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Neural motion and evolutionary decision in robotic competition applied for molecular machine system design

Neural motion and evolutionary decision in robotic competiti...

引用

ieee International symposium on computer aided control system design (CACSD)

作者： A. Cavalcanti COMPUTER SCIENCE DEPARTMENT DARMSTADT UNIVERSITY OF TECHNOLoGY Darmstadt Germany

Summary form only given. The author presents a new approach within advanced graphics simulations for the problem of nano-assembly automation and its application for nanomedicine. The problem under study concentrates its main focus on the design of autonomous nanorobots for assembly manipulation and the use of evolutionary competitive agents as a suitable way to warranty the robustness of such proposed model. Furthermore, the work presents also the use of neural networks as the most practical approach for the problem of robot motion optimisation using a sensor based system. Thereby the paper addresses distinct aspects of the main techniques required to achieve a successful nano-planning system design and its simulation with a real time 3D visualization.

关键词： Robotics and automation Graphics Robotic assembly Warranties Robustness Neural networks Robot motion Sensor systems Real time systems Visualization

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SLICOT system identification software and applications

SLICOT system identification software and applications

引用

ieee International symposium on computer aided control system design (CACSD)

作者： V. Sima D.M. Simal S. Van Huffel National Institute for Research & Development in Informatics Bd Bucharest 1 Romania Department of Electrical Engineering (ESAT) Katholieke Universiteit Leuven Kasteelpark Leuven–Heverlee Belgium

Basic algorithmic, numerical and practical issues involved in the recently developed, multivariable system identification toolbox-SLIDENT-incorporated in the Fortran 77 Subroutine Library in control Theory (SLICOT) are described. SLIDENT provides drivers, computational routines, and Matlab or Scilab interfaces, which implement several algorithmic approaches, and use standard or fast techniques for data processing. Both linear and Wiener-type multivariable discrete-time systems are addressed. The results obtained through an extensive investigation of the performance of the SLICOT system identification toolbox on a representative collection of data sets show that SLIDENT is reliable and able to solve large identification problems.

关键词： system identification Software systems Application software Linear systems Mathematical model MIMO Algorithms control theory computer interfaces Data compression

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Multiobjective design for an integrated flight control system: a combination with model reduction approach

Multiobjective design for an integrated flight control syste...

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ieee International symposium on computer aided control system design (CACSD)

作者： H.H.T. Liu Institute for Aerospace Studies University of Toronto Toronto ONT Canada

Modem aircraft include a variety of automatic control systems that aid the flight in navigation, flight management, and augmenting the stability characteristics of the airplane. Typical control systems development involves multiple requirements or objectives. On the other hand, the increasing level of complexity and sophistication of aircraft systems leads to a hierarchical architecture that the overall system consists of many distributed components and subsystems. It brings an even more challenging task to consider the multiobjective design and integrated control together. Previous work (2001) has been conducted to propose a uniform framework and design approach where the control integration strategy and multiple objectives can be addressed simultaneously, but the complexity of designed controller may not lead to a practically sound solution. In this paper, we present the investigation of reducing the order of the controller using the model reduction techniques. A numerical pitch/speed autopilot is further applied to illustrate the effectiveness of the controller order reduction.

关键词： Aerospace control Reduced order systems control systems Automatic control Aircraft propulsion Aircraft navigation Centralized control Testing Modems Stability

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An integrated control system for optimizing the energy consumption and user comfort in buildings

An integrated control system for optimizing the energy consu...

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ieee International symposium on computer aided control system design (CACSD)

作者： J. Pargfrieder H.P. Jorgl Institute for Machine and Process Automation Vienna Austria

In this paper, an HVAC system consisting of a thermal and ventilation subsystem and a lighting subsystem is analyzed in detail. The objective of this work is the development of an integrated control system to optimize energy consumption and user comfort. The entire control system is described in detail. The cross coupling, which links the thermal system with the lighting system, is specified. This allows a separation of the control algorithms according to the requirements. The core objective is the design of several intelligent thermal control algorithms. An algorithm using a fuzzy controller and an adapting power profile, a controller which uses the same algorithm as mentioned before but which optimizes the fuzzy controller parameters using genetic algorithms, and a generalized predictive controller (GPC) are presented. Different aspects of the control strategies, the diverse specifications of the algorithms and any restrictions concerning the implementation are listed. Simulation results of different controllers are presented and discussed.

关键词： Centralized control Energy consumption control systems Temperature control Lighting control Thermal variables control Ventilation Testing Optimal control Intelligent control

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A control frequency selection procedure for frequency domain autotuning methods on PID controllers

A control frequency selection procedure for frequency domain...

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ieee International symposium on computer aided control system design (CACSD)

作者： F.J.P. Castelo R.F. Garcia Departamento Ingenieria Ind. Univ. de La Coruna Ferrol Spain Departmento Ingeniería Industrial Universidad de La Coruña Ferrol Spain

Classical PID controller tuning methods in the frequency domain have as their fundamental target the achievement of a certain phase margin or gain margin at a control frequency (w/sub c/). In both cases the task of w/sub c/ selection is key due to the fact that the control system stability and bandwidth are fully dependent on it.. The classical methodology can produce unstable systems if w/sub c/ is not adequately selected. When a precise process model is available, it is possible to select w/sub c/ to provide a controller that better satisfies the design specifications, but this task is not easy to implement when the process dynamics are unknown. A recursive procedure for the selection of w/sub c/ that guarantees system stability and the design specifications without the availability of a process model is presented in this work.

关键词： Frequency domain analysis Three-term control control systems control system synthesis Tuning Regulators Equations Frequency synthesizers design engineering Stability

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An experimental setup for modelling, simulation and fast prototyping of mechanical arms

An experimental setup for modelling, simulation and fast pro...

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ieee International symposium on computer aided control system design (CACSD)

作者： B. Bona A. Indri N. Smaldone Dip. di Automatica e lnformatica Politecnico di Turino Torino Italy

This work presents some results on a fast prototyping system used to model, simulate and control a planar manipulator at the Robotics Laboratory of the Politecnico di Torino. A unique environment allows to perform the entire range of procedures. A host-target architecture based on a PC-DSP link has been used for two basic advantages: simplicity of use, thanks to the well known PC environment hosting Matlab; real-time constraints fulfillment thanks to an independent hardware and software, devoted exclusively to the control function. Using the same Matlab environment, various experimental tests and data analysis have been performed, to determine a good model for friction phenomena. On the basis of such a model a simulator has been built, and nonlinear control laws have been tested.

关键词： Virtual prototyping Arm Mathematical model Testing Manipulators Robots Laboratories computer architecture Hardware Data analysis

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New models of energy-storing electromechanical transducers

New models of energy-storing electromechanical transducers

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ieee International symposium on computer aided control system design (CACSD)

作者： H. Mann Computing and Information Centre Czech Technical University Prague Czech Republic

Dynamic models of systems with electromechanical components in the form of generalized circuits allow for efficient simulation. There are software packages capable of exploiting a computer not only to solve equations representing such system models, but also to automatically formulate the equations. The server-based package DYNAST can be even used to simulate the circuit-like models assembled in a graphical form on the screen of any computer connected to the Internet. The paper introduces two new circuit components-an energy-storing transformer and energy-storing gyrator-suitable for modeling of some electro-mechanical transducers. The paper shows that such models suit very well to movable-plate condensers, movable-core solenoids, rotating electrostatic machines, electro-mechanical relays, reluctance synchronous motors and stepping motors.

关键词： Transducers Computational modeling Circuit simulation Equations Synchronous motors Software packages Packaging computer simulation Assembly Internet

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A multiobjective optimisation-based software environment for control systems design

A multiobjective optimisation-based software environment for...

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ieee International symposium on computer aided control system design (CACSD)

作者： H.-D. Joos Institute of Robotics and Mechatronics DLR - German Aerospace Center Weßling

This paper describes a software environment, called MOPS (multiobjective parameter synthesis), which supports the control engineer in setting up his design problem as a properly formulated multiobjective optimisation task. To this end, MOPS offers a basic control system criteria library, a generic multi-model structure for multi-disciplinary problems and a generic multi-case structure for robust control law design, as well as visualisation tools for monitoring the design progress. Several additional features for dealing with a large amount of parameters and criteria, distributed computation for time consuming computations and the use of external simulation and analysis servers, are also provided. MOPS also supports parameter estimation in identification problems and optimisation based design assessment for robustness. The user is provided with a clear application program interface and a graphical user interface both implemented in MATLAB. To solve the underlying optimisation problem different powerful optimisation. procedures are available.

关键词： design optimization control systems Distributed computing control system synthesis design engineering Software libraries Robust control Visualization Monitoring Computational modeling

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On the computation of the maximal structured singular value for aeronautical applications

On the computation of the maximal structured singular value ...

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ieee International symposium on computer aided control system design (CACSD)

作者： M.K. Halton M.J. Hayes Department of Electronic & Computer Engineering PEI-CSRC University of Limerick Ireland

This paper considers the necessary transformations and the computational issues associated with the determination of the maximal structured singular value, /spl mu//sub max/ without the use of a frequency gridding strategy. It is shown that, for the case of purely real model perturbations, convergence difficulties exist in determining bounds on /spl mu//sub max/ using existing Matlab software. A new computational scheme is presented which improves on existing methods for the computation of the worst case combination of real uncertain parameters. This scheme easily outperforms regularisation type solutions, which have been suggested as one way of improving the convergence properties of a strictly real robustness analysis. The improvement is illustrated on a well known civil aircraft robustness analysis example.

关键词： Frequency Robustness Aircraft Uncertainty Testing Algorithm design and analysis Application software Grid computing Mathematical model Certification

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A library of adaptive neural networks for control purposes

A library of adaptive neural networks for control purposes

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ieee International symposium on computer aided control system design (CACSD)

作者： G. Campa M.L. Fravolini M. Napolitano Department of Electronic and Information Engineering University of Perugia Perugia Italy Department of Mechanical and Aerospace Engineering West Virginia University Morgantown WV USA

In this paper, a library of adaptive neural networks to be used within the Simulink/spl reg/ environment is presented. The library has been developed by the authors with the intent of giving to the Simulink user an easy access to a variety of adaptive approximators. The neural networks contained in the library are ready to be used and interchanged within the user's application. Different from existing neural network collections and toolboxes, in this library, a neural network is strictly treated as a dynamic system with its inputs, outputs and states, and the "dynamics" of the approximation process are therefore considered as an essential part of this "system". The library is introduced and the featured network architectures are analyzed in detail. Finally, as an example, a comparison is performed between two of the presented networks.

关键词： Libraries Adaptive systems Programmable control Adaptive control Neural networks Mathematical model Artificial neural networks Airplanes computer networks Aerospace electronics

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