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Neural network based modeling of a piezodisk dynamics

Neural network based modeling of a piezodisk dynamics

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International symposium on computational intelligence in Robotics and automation

作者： Hanninen, Petri Zhou, Quan Koivo, Heikki N. Aalto Univ Control Engn Lab FI-02015 Espoo Finland Northwestern Polytech Univ Sch Mechatron Xian Peoples R China

ISBN: (纸本)9781424407897

Piezoelectric phenomenon is commonly used in microsystems. Many sensors as well as actuators are based on this phenomenon. Because of the nonlinear character of the piezo phenomenon, exact measuring of fast dynamic systems IS difficult with piezoelectric sensors. Piezo-based actuators on the other hand need feedback for the exact motion. This has increased the size of the system as well as the power consumption, which are undesirable characteristics in microworld. In this paper a solution for the problem is determined by modeling. First, a third order transfer function is generated to model the piezoactuator at the operating point. The parameters of a grey box-model are implemented as dynamic, because of the nonlinearity of the piezo actuator. This is the way to capture the characters of the transfer function to fit the real actuator at each operating point. A multilayer perception neural network is used to model the behavior of the system. The training data for the network is measured at different operating points. The model is validated by test data at different operating points. The agreement with the model and the measurements is excellent.

关键词： Piezoelectric materials

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Case studies in teaching fuzzy and advanced control strategies

Case studies in teaching fuzzy and advanced control strategi...

引用

8th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2007

作者： Preitl, Stefan Precup, Radu-Emil Preitl, Zsuzsa Dept. of Automation and Appl. Inform. Politehnica University of Timisoara Bd. V. Parvan 2 RO-300223 Timisoara Romania Dept. of Transport Automation Budapest Univ. of Technology and Economics Müegyetem rkp. 3. Bldg K. I.15 Budapest Hungary

The teaching of fuzzy and advanced control strategies at bachelor level is correlated with the usually heuristic means of fuzzy control, incorporating human skills, the drawback being in the lack of general-purpose development methods. A major problem, which follows from the study of advanced control strategies is the understanding of its background the basic development methods and some applications. The paper, organized in two parts, present control algorithms exemplified on four case studies in teaching Advanced control Engineering courses: temperature control, level control in a one-tank system, speed control and position for an inverted pendulum. PI(D) control (based on ESOm and 2p-SO-m tuning criterions), Internal Model control (IMC) Smith-predictor and Fuzzy control strategies are presented underlining the problem of bump transfer when switching between manual and automatic modes or between two controllers occurs. Also a Generalized Predictive control (GPC) strategy is presented and combined with static linearization using the inverse static characteristics of the plant. The case studies presented here are assisted by laboratory experiments. The case studies concerning fuzzy controlled servo-systems, accompanied by digital simulation results and real-time experimental results, validate the presented methods.

关键词： Inverse problems

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About initial setting of a self-tuning controller

About initial setting of a self-tuning controller

引用

SACI 2007: 4th International symposium on Applied computational intelligence and Informatics

作者： Ioan, Filip Cristian, Vasar Faculty of Automation and Computer Sciences Politehnica University of Timisoara Bd. Vasile Parvan 2 300223 Timisoara Romania

ISBN: (纸本)142441234X

This paper presents a study regarding initial off-line tuning for the constant parameters of a self-tuning controller. The main characteristic of a self-tuning controller is the on-line adaptation of their parameters values to the process changes. However some parameters must be imposed off-line, their values remaining unchanged. Several study cases regarding choosing proper values for two of these initialization parameters forgetting factor (parameter of the recursive least square parameters estimator) and control penalty factor (parameter of control law), particularized to the self-tuning excitation control of a synchronous generator are presented. © 2007 ieee.

关键词： control equipment

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Towards scalable distributed control of unmanned autonomous vehicles

Towards scalable distributed control of unmanned autonomous ...

引用

SACI 2007: 4th International symposium on Applied computational intelligence and Informatics

作者： Meng, Wang Doboli, Alex Robertazzi, Thomas Doboli, Simona Curiae, Daniel Department of Electrical and Computer Engineering State University of New York at Stony Brook Stony Brook NY 11794-2350 United States Department of Computer Science Hofstra University Hempstead NY 11794-2350 United States Department of Automation Politehnica University Timisoara Romania

ISBN: (纸本)142441234X

This paper presents our ongoing work on developing distributed control methods for large-scale groups of autonomous vehicles. We introduce the ideas that we are pursuing, and summarize the trajectory generation algorithm that will be used to model and simulate the moving vehicles. Experimental results for the algorithm are also offered in the paper. © 2007 ieee.

关键词： Unmanned vehicles

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Fuzzy multi-objective mission flight planning in unmanned aerial systems

Fuzzy multi-objective mission flight planning in unmanned ae...

引用

1st ieee symposium of computational intelligence in Multicriteria Decision Making

作者： Wu, Paul Clothier, Reece Campbell, Duncan Walker, Rodney QUT ARCAA GPO Box 2434 Brisbane Qld 4000 Australia

ISBN: (纸本)9781424407026

This paper discusses the development of a multi-objective mission flight planning algorithm for Unmanned Aerial System (UAS) operations within the National Airspace System (NAS). Existing methods for multi-objective planning are largely confined to two dimensional searches and/or acyclic graphs in deterministic environments;many are computationally infeasible for large state spaces. In this paper, a multi-objective fuzzy logic decision maker is used to augment the D* Lite graph search algorithm in finding a near optimal path. This not only enables evaluation and trade-off between multiple objectives when choosing a path in three dimensional space, but also allows for the modelling of data uncertainty. A case study scenario is developed to illustrate the performance of a number of different algorithms. It is shown that a fuzzy multi-objective mission flight planner provides a viable method for embedding human expert knowledge in a computationally feasible algorithm.

关键词： Flight control systems

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Complete multimedia educational program of a dc servo system for distant learning

Complete multimedia educational program of a dc servo system...

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8th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2007

作者： Sziebig, Gábor Hao, Chen Nagy, Lóránt Korondi, Péter Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary Scientific and Technological Office China University of Mining and Technology China Kandó Kálmán Faculty of Electrical Engineering Budapest Tech Hungary

The paper presents a complete (animation, simulation and internet-based measurement) multimedia educational program of DC servo system for distant learning. The animation program includes screens for teaching in class and for individual study as well. The final and most important step in any kind of education in the field engineering is the measurement. This is the most challenging step in distant learning. The students should enter to a web page to access the experimental set up. The administration, queuing arranged by a framework. A DC drive can be switch on and off via internet. The students can write a simple controller program which is inserted into the communication frame program to operate the servo motor.

关键词： Sliding mode control

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A fast learning algorithm for robotic emotion recognition

A fast learning algorithm for robotic emotion recognition

引用

International symposium on computational intelligence in Robotics and automation

作者： Hong, Jung-Wei Han, Meng-Ju Song, Kai-Tai Chang, Fuh-Yu Natl Chiao Tung Univ Dept Elect & Control Engn Hsinchu Taiwan Ind Technol Res Inst Mech & Syst Res Labs Hsinchu Taiwan

ISBN: (纸本)9781424407897

The capability of robotic emotion recognition is an important factor for human-robot interaction. In order to facilitate a robot to function in daily live environments, a emotion recognition system needs to accommodate itself to various persons. In this paper, an emotion recognition system that can adapt to new facial data is proposed. The main idea of the proposed learning algorithm is to adjust parameters of SVM hyperplane for learning emotional expressions of a new face. After mapping the input space to Gaussian-kernel space, support vector pursuit learning (SVPL) is applied to retrain the hyperplane in the new feature space. To expedite the retraining procedure, only samples classified incorrectly in previous iteration are combined with critical historical sets to restrain a new SVM classifier. After adjusting hyperplane parameters, the new classifier will recognize previous erroneous facial data. Experimental results show that the proposed system recognize new facial data with high correction rates after fast retraining the hyperplane. Moreover, the proposed method also keeps satisfactory recognition rate of old facial samples.

关键词： Learning algorithms

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Rate-dependent hysteresis model of piezoelectric using singularity free prandtl-ishlinskii model

Rate-dependent hysteresis model of piezoelectric using singu...

引用

International symposium on computational intelligence in Robotics and automation

作者： Tan, U. X. Win, T. L. Shee, C. Y. Ang, W. T. Nanyang Technol Univ Sch Mech & Aerosp Engn Singapore Singapore

ISBN: (纸本)9781424407897

Actuators using advance materials like piezoelectric and shape memory alloy are gaining popularity in applications involving high frequency, high precision and also when there's a need in compactness. As time is required for the switching of polarization, the phenomena hysteretic behavior of these materials changes with rate. Most present hysteresis models are based on rate-independent assumption and cannot be applied for non-periodic applications. To make matters worse, the hysteresis actually becomes ill-conditioned when the velocity is high at the turning point. This paper proposes a phenomena rate-dependent model using a modified Prandtl-Ishlinskii (PI) operator without singularity to model the behavior of piezoelectric actuators, even when subjected to varying frequency signals. Past work had shown that the weights of the Prandtl-Ishlinskii operators vary linearly with velocity when the velocity is less than 900 mu m/s. As the first weight becomes negative when operating at higher frequencies, the threshold value has to be kept large to avoid the singularity problem when computing the inverse Prandtl-Ishlinskii model. Similar ill-conditioned problems also arise when the actuators are subjected to heavy loads. Thus, this paper proposes extensions to the PI operator by mapping the hysteresis data through a linear transformation onto a domain where the singularity problem is removed. The inverse weights are obtained and subsequently used to compute the inverse hysteresis model and implemented as an open-loop feed-forward control of a piezoelectric actuator.

关键词： hysteresis control Prandtl-Ishlinskii piezoelectric

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Potentially distributable energy: Towards energy autonomy in large population of mobile robots

Potentially distributable energy: Towards energy autonomy in...

引用

2007 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2007

作者： Ngo, Trung Dung Raposo, Hector Schiøler, Henrik IEEE Center for Embedded Software Systems Aalborg University 9220 Aalborg Denmark Control and Automation Section Electronics Institute 9220 Aalborg Denmark

ISBN: (纸本)1424407907

We propose a new concept, potentially distributable energy, in the field of autonomous mobile robots. Considering a system of multiple robots powered by batteries, each robot no longer works since its energy capacity is expired. To extend operating time, the robot needs to replenish energy through recharging energy. To date, except research on vaccum cleaning robots that are able to recharge battery when docking with the fixed station has been achieved, there does not exist any research of energy distribution to prolong operating time in a large population of mobile robots. This could be caused by the lack of using rechargeable battery in the fact that the robot has to normally spend the charging-time much longer than the operating time. This paper presents simulation results of mobile robots that are capable of not only self-recharging energy but also exchanging batteries to the other robots. Initially, we describe a simulation of multiple mobile robots, and then issue rules of battery exchange, which is formulated under constraints of workload, distance and remaining capacity. The simulation shows that: (a) a robot is able to be energetically autonomous if its energy can be replenished by the other robots or it is able to come back to the main charging station to replenish itself;(b) energy of a robot is always under constraints of energy distribution of the mother charging station and the other robots;(c) distributed energy balance is the main elements to decide a number of robots in a specific area and an ideal location of the repository when one wants to deploy a large population of autonomous mobile robots. Finally, based on results of the simulation we adjust rules for our real multirobot system. © 2007 ieee.

关键词： Mobile robots

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TP tool - A MATLAB toolbox for TP model transformation

TP tool - A MATLAB toolbox for TP model transformation

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8th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2007

作者： Nagy, Szabolcs Petres, Zoltán Baranyi, Péter Systems and Control Laboratory Computar and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

The Tensor Product model transformation is a numerical method that is capable of uniformly transforming LPV (linear parameter-varying) dynamic models into polytopic forms, both in a theoretical and algorithmic context. Using the TP model transformation, different optimization and convexity constraints can be considered, and transformations can be executed without any analytical interactions, within a reasonable amount of time (irrespective of whether the model is given in the form of analytical equations resulting from physical considerations, as an outcome of soft computing based identification techniques such as neural networks or fuzzy logic based methods, or as a result of a blackbox identification). Thus, the transformation replaces the usual analytical and oftentimes complex conversions with a numerically tractable and straightforward series of operations. The TP model transformation generates two kinds of polytopic models. Firstly, it numerically reconstructs the HOSVD (Higher Order Singular Value) based canonical form of LPV models. This is a new and unique polytopic representation. This form extracts the unique structure and various important properties of a given LPV model in the same sense as the HOSVD does for matrices and tensors. Secondly, the TP model transformation generates various convex polytopic forms, upon which LMI (Linear Matrix Inequality) based multi-objective control design techniques can immediately be executed in order to satisfy the given control performance requirements. TP tool is a MATLAB Toolbox that implements the Tensor Product Model Transformation based control Design framework. It is available at http://***.

关键词： Linear matrix inequalities

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