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检索条件"任意字段=5th IFAC Symposium on Modelling and Control in Biomedical Systems"

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A neural network-based robust unknown input observer design: Application to wind turbine 9

A neural network-based robust unknown input observer design:...

引用

9th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Witczak, Piotr Patan, Krzysztof Witczak, Marcin Puig, Vincenc Korbicz, Jozef Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 Zielona-Córa65-246 Poland Pau Gargallo 5 Barcelona08028 Spain

the paper deals with the problem of robust unknown input observer design for the neural-network based models of non-linear discrete-time systems. Authors review the recent development in the area of robust observers for non-linear discrete-time systems and proposes less restrictive procedure for design the H∞ observer. the approach guaranties simultaneously the predefined disturbance attenuation level (with respect to state estimation error) and convergence of the observer. the main advantage of the design procedure is its simplicity. the paper presents an unknown input observer design that reduced to a set of linear matrix inequalities. the final part of the paper presents an illustrative example concerning wind turbine. © 2015, IF AC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Neural networks

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On nonlinear observer parameterizations and its application to fault detection 9

On nonlinear observer parameterizations and its application ...

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9th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Li, Liniin Ding, Steven X. Yang, Ying Zhang, Yong Dominic, Shane Institute for Automatic Control and Complex Systems Faculty of Engineering University of Duisburg-Essen Duisburg47057 Germany State Key Lab for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

this paper investigates observer parameterizations and its application to observerbased fault detection for nonlinear systems. With the aid of coprime factorization techniques, the observer parameterization forms are first derived in terms of input-to-output approach and state space representation. To further implement the methodology, one design scheme is proposed for the so-called affine nonlinear systems. then, the application of the proposed observer parameterization form to observer-based fault detection is studied. In the end, a numerical example is given to demonstrate the efficiency of our proposed scheme. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault detection

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Multi-modal Imaging for Shape modelling of Dental Anatomies 7th

Multi-modal Imaging for Shape Modelling of Dental Anatomies

引用

5th International Conference on Bioinformatics Models, Methods and Algorithms (BIOINFORMATICS) is part of 7th International Joint Conference on biomedical Engineering systems and Technologies (BIOSTEC)

作者： Barone, Sandro Paoli, Alessandro Razionale, Armando V. Univ Pisa Dept Civil & Ind Engn Largo Lucio Lazzarino 1 I-56126 Pisa Italy

ISBN: (纸本)9783319261294;9783319261287

In dentistry, standard radiographic imaging is a minimally invasive approach for anatomic tissue visualization and diagnostic assessment. However, this method does not provide 3D geometries of complete dental shapes, including crowns and roots, which are usually obtained by Computerized Tomography (CT) techniques. this paper describes a shape modelling process based on multi-modal imaging methodologies. In particular, 2D panoramic radiographs and 3D digital plaster casts, obtained by an optical scanner, are used to guide the creation of both shapes and orientations of complete teeth through the geometrical manipulation of general dental templates. the proposed methodology is independent on the tomographic device used to collect the panoramic radiograph.

关键词： Multi-modal imaging Dental shape modelling PAN radiograph Discrete Radon Transform

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Fault tolerant control of a PEM fuel cell using qLPV virtual actuators 9

Fault tolerant control of a PEM fuel cell using qLPV virtual...

引用

9th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Rotondo, Damiano Puig, Vicenç Nejjari, Fatiha Rambla de Sant Nebridi 11 Terrassa08222 Spain Institute of Robotics and Industrial Informatics Edifici U Pau Gargallo 5 Barcelona08028 Spain

this paper proposes a fault tolerant control (FTC) strategy based on the use of quasi-linear parameter varying (qLPV) virtual actuators approach for proton exchange membrane (PEM) fuel cells. the overall solution relies on adding a virtual actuator in the control loop to hide the fault from the controller point of view, allowing it to see the same plant as before the fault, in this way keeping the stability and some desired performances. the proposed methodology is based on the use of a reference model, where the resulting nonlinear error model is brought to a qLPV form that is used for control design by means of linear matrix inequalities (LMI)-based techniques. the resulting closed-loop error system is stable with poles placed in some desired region of the complex plane. Simulation results are used to show the effectiveness of the proposed approach. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Linear matrix inequalities

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Fault-tolerant control of four-wheel independently actuated electric vehicles with active steering systems 9

Fault-tolerant control of four-wheel independently actuated ...

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9th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Jing, Hui Wang, Rongrong Chadli, Mohammed Hu, Chuan Yan, Fengjun Li, Cong School of Mechanical Engineering Southeast University Nanjing211189 China Amiens80039 France Department of Mechanical Engineering McMaster University HamiltonONL8S 4L7 Canada Department of Mechanical Engineering Guilin University of Aerospace Technology Guilin China

this paper presents a fault-tolerant control (FTC) strategy to improve lateral stability and maneuverability of a four-wheel independently actuated (FWIA) electric ground vehicle with active front steering (AFS). Front wheel steering angle and external yaw moment generated by the tire force difference between the two sides of the motors are adopted to simultaneously regulate the vehicle yaw rate and slip angle. Considering the high cost of currently available sensors for vehicle slip angle measurement, a robust H∞ dynamic outputfeedback controller is designed to control the vehicle, which can be implemented without the slip angle or lateral speed measurement. Both vehicle parameter uncertainties and actuators faults are considered, making the proposed control method robust to the uncertainties and actuator faults. Simulation results based on full-vehicle model in Carsim validate the effectiveness of the proposed control approach. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control

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modelling and characterisation of twisted string actuation for usage in active knee orthoses 9

Modelling and characterisation of twisted string actuation f...

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9th ifac symposium on Biological and Medical systems, BMS 2015

作者： Müller, R. Hessinger, M. Schlaak, H.F. Pott, P.P. Institute of Electromechanical Design Technische Universität Darmstadt Darmstadt Germany

In active knee orthoses, quiet, powerful, and light-weight actuators are required to support the user during challenging tasks like sit-to-stand and stair climbing. the twisted string actuation concept, based on parallel arranged strings twisted by a small DC motor, is a promising approach to cover the defined requirements. For characterisation of the parallel arranged strings, a test bench is introduced to investigate the transmission and the failure behaviour of the twisted string transmission. the application of different test conditions for characterisation requires a mechanical load which is generated by an additional DC motor and a rope winch. this programmable mechanical load is applied to the strings and measured by a force sensor. A force controller is used to generate a desired mechanical load profile. this paper outlines the mechanical model and the implementation of the mechanical load test bench for the twisted string actuator, and the transmission characterisation. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： DC motors

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Machine learning for predictive modelling based on small data in biomedical engineering 9

Machine learning for predictive modelling based on small dat...

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9th ifac symposium on Biological and Medical systems, BMS 2015

作者： Shaikhina, Torgyn Lowe, Dave Daga, Sunil Briggs, David Higgins, Robert Khovanova, Natasha School of Engineering University of Warwick CoventryCV47AL United Kingdom NHS Blood and Transplant Birmingham United Kingdom Warwick Medical School United Kingdom University Hospitals Coventry and Warwickshire NHS Trust United Kingdom

Experimental datasets in bioengineering are commonly limited in size, thus rendering Machine Learning (ML) impractical for predictive modelling. Novel techniques of multiple runs for model development and surrogate data analysis for model validation are suggested for prediction of biomedical outcomes based on small datasets for classification and regression tasks. the proposed framework was applied to designing a Neural Network model for osteoarthritic bone fracture risk stratification, and a Decision Tree model for prediction of antibody-mediated kidney transplant rejection. Despite the small datasets (35 bone specimens and 80 kidney transplants), the two models achieved high accuracy of 98.3% and 85%, respectively. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Decision trees

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Dynamic surface fault tolerant tracking control design for UAV with transient performance 9

Dynamic surface fault tolerant tracking control design for U...

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9th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Qian, Moshu Jiang, Bin Liu, Hugh Hongtao Lu, Ningyun College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China Research Institute of UAV Nanjing University of Aeronautics and Astronautics Nanjing210016 China Institute for Aerospace Studies University of Toronto Toronto Canada

In this paper, a novel fault tolerant control (FTC) approach is proposed for the attitude control systems of unmanned aerial vehicle (UAV) using dynamic surface control technique. Firstly, the nonlinear attitude dynamic models of UAV with actuator faults are given, which represent the dynamic characteristics of UAV. then, a fault tolerant control scheme is proposed, which guarantees the asymptotic tracking and ultimate uniform boundedness of the closed-loop attitude control systems of UAV in the presence of an actuator fault. Further, a transient performance is considered in the designing of FTC, which characterizes the convergence rate and maximum overshoot of the attitude tracking error. Finally, simulation results are given to illustrate the effectiveness of the developed FTC algorithm. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault tolerance

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Cooperative control reconfiguration in multiple quadrotor systems with actuator faults 9

Cooperative control reconfiguration in multiple quadrotor sy...

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9th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Yang, Huiliao Jiang, Bin Yang, Hao Zhang, Ke College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

A cooperative control problem for a multi-quadrotor system with quadrotor actuator faults is investigated. In the fault-free situation, distributed dynamic surface control is employed to design the nonlinear cooperative controllers, under which the team of quadrotors can move together in a prescribed leader-follower formation to reach a common target point. Once the actuators of some quadrotors become faulty, fault detection and isolation (FDI) detects the faulty quadrotors which are forced to leave the formation safely. Meanwhile, formation reconfiguration is constructed to make the remaining healthy quadrotors select another formation to reach the target point. the collision avoidance is achieved in the whole formation reconfiguration process by using a potential function. Simulation results show the efficiency of the proposed method. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Actuators

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Predictive fault tolerant control for LPV systems using model reference 9

Predictive fault tolerant control for LPV systems using mode...

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9th ifac symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Acevedo-Valle, Juan M. Puig, Vicenç Tornil-Sin, Sebastian Witczak, Marcin Rotondo, Damiano Institut de Robòtica i Informàtica Industrial UPC-CSIC Spain Institute of Control and Computation Engineering University of Zielona Gora Poland

the present work proposes a Fault Tolerant control (FTC) methodology for nonlinear discrete-time systems that can be modeled as Linear Parameter Varying (LPV) systems. the proposed approach relies on the modeling of faults as additional scheduling parameters of the LPV model for the controlled system and it uses a triple loop architecture. the inner control loop is designed by means of the standard H2/H∞ control methodologies based on Linear Matrix Inequalities (LMIs). the design takes into account a prespecified set of faults and the ranges of their magnitudes that are wanted to be tolerated and it assumes the availability of on-line fault estimations provided by a Fault Detection and Isolation (FDI) module. the resulting controller tries to compensate the system faults in order to maintain a satisfactory closed-loop dynamic performance, but it does not take into account possible system input and state constraints associated to actuator saturation and other physical limitations. thus, an intermediate control loop determines the actual compensation feasibility using set invariance theory. And, when it is needed, it applies suitable additive predictive control actions that enlarge the invariant set, trying to assure that the current state remains inside the enlarged invariant set. Finally, an outer loop implements a model reference control that allows reference tracking. the use of the proposed FTC methodology is illustrated through its application to the well-known quadruple tank system benchmark. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Linear matrix inequalities

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