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A SAFE COMMUNICATION-SYSTEM FOR WHEELCHAIR-MOUNTED MEDICAL ROBOTS

computing & control engineering JOURNAL 1995年第5期6卷 216-221页

作者： DAVIES, B HIBBERD, R Dept. of Mech. Eng. Imperial Coll. of Sci. Technol. & Med. London UK

When a powered medical manipulator is added to a motorised electric wheelchair, the result is a system which can be safety critical for the user. When a number of other systems, such as environmental controllers, displays and navigation systems are incorporated into the overall systems, the complexity of central can further affect safety. The solution to these problems has resulted in the development of a new safe communication system for wheelchair mounted manipulator systems called Multiple-Master, Multiple-Slave (M3S). This work has been carried out as part of a consortium funded by the European TIDE programme.

关键词： manipulators safety-critical software wheelchair mounted manipulator systems Software engineering techniques control complexity environmental controllers medical computing motorised electric wheelchair Multiple-Master Multiple-Slave navigation systems wheelchair mounted medical robots safe communication system Biology and medical computing Manipulators M3S Health and safety aspects wheelchair-mounted medical robots safety critical control engineering computing powered medical manipulator biomedical equipment computerised control Biological and medical control systems

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Vision-aided intelligent vehicle sideslip angle estimation based on a dynamic model

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IET INTELLIGENT TRANSPORT SYSTEMS 2020年第10期14卷 1183-1189页

作者： Liu, Wei Xiong, Lu Xia, Xin Lu, Yishi Gao, Letian Song, Shunhui Tongji Univ Clean Energy Automot Engn Ctr Shanghai 201804 Peoples R China Tongji Univ Sch Automot Studies Shanghai 201804 Peoples R China

The vehicle sideslip angle is an important state for vehicle dynamic control, which needs to be estimated as it could not be obtained directly by the vehicle. To improve the estimation accuracy of the sideslip angle based on the intelligent vehicle platform, this study proposes a novel vehicle sideslip angle estimation algorithm with the fusion of dynamic model and vision information. Firstly, to further improve the model accuracy of the vehicle during lateral acceleration conditions, a vehicle dynamic model is established considering the acceleration error compensation with the assistance of attitude information. In addition, based on the lane line information obtained from the equipped camera in intelligent vehicles, a visual geometric model is established. Owing to the measurement delay and low sampling frequency of the camera, a multi-rate sideslip angle observer with delay compensation is designed to coordinate with the inter-frequency signal of the vehicle chassis. Finally, the effectiveness of the algorithm is verified by the slalom test.

关键词： vehicle dynamics cameras steering systems traffic engineering computing observers road vehicles control engineering computing computer vision estimation accuracy intelligent vehicle platform novel vehicle sideslip angle estimation algorithm vision information model accuracy vehicle dynamic model intelligent vehicles visual geometric model multirate sideslip angle observer vehicle chassis vision-aided intelligent vehicle sideslip angle estimation vehicle dynamic control

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Automatic emergency braking/anti-lock braking system coordinated control with road adhesion coefficient estimation for heavy vehicle

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IET INTELLIGENT TRANSPORT SYSTEMS 2022年第11期16卷 1521-1534页

作者： Shaohua, Li Guiyang, Wang Hesen, Wang Lipeng, Zhang Shijiazhuang Tiedao Univ State Key Lab Mech Behav & Syst Safety Traff Engn Shijiazhuang Hebei Peoples R China Shijiazhuang Tiedao Univ Sch Mech Engn 17 East North Second Ring Rd Shijiazhuang 050043 Hebei Peoples R China Yanshan Univ Hebei Key Lab Special Delivery Equipment Qinhuangdao Hebei Peoples R China

The road adhesion coefficient is a key factor influencing automatic emergency braking (AEB) and anti-lock braking system (ABS) safety control of trucks. With the fading factor introduced, and the covariance gain adjusted in real time, the strong tracking unscented Kalman filter (STUKF) algorithm is modified to estimate the road adhesion coefficient more accurately. Composed of an ABS fuzzy sliding mode controller (SMC) and an AEB controller, an AEB/ABS coordinated control strategy with an adhesion coefficient estimation is designed for a three-axle heavy vehicle. The control effects are verified through experiments on various road conditions based on a hardware-in-loop test platform. The test results show that the proposed control strategy has a better braking efficiency than the traditional AEB/ABS and AEB control strategy without adhesion coefficient estimation and can decrease braking distance by 8.4% and braking time by 5.9%, which is beneficial to the vehicle longitudinal safety.

关键词： braking road vehicles anti-lock braking system coordinated control control engineering computing hardware-in-loop test platform strong tracking unscented Kalman filter algorithm fuzzy control road adhesion coefficient estimation ABS fuzzy SMC fading factor road safety AEB controller Kalman filters road traffic control hardware-in-the-loop simulation vehicle dynamics vehicle longitudinal safety ABS fuzzy sliding mode controller variable structure systems ABS safety control three-axle heavy vehicle brakes adhesion STUKF algorithm nonlinear filters

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Digital signal processor controlled auxiliary commutated pole converter for high-performance motor drives applications

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POWER engineering JOURNAL 2000年第1期14卷 5-11页

作者： Pickert, V Johnson, CM Univ Newcastle Upon Tyne Dept Elect & Elect Engn Newcastle Upon Tyne NE1 7RU Tyne & Wear England Volkswagen AG Wolfsburg Germany

Resonant and soft-switched inverter drives offer the potential for increased switching frequencies, reduced weight and lower levels of electromagnetic interference when compared to conventional hard-switched drives. Regrettably, low-cost, soft-switching topologies such as resonant link designs suffer from poor control performance while others, such as the ACPI, have a high component count and relatively complex control structures. A low-cost commutation control scheme is proposed for the ACPI, which uses a digital signal processor to determine the optimum switching instants for both auxiliary and main devices. Results are presented comparing the performance of the DSP controlled ACPI with an equivalent hard-switched converter.

关键词： digital signal processor a.c. machines Digital signal processing chips soft-switching inverter drives Microprocessors and microcomputers voltage control AC motor drives Power convertors and power supplies to apparatus PWM power convertors Power engineering computing digital signal processing chips Drives digital control applications Voltage control high-performance motor drives auxiliary commutated pole converter commutation control of electric power systems Optimal control switching frequencies power engineering computing electromagnetic interference optimum switching instants switching circuits optimal control AC-AC power convertors control engineering computing machine control AC/AC power conversion

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An overview of controller Area Network

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computing & control engineering JOURNAL 1999年第3期10卷 113-120页

作者： Farsi, M Ratcliff, K Barbosa, M Univ Newcastle Upon Tyne Dept Elect & Elect Engn Newcastle Upon Tyne NE1 7RU Tyne & Wear England

The controller Area Network is a well-established networking system specifically designed with real-time requirements in mind. Developed in the 1980s by Robert Bosch, its ease of use and low cost has led to its wide adoption throughout the automotive and automation industries. However, for the beginner using CAN may seem somewhat bewildering. This article goes some way into explaining how CAN is used both at the hardware and the software levels.

关键词： hardware control engineering computing controller area networks real-time requirements Instrumentation buses automation industries real-time systems automotive industries Local area networks controller area network software

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Model-free adaptive optimal control of continuous-time nonlinear non-zero-sum games based on reinforcement learning

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IET control THEORY AND APPLICATIONS 2023年第2期17卷 223-239页

作者： Guo, Lei Zhao, Han Beijing Univ Posts & Telecommun Sch Artificial Intelligence Beijing 100876 Peoples R China

In this paper, two novel algorithms to find the Nash equilibrium solution of the non-zero-sum games for continuous-time input-affine nonlinear systems are presented. Based on integral reinforcement learning method, the integral-exploration-coupled Hamilton-Jacobi (HJ) equations are derived, which does not contain any information of the system dynamics. Then, based on neural networks approximation, two different adaptive tuning law of weights are given to estimate the approximate solution of the coupled HJ equations. Both two algorithms can estimate the value function and the policy without knowing or identifying the system dynamics. The closed-loop system stability and the convergence of weights are guaranteed based on Lyapunov analysis. Finally, the simulation results of a two-player non-zero-sum game demonstrate the effectiveness of our algorithms.

关键词： integral reinforcement learning method Nonlinear control systems Lyapunov methods Lyapunov analysis adaptive tuning law continuous-time input-affine nonlinear systems integral-exploration-coupled Hamilton-Jacobi equations Game theory Neural nets adaptive control Self-adjusting control systems coupled HJ equations continuous-time nonlinear nonzero-sum games control engineering computing Optimal control game theory neural nets closed-loop system stability weight convergence model-free adaptive optimal control neural networks approximation closed loop systems nonlinear control systems nonzero-sum games Reinforcement learning optimal control control engineering computing two-player nonzero-sum game continuous time systems Stability in control theory reinforcement learning stability Nash equilibrium solution

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Hierarchical optimisation strategy in microgrid based on the consensus of multi-agent system

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IET GENERATION TRANSMISSION & DISTRIBUTION 2018年第10期12卷 2444-2451页

作者： Hao, Ran Jiang, Ziqing Ai, Qian Yu, Zhiwen Zhu, Yuchao Shanghai Jiao Tong Univ 800 Dongchuan Rd Shanghai Peoples R China Xi An Jiao Tong Univ 28 Xianning Rd Xian Shanxi Peoples R China

To improve the automation level of distributed generation, a hierarchical optimisation strategy is proposed in this study. The strategy consists of day-ahead dispatch and scheduling implementation by power control. The energy management framework about the multi-agent system is also designed. Given the collaborative gaming process between microgrid and distributed network, a day-ahead dispatch is used to minimise the general expenses. Moreover, considering security constraints, the secondary control strategy is proposed to realise the precise control of the active power, which is adaptive to voltage inconsistency. Besides, the consensus algorithm is utilised to trace the dispatch target of tie-line power by monitoring power deviation at the point of common coupling. Finally, a series of simulation verifies the effectiveness of the method proposed. The influence of communication delay is also discussed.

关键词： adaptive control control engineering computing distributed power generation energy management systems multi-agent systems optimisation power control power distribution control power engineering computing power generation control power generation dispatch power system measurement power system security voltage control

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Infrastructure camera calibration with GNSS for vehicle localisation

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IET INTELLIGENT TRANSPORT SYSTEMS 2023年第2期17卷 341-356页

作者： Ojala, Risto Vepsalainen, Jari Pirhonen, Jesse Tammi, Kari Aalto Univ Dept Mech Engn Espoo Finland

Intelligent transportation and smart city applications are currently on the rise. In many applications, diverse and accurate sensor perception of vehicles is crucial. Relevant information could be conveniently acquired with traffic cameras, as there is an abundance of cameras in cities. However, cameras have to be calibrated in order to acquire position data of vehicles. This paper proposes a novel automated calibration approach for partially connected vehicle environments. The approach utilises Global Navigation Satellite System positioning information shared by connected vehicles. Corresponding vehicle Global Navigation Satellite System locations and image coordinates are utilised to fit a direct transformation between image and ground plane coordinates. The proposed approach was validated with a research vehicle equipped with a Real-Time Kinematic-corrected Global Navigation Satellite System receiver driving past three different cameras. On average, the camera estimates contained errors ranging from 1.5 to 2.0 m, when compared to the Global Navigation Satellite System positions of the vehicle. Considering the vast lengths of the overlooked road sections, up to 140 m, the accuracy of the camera-based localisation should be adequate for a number of intelligent transportation applications. In future, the calibration approach should be evaluated with fusion of stand-alone Global Navigation Satellite System positioning and inertial measurements, to validate the calibration methodology with more common vehicle sensor equipment.

关键词： traffic engineering computing traffic cameras calibration methodology infrastructure camera calibration calibration smart cities camera-based localisation global navigation satellite system positions real-time kinematic-corrected global navigation satellite system receiver satellite navigation Measurement standards and calibration Optical, image and video signal processing Computer vision and image processing techniques control engineering computing ground plane coordinates Transportation administration image coordinates Traffic engineering computing automated calibration approach image processing vehicle localisation intelligent transportation applications Road-traffic system control intelligent transportation systems Smart cities Radionavigation and direction finding cameras research vehicle Global Positioning System connected vehicles vehicle global navigation satellite system locations smart city applications Image sensors common vehicle sensor equipment road vehicles partially connected vehicle environments

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PERFORMANCE OF A 5-KVA SYNCHRONOUS GENERATOR WITH AN OPTIMAL EXCITATION REGULATOR

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1973年第10期120卷 1250-1256页

作者： BARTLETT, JP GIBBARD, MJ WOODWARD, JL UNIV ADELAIDE DEPT ELECT ENGN ADELAIDE S AUSTRALIA AUSTL.

The feasibility of applying optimal control to the excitation of a synchronous generator is examined in the laboratory, using a 5 kVA 3-phase alternator connected through line reactors to an infinite busbar. The regulator is a small digital computer, which monitors the states of the system and computes the control signal applied to an electronic amplifier exciting the alternator field. The feedback gains of the optimal regulator satisfy a simple quadratic cost function. These are calculated offline for a grid of operating points in the complex power plane, and stored in the controlling computer. The gains used at any particular operating point are those corresponding to the nearest gridpoint. Comparisons of predicted and actual small-disturbance responses are made for leading-power-factor operation well beyond the open-loop stability limit, and, for low real power, beyond the closed-loop limit with voltage feedback alone.

关键词： excitation digital computer synchronous generators Synchronous machines optimal control performance 5 kVA optimal excitation regulator synchronous generator Power engineering computing control engineering applications of computers control engineering computing control of electric power systems electrical engineering applications of computers

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Advanced control methods for industrial process control

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computing & control engineering JOURNAL 2004年第3期15卷 18-23页

作者： Airikka, P Timberjack Finland

As a class of control methods, advanced control is rather vague - not becauseof the large number of methods that can be included, but because of the indistinct classificationcriteria. Any two engineers discussing the subject may eventually argue whether some methods belong,or do not belong, to what is considered advanced control. It is the historical background thatexplains the variety of control methods that are today considered ''advanced''. It all started 60years ago with simple but efficient PID control. Just about any method that evolved from PID was-considered ''advanced'' at the time it was invented. Some have remained under this *** thing is sure: advanced control methods have been proven to be more beneficial and profitablethan elementary control methods. Some claim that applying advanced control has resulted in costsavings or product quality improvements from 2% to tens of per cent. But what are the methods behindadvanced control?

关键词： adaptive control neural network based control industrial process control predictive control multivariable control systems neurocontrollers control technology and theory Stability in control theory advanced control method Specific control systems process control robust control model predictive control control engineering computing control in industrial production systems fuzzy control Optimal control Industrial processes optimal control multivariable control

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