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检索条件"任意字段=5th International Conference on Informatics in Control Automation and Robotics, ICINCO 2008"

共 191 条记录，以下是121-130 订阅

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Towards a "holistic" safety monitoring in intelligent vehicle control

Towards a "holistic" safety monitoring in intelligent vehicl...

引用

10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Köhler, Tim Schröer, Martin DFKI GmbH Robotics Innovation Center Bremen Germany University of Bremen Robotics Research Group Robert-Hooke-Straße 5 28359 Bremen Germany

ISBN: (纸本)9789898565709

Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of allowed values (e.g. minimal distance). the disadvantage of such an approach is that safety issues which were unconsidered at design time are not detectable. Furthermore, a detection of issues that are only indirectly measurable is difficult to realize. In this paper, a holistic safety monitoring approach is presented that makes use of all available sensor data and tries to find an implicit definition of "safety". By such an inverse approach vehicle safety issues which are hard to be directly measurable might be detectable, too. For instance, an identification of driver-initiated critical situations (e.g. caused by distraction) could be possible if taking multiple sensor modalities into account and having an implicitly defined "safe" state. Furthermore, the article describes the selection of potential test platforms and shows already collected test data of a mobile robot platform. Presented in this work-in-progress paper is the concept of definition, implementation, and detection of implicit vehicle safety.

关键词： Fault detection

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Collision energy mitigation through active control of future lightweight vehicle architectures

Collision energy mitigation through active control of future...

引用

10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Trollope, James E. Burnham, Keith J. Control Theory and Applications Centre Faculty of Engineering and Computing Coventry University Coventry CV1 5FB United Kingdom

ISBN: (纸本)9789898565716

the paper challenges the current state-of-the-art which is accepted by the automotive industry. Present day vehicles are unsophisticatedly over-engineered and, as a consequence, are uneconomic, hence unsustainable. Vehicles currently under development, however, offer tremendous opportunities for shifting from this position to include onboard active safety systems, e.g. collision avoidance. It is argued that future vehicles should be significantly lighter and exploit the developing safety features to the full. Indeed, such a development would reduce the existing need for crashworthiness. the above arguments coupled with parallel developments in smart materials, paves the way towards a new generation of actively controlled vehicle architecture design. Whilst the move to lighter vehicles, with onboard active safety systems and actively controlled structures, may be seen as controversial, there is a convincing case for a paradigm shift towards a truly sustainable transport future.

关键词： Vehicle safety

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Linearizing controller for higher-degree nonlinear processes with compensation for modeling inaccuracies: Practical validation and future developments 11

Linearizing controller for higher-degree nonlinear processes...

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11th international conference on informatics in control, automation and robotics, icinco 2014

作者： Nowak, Pawel Czeczot, Jacek Klopot, Tomasz Szymura, Mateusz Gabrys, Bogdan Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Institute of Automatic Control Gliwice Poland Smart Technologies Research Centre Computational Intelligence Research Group Bournemouth University Fern-Barrow-PooleBH12 5BB United Kingdom

ISBN: (纸本)9789897580390

this work shows the results of the practical implementation of the linearizing controller for the example laboratory pneumatic process of the third relative degree. controller design is based on the Lie algebra framework but in contrast to the previous attempts, the on-line model update method is suggested to ensure offset-free control. the paper details the proposed concept and reports the experiences from the practical implementation of the suggested controller. the superiority of the proposed approach over the conventional PI controller is demonstrated by experimental results. Based on the experiences and the validation results, the possibilities of the potential application of the data-driven soft sensors for further improvement of the control performance are discussed.

关键词： controllers

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RECURSIVE EXTENDED COMPENSATED LEAST SQUARES BASED ALGORIthM FOR ERRORS-IN-VARIABLES IDENTIFICATION

RECURSIVE EXTENDED COMPENSATED LEAST SQUARES BASED ALGORITHM...

引用

6th international conference on informatics in control, automation and robotics

作者： Larkowski, Tomasz Linden, Jens G. Burnham, Keith J. Coventry Univ Control Theory & Applicat Ctr Coventry CV1 5FB W Midlands England

ISBN: (纸本)9789896740016

An algorithm for the recursive identification of single-input single-output linear discrete-time time-invariant errors-in-variables system models in the case of white input and coloured output noise is presented. the approach is based on a bilinear parametrisation technique which allows the model parameters to be estimated together with the auto-correlation elements of the input/output noise sequences. In order to compensate for the bias in the recursively obtained least squares estimates, the extended bias compensated least squares method is used. An alternative for the online update of the associated pseudo-inverse of the extended observation covariance matrix is investigated, namely an approach based on the matrix pseudo-inverse lemma and an approach based on the recursive extended instrumental variables technique. A Monte-Carlo simulation study demonstrates the appropriateness and the robustness against noise of the proposed scheme.

关键词： Bias compensation Errors-in-variables Parameter estimation Recursive algorithms System identification

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Application of artificial neural network state feedback controller to torque ripple minimization of PMSM 11

Application of artificial neural network state feedback cont...

引用

11th international conference on informatics in control, automation and robotics, icinco 2014

作者： Niewiara, L. Tarczewski, T. Grzesiak, L.M. Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland

ISBN: (纸本)9789897580390

this paper deals with the problem of torque ripple minimization of permanent magnet synchronous motor. the novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC voltage demanded for proper operation of the motor. An additional voltage matching circuit with state feedback controller is introduced in order to control of the inverter DC voltage. In the proposed solution model of a plant (i.e. permanent magnet synchronous motor fed by voltage source inverter with additional voltage matching circuit) is non-linear and non-stationary. An adaptive state feedback controller is developed by using an artificial neural network, which approximates non-linear control gain surfaces. A simple adaptation algorithm based on 2 low-order low-pass filters is used. Simulation results illustrate the proposed approach in comparison to typical drive with voltage source inverter and stationary state feedback controller.

关键词： Neural networks

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ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDBACK-controlLED SERVO SYSTEMS

ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDB...

引用

6th international conference on informatics in control, automation and robotics

作者： Radac, Mircea-Bogdan Precup, Radu-Emil Petriu, Emil M. Preitl, Stefan Dragos, Claudia-Adina Politehn Univ Timisoara Dept Automat & Appl Inf Bd V Parvan 2 Timisoara 300223 Romania Univ Ottawa Sch Informat Technol & Engn Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898111999

An original control structure dedicated to a class of second-order state feedback control systems is presented in the paper. the controlled processes are accepted to be characterized by second-order servo systems with integral component. Optimal state feedback control systems are designed for those processes making use of the Iterative Feedback Tuning (IFT) approach. the state feedback control system structure is extended with an integral component to ensure the rejection of constant disturbances. A case study concerning the position control of a DC servo system with backlash is included. Real-time experimental results validate the theoretical part of the IFT approach.

关键词： Iterative Feedback Tuning Servo systems State feedback control systems

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BATCH REINFORCEMENT LEARNING An Application to a controllable Semi-active Suspension System

BATCH REINFORCEMENT LEARNING <i>An Application to a Controll...

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6th international conference on informatics in control, automation and robotics

作者： Tognetti, Simone Restelli, Marcello Savaresi, Sergio M. Spelta, Cristiano Politecn Milan Dipartimento Elettron & Informaz Via Ponzio 34-5 I-20133 Milan Italy Univ Bergamo Dipartimento Ingn Informaz & Metodi Matemat Dalmine BG Italy

ISBN: (纸本)9789898111999

the design problem of optimal comfort-oriented semi-active suspension has been addressed with different standard techniques which failed to come out with an optimal strategy because the system is hard non-linear and the solution is too complex to be found analytically. In this work, we aimed at solving such complex problem by applying Batch Reinforcement Learning (BRL), that is an artificial intelligence technique that approximates the solution of optimal control problems without knowing the system dynamics. Recently, a quasi optimal strategy for semi-active suspension has been designed and proposed: the Mixed SH-ADD algorithm, which the strategy designed in this paper is compared to. We show that an accurately tuned BRL provides a policy able to guarantee the overall best performance.

关键词： Batch-reinforcement learning control theory Non linear optimal control Semi-active suspension

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Tracking of High-speed, Non-smooth and Microscale-amplitude Wave Trajectories 13

Tracking of High-speed, Non-smooth and Microscale-amplitude ...

引用

13th international conference on informatics in control, automation and robotics (icinco)

作者： Kongthon, Jiradech Assumption Univ Dept Mech Engn Suvarnabhumi Campus Samuthprakarn Thailand

ISBN: (纸本)9789897581984

In this article, an inversion-based control approach is proposed and presented for tracking desired trajectories with high-speed (100Hz), non-smooth (triangle and sawtooth waves), and microscale-amplitude (10 micron) wave forms. the interesting challenge is that the tracking involves the trajectories that possess a high frequency, a microscale amplitude, sharp turnarounds at the corners. Two different types of wave trajectories, which are triangle and sawtooth waves, are investigated. the model, or the transfer function of a piezoactuator is obtained experimentally from the frequency response by using a dynamic signal analyzer. Under the inversion-based control scheme and the model obtained, the tracking is simulated in MATLAB. the main contributions of this work are to show that (1) the model and the controller achieve a good tracking performance measured by the root mean square error (RMSE) and the maximum error (E-max), (2) the maximum error occurs at the sharp corner of the trajectories, (3) tracking the sawtooth wave yields larger RMSE and E-max values, compared to tracking the triangle wave, and (4) in terms of robustness to modeling error or unmodeled dynamics, E-max is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 5% for the triangle trajectory and E-max is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 3.2 % for the sawtooth trajectory.

关键词： High-speed Tracking Inversion-based control Microscale Positioning Reduced-order Inverse Tracking

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control of Force in Surgical Robots with Random Time Delays Using Model Predictive control 15th

Control of Force in Surgical Robots with Random Time Delays ...

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15th international conference on informatics in control, automation and robotics (icinco)

作者： Ladoiye, Jasmeet Singh Necsulescu, Dan S. Sasiadek, Jurek Univ Ottawa Ottawa ON K1N 6N6 Canada Carleton Univ Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9783030319939;9783030319922

Robotic telesurgery has gained a lot of interest in the medical and engineering field with the advancement of technology over in Minimum Invasive Surgery (MIS) that uses small incisions to operate resulting in the faster recovery of the patients. In the commercially available surgical systems, the surgeon cannot feel the sense of touch of the environment, unlike open type surgery. the control becomes harder when the robotic surgery is performed remotely in the presence of time delays. the development of the force feedback will help to reduce the tissue damage and end-effector deflection. the primary goal of this work is to develop the force feedback for the surgical arms affected by the time delays. the random behavior of the network delays makes the control realization even harder and can make the response go unstable. A novel approach is used to develop the haptic feedback for the Minimally Invasive Robotic Systems (MIRS) by using Model Predictive control (MPC) in case of random communication delays.

关键词： Minimum invasive robotic surgery Surgical robots Force control Model Predictive control Telecommunication Bilateral master-slave control

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Modeling the buoyancy system of a wave energy power plant

Modeling the buoyancy system of a wave energy power plant

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5th international conference on informatics in control automation and robotics, icinco 2008

作者： Pedersen, Tom Søndergaard Nielsen, Kirsten Mølgaard Department of Automation and Control Aalborg University Fr. Bajersvej 7 Aalborg 9000 Denmark

ISBN: (纸本)9783642002700

A nonlinear dynamic model of the buoyancy system in a wave energy power plant is presented. the plant ("Wave Dragon") is a floating device using the potential energy in overtopping waves to produce power. A water reservoir is placed on top of the WD, and hydro turbines lead the water to the sea producing electrical power. through air chambers it is possible to control the level of the WD. It is important to control the level in order to maximize the power production in proportion to the wave height, here the amount of overtopping water and the amount of potential energy is conflicting. the pressures in the air chambers may be individually controlled by an air fan through an array of valves. the paper presents a model describing the dynamics from the air inlet to the level. Results from validation of the model against plant data are presented. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Dynamic models

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