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检索条件"主题词=Control Engineering Computing"

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Logic design of structured configurable controllers

Logic design of structured configurable controllers

引用

IEEE 3rd International Conference on Networked Embedded Systems for Every Application (NESEA)

作者： Tkacz, Jacek Adamski, Marian Univ Zielona Gora Inst Comp Engn & Elect Ul Podgorna 50 PL-65246 Zielona Gora Poland

ISBN: (纸本)9781467347211

The paper is concentrated on behavioral and structural specification of reconfigurable logic controllers (RLC). The initial description is given as a hierarchical modular control interpreted Petri net. On the abstract level of the logic synthesis specification is written in propositional sequent language. Rapid modeling and synthesis in FPGA can be done directly from expressions, written in the hardware description language, for example in VHDL.

关键词： Petri nets control engineering computing controllers field programmable gate arrays formal specification hardware description languages logic design

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Real-time 3D Visualization in an Open Architecture of a Robotic Application in the Biomechanics

Real-time 3D Visualization in an Open Architecture of a Robo...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Martinez, Horacio von Deimling, Constantin Ulbrich, Heinz von Eisenhart-Rothe, Ruedieger Burgkart, Rainer Tech Univ Munich Clin Orthopaed & Sport Orthopaed Dept Biomech D-81675 Munich Germany Tech Univ Munich Inst Appl Math D-85748 Garching Germany

ISBN: (纸本)9781467321273;9781467321259

This paper describes the development of a real-time 3D visualization in an open source programming tool and an open architecture for an industrial serial robot and its advantages in biomechanical applications. A system to test biological specimens in 6 degrees of freedom (DoF) is here presented which provides a solid foundation to perform complex, robust and scalable biomechanical experiments. The interaction and planing process with a 3D visualization provides a friendly, intuitive and easy way to use the applications. In the virtual reality tool the robot and the specimen can be seen, providing a visibility of the test from a close perspective and different angles of the robot and specimen. Appropriate robot motions can be planed in a simulation environment in order to easily understand the procedure and develop in advance specific protocols. Direct force control strategy was developed inside the open architecture. This control has the advantage that it does not constrain the specimen motion in any plane and therefore it is free to move in the space (6 DoF). The high control frequency of 0.5 up to 1 kHz provided a robust approach to ensure stability when testing biological materials avoiding the vibration of the robot in contact with stiff materials and unknown properties of the biological specimens. The contribution of this work is a proposal of a real-time 3D visualization and an open architecture of a serial robot which made possible to accomplish high complex tests in biological specimens using direct force control.

关键词： biomechanics control engineering computing data visualisation elasticity force control mechanical engineering computing motion control public domain software robot dynamics vibrations virtual reality

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High-Speed Moving Horizon Estimation based on Automatic Code Generation

High-Speed Moving Horizon Estimation based on Automatic Code...

引用

51st IEEE Annual Conference on Decision and control (CDC)

作者： Ferreau, Hans Joachim Kraus, Tom Vukov, Milan Saeys, Wouter Diehl, Moritz Katholieke Univ Leuven Dept Elect Engn Kasteelpk Arenberg 10 B-3001 Louvain Belgium

ISBN: (纸本)9781467320665

Recent theoretical and algorithmic advances have led to efficient algorithms that allow for real-time optimisation of processes with fast nonlinear dynamics. This paper addresses the efficient implementation of algorithms for moving horizon estimation (MHE) for obtaining real-time estimates of process states or parameters that are not measured directly. To this end, we propose to combine the previously proposed concepts of real-time iteration schemes and automatic code generation to obtain highly efficient source code of MHE algorithms. This has led to major extensions of the ACADO Code Generation tool that automatically generates customised plain C code for both model predictive control (MPC) and MHE applications. As a proof of concept, we present numerical results of controlling a nonlinear ODE model by means of combined exported MHE and MPC algorithms in a closed-loop manner. These exported algorithms turn out to be significantly faster than their generically implemented counterparts.

关键词： C language closed loop systems control engineering computing iterative methods nonlinear differential equations nonlinear dynamical systems optimisation predictive control program compilers

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A Study on Development Process of a power converter algorithm for vehicles using model-based control code generation

A Study on Development Process of a power converter algorith...

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IEEE Vehicle Power and Propulsion Conference (VPPC)

作者： Kim, Byoung-Hoon Jeong, Jin-Beom Lee, Baek-Haeng Shin, Dong-Hyun Song, Hyun-Sik Kim, Tae-Hoon Kim, Hee-Jun Yoo, Ji-Yoon Korea Univ Seoul South Korea Korea Automot Technol Inst Elect Syst R Ctr Seoul South Korea Korea Univ Dept Control & Instrumentat Eng Seoul South Korea Hanyang Univ Sch Elect Engn & Comp Sci Seoul South Korea Korea Univ Dept Elect Engn Seoul South Korea

ISBN: (纸本)9781467309547;9781467309530

With the recent increase in the demand for vehicle power converters, various systems are being developed. Accordingly, a wide range of topologies has been developed, and extensive research is being undertaken on improving efficiency and performance. In line with these efforts, this paper proposes a design technique capable of reducing the time required for developing power converters and optimizing the verification process. The proposed technique involves designing and developing a model-based control algorithm for a simulation tool. Today's power converters are developed by determining design specifications, selecting components, developing the control algorithm, and debugging. While this approach is suitable for developing a single product, development must restart from scratch when there are changes in specifications or the components used, prolonging the development period and increasing the cost. The method proposed in this paper adds model simulation and plant debugging to development and debugging processes and reflects them in the design after verification. This involves designing a plant model and the controller model according to the topology, as well as software optimization. The algorithm is then verified and applied to the actual product. In this paper, the design and manufacturing processes based on a simple buck converter is explained in two phases of simulation and actual application.

关键词： automobiles control engineering computing digital control electrical engineering computing hybrid electric vehicles power convertors program debugging

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Belief Convergence to Facilitate Cooperative Behaviors

Belief Convergence to Facilitate Cooperative Behaviors

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51st IEEE Annual Conference on Decision and control (CDC)

作者： Overstreet, Jamahl Khorrami, Farshad Krishnamurthy, Prashanth NYU Polytech Inst Dept Mech & Aerosp Engn Brooklyn NY 11201 USA

ISBN: (纸本)9781467320665

In Artificial Intelligence (AI), utility functions are used to compare the relative goodness of an AI system making one decision over another. These utility functions, along with their coefficients and parameters, comprise a set of beliefs. The term "belief" is used to describe how autonomous systems associate quantified confidences in the existence of things that make up their worldly knowledge;hence, decisions made by an AI system are governed by the states of its belief. Just as in control system theory where the states are quantities used to estimate and describe the behaviors of electrical and/or mechanical systems, belief states are quantities that are used to describe and estimate decision making characteristics. For evolving AI systems (e.g., ones that change their belief states over time through learning) and heterogeneous systems (e.g., ones that do not share a common notion of a global belief), it is important to develop mechanisms that will allow these systems to converge their beliefs, where they can determine how each other "thinks." This is important since it will allow each agent in a cooperating collective to make decisions that optimally solves their individual needs, along with their collective needs, without requiring explicit communication or a mediator. In this paper, methodologies are presented that facilitate belief convergence. The significance of this study is that we demonstrate how a state observer, such as a Kalman filter, can be used by each agent in a collective to estimate neighboring belief states. This is done with no a priori information of their neighbors' belief states, and by only comparing each individual's estimate for the required effort of the whole collective to perform a group plan.

关键词： control engineering computing decision making learning (artificial intelligence) mobile robots multi-robot systems observers

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Interaction Mesh Based Motion Adaptation for Biped Humanoid Robots

Interaction Mesh Based Motion Adaptation for Biped Humanoid ...

引用

12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Nakaoka, Shin'ichiro Komura, Taku Univ Edinburgh IPAB Sch Informat 10 Crichton St Edinburgh EH8 9AB Midlothian Scotland Natl Inst Adv Ind Sci & Technol Intelligent Syst Res Inst Tsukuba Cent 2 Tsukuba Ibaraki 3058568 Japan

ISBN: (纸本)9781467313698

Adapting human motion data for humanoid robots can be an efficient way to let them conduct specific tasks or perform visually intriguing movements. However adapting movements which involve close interactions between body parts / objects has been a difficult problem if we try to make the motions sufficiently similar to the original ones without causing undesired collisions and fall-overs. To solve this problem, we propose a novel motion adaptation system which can adapt full-body motions of a human to those by a biped humanoid robot. The system integrates the joint coordinate model and a dynamic balancing method with the interaction mesh based motion adaptation method, which is originally designed for character motions represented by marker positions in Cartesian coordinate. We present that the system can adapt human motion sequences that include close interactions between the arms for the biped humanoid robot HRP-4C, and the adapted motion can be stably performed in dynamics simulation.

关键词： control engineering computing human-robot interaction humanoid robots legged locomotion motion control robot dynamics

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Schedulability analysis for a combination of non-preemptive strict periodic tasks and preemptive sporadic tasks

Schedulability analysis for a combination of non-preemptive ...

引用

17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Marouf, Mohamed George, Laurent Sorel, Yves INRIA Paris Rocquencourt F-78153 Le Chesnay France

ISBN: (纸本)9781467347372;9781467347358

We consider the problem of fixed priority scheduling of non-preemptive strict periodic tasks in conjunction with sporadic preemptive tasks. There are few studies about the scheduling problem combining these two kinds of tasks. Moreover, only few results are available on scheduling non-preemptive strict periodic tasks since their performance analysis gives low success ratios, except in the case of harmonic tasks. Also, strict periodic tasks are of great importance since they are in charge for example of sensors/actuators or feedback control functions which are all critical in feedback control systems. Such tasks must have the highest priorities in order to guarantee a correct behavior of the control system. Preemptive sporadic tasks can be used for non critical functions and have lower priorities. We first investigate the scheduling problem of non-preemptive strict periodic tasks by recalling an existing schedulability condition. This results in defining the first release times of strict periodic tasks that preserves the strict periodicity constraints. We show that the schedule of strict periodic tasks can have transient and permanent phases. Then, assuming that some non-preemptive strict periodic tasks have been scheduled, we characterize the release times of the sporadic tasks that maximize their worst case response times. We prove that these release times can be restricted to the permanent phase. For preemptive sporadic tasks, we extend the classical worst case response time computation to take into account non-preemptive strict periodic tasks. Finally, we consider the particular case where some of the sporadic tasks are alternate tasks to primary strict periodic tasks for fault-tolerance.

关键词： control engineering computing factory automation fault tolerance feedback scheduling task analysis

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Primitive action learning using fuzzy neural networks

Primitive action learning using fuzzy neural networks

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Gatsoulis, Yiannis Siradjuddin, Indrazno McGinnity, T. Martin Univ Ulster Fac Comp & Engn Intelligent Syst Res Ctr Magee Coll Derby BT48 7JL England

ISBN: (纸本)9781467321273;9781467321259

The learning of primitive actions, or affordances as often called, has always been one of the top items in the research agenda of the robotics community. In this paper we propose fuzzy neural networks as a viable solution for their computational efficiency, their ability to approximate smooth non-linear functions and their transparency of the underlying mechanisms of the trained network. More specifically we benchmark the Takaki-Sugeno Fuzzy Neural Network (TSFNN) in an experimental scenario where the robot learns to control its arm velocity to push a rolling object in a requested position. The experimental scenario was kept simple and of linear nature in order to benchmark the TSFNN with a least squares linear model. The real time experiments using a PR2 robot have been conducted to verify the proposed method. The experimental results have shown that the TSFNN is able to reliably and robustly learn and demonstrate the pushing action.

关键词： control engineering computing fuzzy neural nets learning (artificial intelligence) least squares approximations mobile robots motion control velocity control

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Development of Virtual Reality Bike with Cylindrical MR Fluid Brake

Development of Virtual Reality Bike with Cylindrical MR Flui...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Kikuchi, Takehito Kobayashi, Keigo Sugiyama, Masao Yamagata Univ Grad Sch Sci & Engn Yonezawa Yamagata 9928510 Japan

ISBN: (纸本)9781467321273;9781467321259

Cycling is a healthy and moderate aerobic exercise for the elderly and it works well not only to their physical functions but also to their mentalities. In order for the exercise machine that can facilitate the moderate aerobic exercise for users who cannot do real cycling, we have developed the virtual reality bike (VR Bike) with a cylindrical MR fluid brake. The aim of this paper is to describe (1) the development and integration of the total system of the VR Bike, and (2) the implementation of the controller for the pedaling torque in the straightway driving with slopes. The cylindrical MR fluid brake was connected to the pedal of a belt-driven bicycle and used to control pedal resistances depending on the environment of the virtual world. We formulated the torque characteristics of the brake and controlled the pedaling torque with the input current. Data of a 3D map were loaded in the VR Bike system and a subject ride a bike in the virtual world. The main controller calculated the dynamics of the bike and determined the pedaling resistance. Time profiles of the traveling speed and pedal torque during climbing up and down the slope were evaluated. Though quantitative evaluation has not conducted, the proposed system changes the pedal resistance depending on the conditions of the bike.

关键词： bicycles brakes control engineering computing magnetic fluids magnetorheology torque control vehicle dynamics virtual reality

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Closed-loop System Modeling, Validation, and Verification

Closed-loop System Modeling, Validation, and Verification

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17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Preusse, Sebastian Lapp, Hans-Christian Hanisch, Hans-Michael Univ Halle Wittenberg Inst Comp Sci Chair Automat Technol D-06120 Halle Saale Germany

ISBN: (纸本)9781467347372;9781467347358

control software engineering has become a weighty factor according to implementation expense, especially when developing a new plant or migrating an existing one. Because of this, there are high customer demands concerning safety and correctness of software. Conventional open-loop testing methods have clearly reached their limits as the complexity of today's control software is not manually manageable anymore. Nevertheless, they still belong to daily practice due to the lack of integrated solutions that do not overcharge users but that are tailored to software engineering demands. This contribution therfore approaches this problem and encourages the application of closed-loop modeling, validation, and verification methods. Beyond this, it proposes complete frameworks to apply this expertise not only in academia but in industrial environment as well.

关键词： control engineering computing program testing program verification safety-critical software

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