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A unifying point of view in the problem of PIO - Pilot in-the-loop oscillations

A unifying point of view in the problem of PIO - Pilot in-th...

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

作者： Rasvan, Vladimir Danciu, Daniela Popescu, Dan Univ Craiova Dept Automat Control RO-200585 Craiova Romania

ISBN: (纸本)9789898111326

The paper starts from the problem of PIO (Pilot-In-the-loop Oscillations), a major problem in aircraft handling and control, where the idea of the feedback as hidden technology is basic. The real phenomenon called PIO is modeled by a feedback structure where the pilot acts as one of the components of the loop and has to be modeled accordingly. PIO are in fact self-sustained oscillations and usually are divided into three convenient categories that are based on the nature of the pilot and vehicle dynamics behavior models and analysis needed for their explanation. Category I PIO are essentially linear while Category II PIO are quasi-linear and typically associated with rate limiting. Category III PIO are fully nonlinear and non-stationary. Since PIO II are mostly tackled via various robustness approaches starting from linear models, the paper strives for a unifying approach which is illustrated accordingly.

关键词： oscillations feedback structure robustness

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Parameter tuning of routing protocols to improve the performance of mobile robot teleoperation via wireless ad-hoc networks

Parameter tuning of routing protocols to improve the perform...

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

作者： Zeiger, Florian Kraemer, Nikolaus Schilling, Klaus Univ Wurzburg Dept Robot & Telemat Am Hubland Wuerzburg Germany

ISBN: (纸本)9789898111319

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed some shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. This work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. The time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and AODV allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network.

关键词： networked robots mobile robot teleoperation mobile robot ad-hoc networks wireless network ad-hoc network wireless teleoperation wireless remote control

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Position control method of a non-contacting conveyance system for steel strip

Position control method of a non-contacting conveyance syste...

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

作者： Kueon, Yeongseob Yoon, Hyoung Jin Baek, Yoon Su Process Control and Rolling Technology Research Gr. POSCO Tech. Res. Lab. South Korea Department of Mechanical Engineering Yonsei University Seoul South Korea

ISBN: (纸本)9789898111319

Electromagnetic application system to improve the surface quality of steel strip is getting popular because customers demand better surface quality of steel strip. To realize such a requirement, non-contact conveyance methods by means of air floater and electromagnetic levitation and propulsion were considered. However, air floating method is not easy to control of the position of steel strip since the system is highly nonlinear. And thus, the application of a magnetic levitation and propulsion to steel strip conveyance is suitable. Sensors measuring positions of steel strip also need to be non-contact in order to maintain non-contact and simple characteristics of the system. This paper proposes the method of the spatial position estimation of steel plate without using sensors. This method simplifies non-contact conveyance system and cuts down expenses of the system. Spatial positions of steel strip can be estimated by currents supplied for electromagnet to maintain a fixed air gap. Estimated positions are then fed back into the control system to do position control. Computer simulation and experimental results are provided to verify the suitability of the proposed system performance and concept.

关键词： electromagnetic force non-contacting conveyance steel strip position control

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Light-weight reinforcement learning with function approximation for real-life control tasks

Light-weight reinforcement learning with function approximat...

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

作者： Framling, Katy Aalto Univ FI-02015 Helsinki Finland

ISBN: (纸本)9789898111302

Despite the impressive achievements of reinforcement learning (RL) in playing Backgammon already in the beginning of the 90's, relatively few successful real-world applications of RL have been reported since then. This could be due to the tendency of RL research to focus on discrete Markov Decision Processes that make it difficult to handle tasks with continuous-valued features. Another reason could be a tendency to develop continuously more complex mathematical RL models that are difficult to implement and operate. Both of these issues are addressed in this paper by using the gradient-descent Sarsa(lambda) method together with a Normalised Radial Basis Function neural net. The experimental results on three typical benchmark control tasks show that these methods outperform most previously reported results on these tasks, while remaining computationally feasible to implement even as embedded software. Therefore the presented results can serve as a reference both regarding learning performance and computational applicability of RL for real-life applications.

关键词： reinforcement learning function approximation normalised radial basis function network eligibility trace mountain-car cart-pole pendulum

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A dynamic model of a buoyancy system in a wave energy power plant

A dynamic model of a buoyancy system in a wave energy power ...

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

作者： Pedersen, Tom S. Nielsen, Kirsten M. Aalborg Univ Dept Automat & Control Aalborg Denmark

ISBN: (纸本)9789898111326

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, the trim and the heel of the WD. It is important to control the level (and trim, heel) of the WD 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. Five separate air chambers, all open to the sea, makes the device float. The pressures in the air chambers may be individually controlled by an air fan through an array of valves. In order to make a model-based control system, this paper presents a model describing the dynamics from the air inlet to the level, trim and heel. The model is derived from first principles and is characterized by physical parameters. Results from validation of the model against plant data are presented.

关键词： dynamic model wave energy simulation buoyancy control verification renewable energy

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Adaptive resources consumption in a dynamic and uncertain environment an autonomous rover control technique using progressive processing

Adaptive resources consumption in a dynamic and uncertain en...

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

作者： Gloannec, Simon Le Mouaddib, Abdel Illah Charpillet, Françis GREYC UMR 6072 Université de Caen Basse-Normandie Campus Côte de Nacre bd Maréchal Juin BP5186 14032 Caen Cedex France MAIA Team LORIA Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex France

ISBN: (纸本)9789898111319

This paper address the problem of an autonomous rover that have limited consumable resources to accomplish a mission. The robot has to cope with limited resources: it must decide the resource among to spent at each mission step. The resource consumption is also uncertain. Progressive processing is a meta level reasoning model particulary adapted for this kind of mission. Previous works have shown how to obtain an optimal resource consumption policy using a Markov decision process (mdp). Here, we make the assumption that the mission can dynamically change during execution time. Therefore, the agent must adapt to the current situation, in order to save resources for the most interesting future tasks. Because of the dynamic environment, the agent cannot calculate a new optimal policy online. However, it is possible to compute an approximate value function. We will show that the robot will behave as good as if it knew the optimal policy.

关键词： Autonomous agents

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Temporal match of multiple source data in an Ethernet based industrial environment

Temporal match of multiple source data in an Ethernet based ...

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

作者： Hossu, Daniela Hossu, Andrei Univ Politehn Bucuresti Fac Control & Comp RO-77206 Bucharest Romania

ISBN: (纸本)9789898111319

The actual stream in automation control systems is to distribute the control tasks among different modular and easy to integrate processing cells. It is part of this trend the increase of the use of Ethernet technology for machine-machine data communication inside this distributed based architecture. The paper presents a robotic handling application of industrial parts transferred by a transport conveyor. Data representing a set of parameters of the parts to be handle from the conveyor is provided by a Routing control System (RCS). The control Management System (CMS), which controls a number of robotic cells is receiving this data from RCS and merge it with the information provided by an Inspection System (Artificial Vision System). The communication between these two control Systems (RCS and CMS) is Ethernet-based. Ethernet technology is good, reliable and fast for large amount of data, but because of its non-deterministic character, it has a lack of tools for data synchronization. The paper includes an analysis of the experimental results of the measurements of the non-deterministic factor of the existing network. The "worst case scenario" of the largest communication delay caused by Ethernet traffic and the minimum time between two consecutive data commands, reveals that application requirements could not be achieved without recovering data transfer time-consistency. The paper is presenting a mechanism developed at protocol level, in order to guarantee the consistency in time, at CMS level (data consumer), of the merging process of the data provided by the two application partners, RCS and Vision System as the data producers.

关键词： industrial robotic application Ethernet-based communication data transfer consistency artificial vision system control Management System Routing control System

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Disturbances estimation for mold level control in the continuous casting process

Disturbances estimation for mold level control in the contin...

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

作者： Jabri, Karim Bele, Bertrand Mouchette, Alain Godoy, Emmanuel Dimur, Didier ArcelorMittal Res Measurement Control Engn Dept Maizieres Les Metz France Ecole Super Elect Dept Automat Control Gif Sur Yvette France

ISBN: (纸本)9789898111326

This paper addresses the problem of mold level fluctuations in the continuous casting process, which strongly penalize the quality of the final product and lead to a costly machine downtime. Therefore, the mold level is controlled using a stopper as the flow control actuator and a level sensor. Under normal casting conditions, the current controllers provide suitable performances but abnormal conditions require manual intervention, such as the decrease of the casting speed, in particular when undesired disturbances like clogging/unclogging or bulging occur. These disturbances increase in severity for certain steel grades or at high casting speeds. Therefore, this paper focuses on the on-line disturbances estimation in order to introduce compensation actions. Starting with the presentation of the continuous casting process, the description of the model of the machine, and highlighting the main control challenges, an observer estimating clogging and bulging disturbances is then developed. This design may help future control architectures based on disturbances estimation. The proposed observer is finally validated by extracting disturbances from experimental signals measured on a continuous casting plant.

关键词： disturbance estimation Luenberger observer harmonic disturbance continuous casting mold level control

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Calibration aspects of multiple line-scan Vision System application for planar objects inspection

Calibration aspects of multiple line-scan Vision System appl...

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

作者： Hossu, Andrei Hossu, Daniela Univ Politehn Bucuresti Fac Control & Comp Dept Automat & Ind Informal RO-77206 Bucharest Romania

ISBN: (纸本)9789898111319

The System Set-up Time it is one of the characteristics of an Industrial Vision System, besides the accuracy performances and response time. Minimizing the set-up time while keeping the performances in accuracy and in response time is one of the goals of any advanced Vision System. Starting from the purpose and the required performances of the proposed Industrial Vision System, in the paper is presented a calibration method developed for a multiple line-scan camera Vision System (in particular for a dual line-scan camera system). The calibration method presented is based on analyzing the image of a calibration tool exposed to the Vision System. There are presented the type of dimensional distortions identified from the experimental results. The second part of the paper presents the calibration method. The Industrial Vision System described in the paper is designed for silhouette inspection of planar objects located on a moving scene (transport conveyor), in a robotic handling application (it is a pure 2D Vision System, the volumetric characteristics of the analyzed objects being not relevant for the application). However the height of the object is varying in time (from one set of objects to another). Due to the fact the distance between the cameras and the objects is changing, the measuring results are affected. The proposed calibration method allows the Vision System to self adjust the calibration parameters for a known change in height of the objects, without affecting the accuracy system performances. In the final section of the paper are presented some practical aspects of the proposed calibration method, and the balance between the off-line and the online required computational efforts from the Vision System.

关键词： Industrial Vision System line-scan camera dual-camera Vision System moving scene in robotic automation

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Collision avoidance system proreta -: Strategies trajectory control and test drives

Collision avoidance system proreta -: Strategies trajectory ...

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

作者： Isermann, R. Staehlin, U. Schorn, M. Tech Univ Darmstadt Inst Automat Control D-64283 Darmstadt Germany

ISBN: (纸本)9789898111302

Methods and experimental results of a collision avoidance driver assistance system are described with automatic object detection, trajectory prediction, and path following with controlled braking and steering. The objects are detected by a fusion of LIDAR scanning and video camera pictures resulting in the location, size and speed of objects in front of the car. A desired trajectory is calculated depending on the distance, the width of a swerving action and difference speed. For the trajectory control different control methods were designed and tested experimentally like velocity depend linear feedback and feedforward control, nonlinear asymptotic output tracking and nonlinear flatness based control using extended one-track models with vehicle state estimation for the sideslip angle and cornering stiffness. Automatic braking is realized with an electrohydraulic brake (EHB) and automatic steering with an active front steering (AFS). The various control systems are compared by simulations and real test drives showing the behaviour of a VW Golf with automatic braking or/and automatic swerving to a free track, such avoiding hitting a suddenly appearing obstacle. The research project PRORETA was a four-years-cooperation between Continental Automotive Systems and Darmstadt University of Technology.

关键词： collision avoidance vehicle object detection path following automatic braking automatic steering

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