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Enhanced LFR-toolbox for MATLAB

Enhanced LFR-toolbox for MATLAB

引用

ieee international symposium on Computer Aided Control System Design (CACSD)

作者： S. Hecker A. Varga J.-F. Magni Institute of Robtics and Mechatronics German Aerospace Center Wessling Germany Office National d''Etudes et de Recherches Aerospatiales Toulouse France

We describe recent developments and enhancements of the LFR-toolbox for MATLAB for building LFT-based uncertainty models. A major development is the new LFT-object definition supporting a large class of uncertainty descriptions: continuous- and discrete-time uncertain models, regular and singular parametric expressions, more general uncertainty blocks (nonlinear, time-varying, etc.). By associating names to uncertainty blocks the reusability of generated LFT-models and the user friendliness of manipulation of LFR-descriptions have been highly increased. Significant enhancements of the computational efficiency and of numerical accuracy have been achieved by employing efficient and numerically robust FORTRAN implementations of order reduction tools via Mex-function interfaces. The new enhancements in conjunction with improved symbolical preprocessing lead generally to a faster generation of LFT-models with significantly lower orders

关键词： MATLAB Uncertainty Object oriented modeling Mathematical model computational efficiency Robustness Robust control Equations Matrix decomposition Linear systems

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Advanced axis control implementation within a virtual machine-tool environment

Advanced axis control implementation within a virtual machin...

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ieee international symposium on Computer Aided Control System Design (CACSD)

作者： M. Susanu D. Dumur Ecole Nationale Supérieure d'Electricité Gifsur Yvette cedex France

Improvements in tracking performances are significant using generalized predictive control laws as machine tool feed drives control. Nevertheless, testing user-built control modules within a real CNC machine tool designed under a closed architecture is not straightforward. The creation of a virtual machining centre appears therefore as a solution to this problem. The paper presents developments of a three-axis machine tool simulator. It includes visualization facilities and allows relevant comparisons between different control strategies, proving to be a useful CACSD (computer aided control systems design) tool. Within this framework, the advantages of the predictive law can be easily underlined. Moreover, the advanced control structure fits the innovative demands of the open architecture

关键词： Machine tools Computer architecture Control systems Predictive control Feeds Testing Computer numerical control Virtual machining computational modeling Visualization

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A multi-paradigm modeling approach for hybrid dynamic systems

A multi-paradigm modeling approach for hybrid dynamic system...

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ieee international symposium on Computer Aided Control System Design (CACSD)

作者： Jin-Shyan Lee Meng-Chu Zhou Pau-Lo Hsu Department of Electrical & Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Electrical & Computer Engineering New Jersey Institute of Technology Newark NJ USA

In the past years, modeling and simulation of hybrid dynamic systems (HDS) have attracted much attention. However, since simultaneously dealing with the discrete and continuous variables is very difficult, most of the models result in a unified, but more complicated and unnatural format. Moreover, design engineers cannot be allowed to use their preferred domain models. Based on the multi-paradigm modeling (MPaM) concept, this paper proposed a Petri net (PN) framework with associated state equations to model the HDS. In the presented approach, modeling schemes of the hybrid systems are separated, but combined in a hierarchical way through specified interfaces. Designers can still work in their familiar domain-specific modeling paradigms and the heterogeneity is hidden when composing large systems. An application to a rapid thermal process (RTP) in semiconductor manufacturing is provided to demonstrate the practicability of the developed approach

关键词： Mathematical model Petri nets Design engineering Automata Discrete event simulation Discrete event systems Unified modeling language Motion control Control engineering computational modeling

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Petri net modeling and lagrangian relaxation approach to vehicle scheduling in 300mm semiconductor manufacturing

Petri net modeling and lagrangian relaxation approach to veh...

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ieee international Conference on robotics and automation (ICRA)

作者： Da-Yin Liao MuDer Jeng MengChu Zhou Department of Information Management National Chi Nan University Nantou Taiwan Department of Electrical Engineering National Taiwan Ocean University Keelung Taiwan Laboratory of Complex Systems and Intelligence Science Institute of Automation CAS Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark USA

Instead of making decisions with fast but local dispatching functions, the increasing computing power and up-to-moment information provisioning have made possible real-time vehicle scheduling in an automated material handling environment in 300mm semiconductor manufacturing. To our best knowledge, this paper is the first work to adopt the scheduling approach to solve the 300mm vehicle transportation problems. We adopt Petri nets to model the coupling dynamics among transport jobs and OHT vehicles in an intrabay loop. The congestion phenomenon among OHT vehicles is captured. The OHT scheduling problem is then formulated into an integer programming problem whose goal is to efficiently allocate OHT vehicles to jobs such that average job delivery time is minimized. A solution methodology that combines Lagrangian relaxation and the surrogate subgradient methods [13] is developed. To reduce computational efforts in solving each subproblem optimally, an approximation method is developed to solve for subproblems. A heuristic algorithm is developed to adjust the dual solution to a feasible schedule. Numerical results demonstrate that our solution methodology can generate good schedules within a reasonable amount of computation time for realistic problems. Compared to a popular vehicle dispatching rule, our approach can achieve 25.6% improvements on the average delivery time in our realistic test cases.

关键词： Lagrangian functions Vehicles Job shop scheduling Virtual manufacturing Semiconductor device manufacture Processor scheduling Dispatching Computer aided manufacturing Materials handling Manufacturing automation

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Meta-modelling hybrid formalisms

Meta-modelling hybrid formalisms

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ieee international symposium on Computer Aided Control System Design (CACSD)

作者： S. Lacoste-Julien H. Vangheluwe J. de Lara P.J. Mosterman Mew-Modellins Hybrid Formalisms McGill University Canada University of California Berkeley Berkeley CA USA School of Computer Science Mcgill University Montreal Canada Department Ingeniería Informática Universidad Autónoma de Madrid Madrid Spain The Mathworks Inc. Natick MA USA

This article demonstrates how meta-modelling can simplify the construction of domain-and formalism-specific modelling environments. Using AToM 3 (a tool for multi-formalism and meta-modelling developed at McGill University), a model is constructed of a hybrid formalism, HS, that combines event scheduling constructs with ordinary differential equations. From this specification, an HS-specific visual modelling environment is synthesized. For the purpose of this demonstration, a simple hybrid model of a bouncing ball is modelled in this environment. It is envisioned that the future of modelling and simulation in general, and more specifically in hybrid dynamic systems design lies in domain-specific computer automated multi-paradigm modelling (CAMPaM) which combines multi-abstraction, multi-formalism, and meta-modelling. The small example presented in this article demonstrates the feasibility of this approach

关键词： computational modeling Differential equations Computer simulation Control system synthesis Automatic control Computer science Virtual prototyping Concrete

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Vehicle license plate character recognition by neural networks

Vehicle license plate character recognition by neural networ...

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ieee international symposium on Intelligent Signal Processing and Communication Systems (ISPACS)

作者： T. Nukano M. Fukumi M. Khalid University of Tokushima Tokushima Japan Centre for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Kuala Lumpur Malaysia

This paper tries to recognize characters of vehicle license plates in Malaysia. Vehicle license plate recognition is one of important techniques that can be used for the identification of vehicles. It is useful in many applications such as entrance admission, security, parking control, airport or harbor cargo control, road traffic control, speed control, toll gate automation and so on. In this paper, when part of character and background are dissociated, the threshold of digitalization is important and is determined using a neural network with a three-layered structure. Furthermore, in the extracted character portions, we recognize them by obtaining the features of directional line-elements. Computer simulations show that character recognition can be effectively carried out using such a method.

关键词： Vehicles Licenses Character recognition Neural networks Automatic control Airports Roads Traffic control Velocity control automation

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A framework for learning biped locomotion with dynamical movement primitives

A framework for learning biped locomotion with dynamical mov...

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ieee-RAS international Conference on Humanoid Robots

作者： Jun Nakanishi Jun Morimoto G. Endo G. Cheng S. Schaal M. Kawato ATR Computational Neuroscience Laboratories Sarku Kyoto Japan Sony Intelligence Dynamics Laboratories Inc. Shinagawa Tokyo Japan Department of Computer Science and Neuroscience University of Southern California Los Angeles CA USA

This article summarizes our framework for learning biped locomotion using dynamical movement primitives based on nonlinear oscillators. Our ultimate goal is to establish a design principle of a controller in order to achieve natural humanlike locomotion. We suggest dynamical movement primitives as a central pattern generator (CPG) of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajectories are learned through movement primitives by locally weighted regression, and the frequency of the learned trajectories is adjusted automatically by a frequency adaptation algorithm based on phase resetting and entrainment of coupled oscillators. Numerical simulations and experimental implementation on a physical robot demonstrate the effectiveness of the proposed locomotion controller. Furthermore, we demonstrate that phase resetting contributes to robustness against external perturbations and environmental changes by numerical simulations and experiments.

关键词： Legged locomotion Oscillators Frequency Robot kinematics Laboratories robotics and automation Numerical simulation Mechanical systems computational intelligence Computer science

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Development of man machine interface software for an industrial robot

Development of man machine interface software for an industr...

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ieee international symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS)

作者： E.I. Konukseven A. Abidi Department of Mechanical Engineering Middle East Technical University Ankara Turkey

This paper describes the design and implementation of a man machine interface software for the ABB IRB-2000 industrial robot. The main aim of this software is to provide features which would facilitate on-line/off-line programming of the robot. The software would provide a three dimensional graphical simulation of the robot and its environment, which also allows loading custom designed objects into the simulated environment. The software also offers collision detection capability between graphically simulated objects, an interpreter/editor to interpret/write robot programs in BASIC like language enhanced with robot commands. The facility to control the actual robot through the computer's serial communication port is also provided.

关键词： Man machine systems Computer industry Service robots Robot programming Open source software Robot sensing systems robotics and automation Mechanical engineering computational modeling Object detection

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A mechanical intelligence in assisting the navigation by a force feedback steering wheel for a snake rescue robot

A mechanical intelligence in assisting the navigation by a f...

引用

ieee international Workshop on Robot and Human Communication (ROMAN)

作者： Z. Yang K. Ito K. Hirotsune K. Saijo A. Gofuku F. Matsuno Okayama University Okayama Okayama Japan University of Electro-communications Chofu Tokyo Japan

We developed a snake rescue robot basing on the proposed mechanical intelligence. The mechanical intelligence is designed to avoid obstacles and to realize desired motions when the robot is navigated by a remote force feedback steering wheel interface. We use free joints to connect modules of the snake robot. Modules can freely turn according to their neighbors. An obstacle-avoiding wheel is mounted on the head of the snake robot. When the head encounters an obstacle, the wheel touches it first to transfer the sliding friction between the wheel and the obstacle into rolling friction, so that the head avoid the obstacle easily. A metal wire is used to link gears mounted on both sides of each module. When any part of the snake robot's body encounters an obstacle, the wire length of each side varies automatically to change the robot's body shape, so that the snake robot avoids the obstacle. The wire length of each side can also be adjusted by a motor. By adjusting the wire length of each side, the snake robot can move in the desired direction. The mechanical intelligence based snake rescue robot has light body, low cost and low computation cost. Experiment results show that the designed mechanical intelligence is effective in realizing desired robot motions together with the force feedback steering wheel interface.

关键词： Intelligent robots Navigation Force feedback Wheels Mobile robots Wire robotics and automation Friction computational efficiency Gears

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Requirement to standardise self reconfigurable robotics

Requirement to standardise self reconfigurable robotics

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ieee international symposium on computational intelligence in robotics and automation

作者： Duhaut, D University de Bretagne Sud France

Selfreconfigurable robots are built on a set of elementary modules. Actually the different works in this field are not compatible. This can be seen as an useless dispersion. We propose here an analyse of the condition... 详细信息

ISBN: (纸本)0780378660

关键词： Mechanical sensors Crystallization Robot sensing systems Level control Actuators Sensor systems Manipulators Joining processes Power generation Communication system control

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