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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

共 1447 条记录，以下是231-240 订阅

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MODEL-DRIVEN DEVELOPMENT IN INDUSTRIAL automation Automating the Development of Industrial automation Systems using Model Transformations

MODEL-DRIVEN DEVELOPMENT IN INDUSTRIAL AUTOMATION <i>Automat...

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

作者： Maurmaier, Mathias Goehner, Peter Univ Stuttgart Inst Ind Automat & Software Engn D-70550 Stuttgart Germany

ISBN: (纸本)9789896740009

The complexity of modern automation systems is growing steadily. In software engineering, model-driven development proved that it contributes significantly to cope with this complexity in development, while increasing efficiency and the quality of the development results. However, hardware-software dependencies, different types of requirements that must be considered in development and the large number of modeling languages are specific challenges for a model-driven approach in automation technology. In this paper a concept of model-driven system development is presented that takes into account these challenges, and thus provides the possibility to leverage model-driven development in industrial automation technology.

关键词： Model-driven Development MDE Model Transformation Domain-specific Modeling Language Industrial automation Systems

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Interception and cooperative rendezvous between autonomous vehicles

Interception and cooperative rendezvous between autonomous v...

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4th international conference on informatics in control, automation and robotics

作者： Crispin, Yechiel J. Ricour, Marie-Emmanuelle Embry Riddle Aeronaut Univ Dept Aerosp Engn Daytona Beach FL 32114 USA

ISBN: (纸本)9789728865832

The rendezvous problem between autonomous vehicles is formulated as an optimal cooperative control problem with terminal constraints. A major approach to the solution of optimal control problems is to seek solutions which satisfy the first order necessary conditions for an optimum. Such an approach is based on a Hamiltonian formulation, which leads to a difficult two-point boundary-value problem. In this paper, a different approach is used in which the control history is found directly by a genetic algorithm search method. The main advantage of the method is that it does not require the development of a Hamiltonian formulation and consequently, it eliminates the need to deal with an adjoint problem. This method has been applied to the solution of interception and rendezvous problems in an underwater environment, where the direction of the thrust vector is used as the control. The method is first tested on an interception chaser-target problem where the passive target vehicle moves along a straight line at constant speed. We then treat a cooperative rendezvous problem between two active autonomous vehicles. The effects of gravity, thrust and viscous drag are considered and the rendezvous location is treated as a terminal constraint.

关键词： multiple vehicles cooperative rendezvous interception autonomous vehicles optimal control genetic algorithms

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Process control using controlled finite Markov chains with an application to a multivariable hybrid plant

Process control using controlled finite Markov chains with a...

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4th international conference on informatics in control, automation and robotics

作者： Ikonen, Enso Oulu Univ Dept Proc & Environm Engn Syst Engn Lab 4PYOSYS FIN-90014 Oulu Finland

ISBN: (纸本)9789728865849

Predictive and optimal process control using finite Markov chains is considered. A basic procedure is outlined, consisting of discretization of plant input and state spaces;conversion of a (a priori) plant model into a set of finite state probability transition maps;specification of immediate costs for state-action pairs;computation of an optimal or a predictive control policy;and, analysis of the closed-loop system behavior. An application, using a MATLAB toolbox developed for MDP-based process control design, illustrates the approach in the control of a multivariable plant with both discrete and continuous action variables. For problems of size of practical significance (thousands of states), computations can be performed on a standard office PC. The aim of the work is to provide a basic framework for examination of nonlinear control, emphasizing in on-line learning from uncertain data.

关键词： Markov decision process generalized cell-to-cell mapping qualitative modelling

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Fractional Order Tracking control of Unmanned Aerial Vehicle in Presence of Model Uncertainties and Disturbances 18

Fractional Order Tracking Control of Unmanned Aerial Vehicle...

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Maurya, Heera Lal Singh, Padmini Yogi, Subhash Chand Behera, Laxmidhar Verma, Nishchal K. Indian Inst Technol Dept Elect Engn Kanpur 208016 Uttar Pradesh India

ISBN: (纸本)9789897585227

An unmanned Aerial Vehicle (UAV) is a highly non-linear unstable system. In this work using fractional order calculus, a novel fractional order dynamics of UAV is proposed. The concept of fractional order depicts the more realistic behavior of UAVs. For proposed fractional order model, a fractional order sliding mode controller (SMC) is designed such that the desired path can be achieved by the UAV in finite-time. In addition to this model uncertainty and disturbance is considered in the system which is handled by the proposed robust SMC. Stability analysis is given for the fractional order SMC using fractional Lyapunov method. Simulations have been done for position and attitude tracking of UAV to demonstrate the efficacy of the proposed method.

关键词： Unmanned Aerial Vehicle Fractional Calculus Sliding Mode control Model Uncertainty

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Trajectory control and modelling of an omni-directional mobile robot

Trajectory control and modelling of an omni-directional mobi...

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3rd international conference on informatics in control, automation and robotics

作者： Conceicao, Andre Scolari Moreira, A. Paulo Costa, Paulo J. Univ Porto Dept Elect & Comp Engn Rua Campo Alegre 823 P-4100 Oporto Portugal

ISBN: (纸本)9728865600

This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulation and real results of trajectory following are presented.

关键词： trajectory control modelling and simulation omni-directional mobile robot

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Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion control 16

Smoothing and Time Parametrization of Motion Trajectories fo...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Belda, Kvetoslav Czech Acad Sci Inst Informat Theory & Automat Dept Adapt Syst Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic

ISBN: (纸本)9789897583803

The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length;time parametrization with respect to arc length;and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces.

关键词： Path Model G-Code Path Smoothing Time Parametrization Bezier Curves Industrial robotics

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Supervisory control of heap models using synchronous composition

Supervisory control of heap models using synchronous composi...

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4th international conference on informatics in control, automation and robotics

作者： Komenda, Jan Boimond, Jean-Louis Lahaye, Sebasten Acad Sci Czech Republic Inst Math Brno Branch Zizkova 22 Brno 61662 Czech Republic LISA ANgers F-49000 Angers France

ISBN: (纸本)9789728865825

Heaps models are powerful models for concurrent timed discrete event systems. They admit linear description using dioid algebras. Inspired by supervisory control of logical discrete event systems we introduce parallel composition of heap models, called synchronous product, to formally describe the action of supervisor (represented by another heap model) on the system. This additional explicit concurrency for naturally concurrent heap models is useful for studying supervisory control in the algebraic framework of dioid algebras. Timing aspects of supervisory control, i.e. optimal timing of the controller, is studied based on residuation theory.

关键词： heap models synchronous product supervisory control dioid algebra

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Efficient implementation of fault-tolerant data structures in PC-based control software

Efficient implementation of fault-tolerant data structures i...

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4th international conference on informatics in control, automation and robotics

作者： Short, Michael Univ Leicester Embedded Syst Lab Leicester Leics England

ISBN: (纸本)9789728865849

Recent years have seen an increased interest in the use of open-architecture, PC-based controllers for robotic and mechatronic systems. Although such systems give increased flexibility and performance at low unit cost, the use of commercial processors and memory devices can be problematic from a safety perspective as they lack many of the built-in integrity testing features that are typical of more specialised equipment. Previous research has shown that the rate of undetected corruptions in industrial PC memory devices is large enough to be of concern in systems where the correct functioning of equipment is vital. In this paper the mechanisms that may lead to such corruptions and the level of risk is examined. A simple, portable and highly effective software library is also presented in this paper that can reduce the impact of such memory errors. The effectiveness of the library is verified in a small example.

关键词： open architecture controllers software fault tolerance critical systems

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Dual controllers for discrete-time stochastic amplitude-constrained systems

Dual controllers for discrete-time stochastic amplitude-cons...

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4th international conference on informatics in control, automation and robotics

作者： Krolikowski, A. Horla, D. Poznan Tech Univ Inst Control & Informat Engn PL-60965 Poznan Poland

ISBN: (纸本)9789728865849

The paper considers a suboptimal solution to the dual control problem for discrete-time stochastic systems in the case of amplitude constraint imposed on the control signal. The objective of the control is to minimize the variance of the output around the given reference sequence. The presented approaches are based on: an MIDC (Modified Innovation Dual controller) derived from an IDC (Innovation Dual controller), a TSDSC (Two-stage Dual Suboptimal control, and a PP (Pole Placement) controller. Finally, the certainty equivalence (CE) control method is included for comparative analysis. In all algorithms, the standard Kalman filter equations are applied for estimation of the unknown system parameters. Example of second order system is simulated in order to compare the performance of control methods. Conclusions yielded from simulation study are given.

关键词： input constraint suboptimal dual control

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Adaptive predictive controller applied to an open water canal

Adaptive predictive controller applied to an open water cana...

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4th international conference on informatics in control, automation and robotics

作者： Rato, Luis Salgueiro, Pedro Lemos, Joao Miranda Rijo, Manuel Univ Evora CITI UE R Romao Ramalho 59 P-7000671 Evora Portugal INESC ID IST P-1000029 Lisbon Portugal Univ Evora NuHCC P-7000 Evora Portugal

ISBN: (纸本)9789728865849

This paper concerns to the application of adaptive control to a large scale water canal experimental plant. Water canals are complex spatially distributed systems which aim at distributing water either for irrigating, or domestic, or industrial purposes. In this paper a predictive adaptive control algorithm (MUSMAR) is applied to a large scale experimental water canal prototype. The experimental facilities with a fully instrumented canal, a PLC network and a SCADA system, are briefly described. This paper describes the developed software module and the MUSMAR control algorithm. Finaly, Some experimental results obtained in the experimental water canal, are presented.

关键词： water canal SCADA system PLC data acquisition adaptive control predictive control

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