789728865825

Standard scheduling approaches in process industries are often based on algebraic problem formulations solved as MI(N)LP optimization problems to derive production schedules. To handle such problems techniques based on timed automata have emerged recently. this contribution reports on a successful application of a new modeling scheme to formulate scheduling problems in process industries as timed automata (TA) models and describes the solution technique to obtain schedules using symbolic reachability analysis. First, the jobs, resources and additional constraints are modeled as sets of synchronized timed automata. then, the individual automata are composed by parallel composition to form a global automaton which has an initial location where no jobs have been started and at least one target location where all jobs have been finished. A cost optimal symbolic reachability analysis is performed on the composed automaton to derive schedules. the main advantage of this approach over other MILP techniques is the intuitive graphical and modular modeling and the ability to compute better solutions within reasonable computation time. this is illustrated by a case study.

关键词： scheduling timed automata reachability analysis multi-product batch plant

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Application of spatial h control technique for active vibration control of a smart beam

Application of spatial h control technique for active vibrat...

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4th international conference on Informatics in control, Automation and robotics, ICINCO 2007

作者： Kircali, Omer Faruk Yaman, Yavuz Nalbantoglu, Volkan Sahin, Melin Karadal, Fatih Mutlu STM Savunma Teknolojileri Mühendislik ve Ticaret A.S Ankara Turkey Department of Aerospace Engineering Middle East Technical University Ankara Turkey

this study presents the design and implementation of a spatial H controller for the active vibration control of a cantilevered smart beam. the smart beam consists of a passive aluminum beam (5075 I2mm) and eight symmetrically surface bonded SensorTech BM500 type PZT (Lead-Zirconate-Titanate) patches (25200.5mm). PZT patches are used as actuators and a laser displacement sensor is used as sensor. the smart beam was analytically modelled by using the assumed-modes method. the model only included the first two flexural vibrational modes and the model correction technique was applied to compensate the possible error due to the higher order modes. the system model was also experimentally identified and both theoretical and experimental models were used together in order to determine the modal damping ratios of the smart beam. A spatial controller was designed for the suppression of the vibrations of the smart beam due to its first two flexural modes. the designed controller was then implemented to experimentally suppress the vibrations. this study also compared the effectiveness of a pointwise controller with the newly developed spatial one.

关键词： Lead zirconate titanate

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