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control SYSTEM FOR CHROMIUM RECYCLING TECHNOLOGY FROM TANNERY WASTE

IFAC Proceedings Volumes 2005年第1期38卷 139-142页

作者： Vladimír VaŜek Karel Kolomazník Dagmar Janáĉová Pham Manh Thang Institute of Process Control and Applied Informatics Tomas Bata University in Zlín Nám. TGM 275 762 72 Zlín Czech Republic

The leather industry uses a by wastes of meat industry, and, as such, significantly reduces the environmental impact. It is therefore evident that term, waste“ is relative. It can be argued that if the “waste” generated in one industry sector can successful be utilised as a raw material in another industry sector for the manufacture of goods, we need to rethink our philosophy on the use of resources. This paper describes a proposed comprehensive computer control and monitoring system for a recycling technological process of both liquid and solid wastes from the tanning industry. The chromium tannery wastes are potential dangerous for the environment. As an experimental laboratory model were built in the Department of Automatic control Faculty of Technology Tomas Bata University in Zlín an apparatus fully equipped with sensors and actuators. Monitoring and control system was tested on the real equipment.

关键词： Leather Tanned waste recycling DDE server Real–time process control microcomputer's technique control algorithms

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A DSP-BASED SOCCER ROBOT FOR FIRA MIROSOT

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IFAC Proceedings Volumes 2005年第1期38卷 233-238页

作者： Thomas Klute Norman Weiss Simon Schulz Thomas Pfeifer Computer Science I University of Dortmund Germany

This work presents a soccer robot for the FIRA MiroSot league based on a DSP design instead of the more common microcontroller design to provide more flexibility in the use of the robot. The robot's mechanical and electronical design will be presented along with an overview on its control methods and software. Two additions to the robot – an on-board camera module and a 2.4 GHz radio module –will also be reviewed.

关键词： robot control robot navigation robot vision control algorithms systems design

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REJECTION OF REPEATABLE RUN-OUT IN HDDS USING INVERSE FREQUENCY DYNAMICS

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IFAC Proceedings Volumes 2005年第1期38卷 287-292页

作者： Motohiro Kawafuku Makoto Iwasaki Hiromu Hirai Atsushi Okuyama Department of Electrical and Computer Engineering Nagoya Institute of Technology Nagoya Japan Hitachi STRC

In order to suppress the Repeatable Run-Out (RRO) of a following control system in HDDs is quite effective to increase the disk density. Many approaches were presented in former literatures, e.g. by applying adaptive filters and/or repetitive controllers. These approaches, however, require the complicated design in structures and parameters, preventing the controller design from saving time and labor. This paper presents a novel algorithm to suppress the effects of RRO on following control performance. In the proposed algorithm, the FFT (Fast Fourier Transform) is applied to identify a frequency characteristic of RRO. Based on the identified characteristics, an inverse system in frequency domain can be achieved to reject the effect of RRO. Numerical simulations and experimental results show the effectiveness of the proposed control.

关键词： Accuracy Compensators control algorithms Disturbance rejection Fast Fourier transforms Frequency signal analysis Inverse system

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IMPLICIT STATE-SPACE REPRESENTATION : A UNIFYING FRAMEWORK FOR FWL IMPLEMENTATION OF LTI SYSTEMS

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IFAC Proceedings Volumes 2005年第1期38卷 285-290页

作者： T. Hilaire P. Chevrel Y. Trinquet IRCCyN UMR CNRS 6597 1 rue de la Noë 44321 NANTES FRANCE EMN 4 rue Alfred Raster La Chantrerie 44307 NANTES FRANCE PSA Peugeot Citroën 18 rue des Fauvelles 92256 La Garenne FRANCE

Practically, some intermediary realizations are used in order to simulate, numerically, dynamic systems. One of the most popular is the state-space realization. It reveals to be very useful to study the impact of Finite Word Length implementation, especially in the case of embedded controller. Numerous works concerned the design of the “best” realization concerning parameterisation, numerical noise minimisation or saving computation. This paper points out however that a standard state-space realization is too basic to take into account some interesting realizations. On the contrary, it highlights that implicit state-space realizations allows a more direct link with the macroscopic computations to be performed. It is necessary to describe some popular algorithms simulating LTI systems. Moreover, such a representation has the important property to unify different ways of research considering differently the possibilities offered by using the shift, δ or γ operators.

关键词： parametrization implicit systems state-space realization implementation control algorithms digital control

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Optimal control and practical GNC algorithms for autonomous low-and high-glide-ratio delivery systems

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IFAC Proceedings Volumes 2004年第8期37卷 466-471页

作者： Oleg A. Yakimenko Isaac I. Kaminer Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterey CA 93943-5106

The paper addresses development of control algorithms for two different autonomousaerial delivery systems. The first one is based on a solid circular parachute and the second one - on a ram-air parafoil. While the first, low-glide-ratio system is crucially dependent on the accuracy of the wind prediction, the second, high-glide-ratiosystem is capable of effectively rejecting moderate winds. This fundamental difference dictates different control laws described in this paper. The paper applies optimal control analysis to both systems and proceeds with thedevelopment of the practical guidance and control algorithms. Simulation results forboth systems as well as flight test results for the parachute-based system are included.

关键词： autonomous systems optimal control control algorithms aerospace engineering

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Hybrid AI/control system interactions and analysis

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JOURNAL OF EXPERIMENTAL & THEORETICAL ARTIFICIAL INTELLIGENCE 2004年第4期16卷 189-208页

作者： Henshaw, CG Sanner, RM Honeywell Technol Solut Inc Las Cruces NM USA Univ Maryland Space Syst Lab College Pk MD 20742 USA

This paper discusses the nature of interactions between high-level intelligent agents and low-level control algorithms. control algorithms offer the promise of simplifying a system's dynamic behaviour as perceived by the controlling agent, thus considerably simplifying the agent's tasks of planning and execution. However, the coupled dynamics of such a hybrid system can be difficult to predict and may even lead to undesirable behaviour. This paper demonstrates that it is possible for a rational intelligent agent commanding a system with a well-designed control algorithm to cause catastrophic behaviours, and presents a framework for analysing the coupled dynamics of hybrid systems. A technique for alleviating these behaviours is suggested, using newly developed control algorithms applicable to a wide variety of autonomous systems of current interest. These controllers can also themselves be made adaptive, allowing for the possibility of 'distributed' or 'cooperative' learning and reasoning. As the control algorithm learns models of the physical system, this information can be passed back to the controlling agent, allowing it to alter its goals and strategies accordingly. A new architecture for hybrid systems encapsulating these ideas is then suggested.

关键词： control algorithms intelligent agents stability analysis pilot-induced oscillations

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Creating moral buffers in weapon control interface design

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IEEE TECHNOLOGY AND SOCIETY MAGAZINE 2004年第3期23卷 28-+页

作者： Cummings, ML MIT Cambridge MA 02139 USA

We examine the ethical and social issues surrounding the design of human-computer interfaces that are designed for control of highly autonomous weapons systems. With the improvements of global positioning satellite communications and control algorithms, it is currently possible to launch weapons. These systems are highly autonomous in that they do not need constant human supervision and manual control for operation and indeed, only require human intervention when a change in a goal state is required. In the swarm concept, human decision makers are removed even further from the decision-making loop.

关键词： decision making ethical aspects human computer interaction satellite navigation user interfaces weapons autonomous weapons systems control algorithms decision-making loop ethical issues global positioning satellite communication human decision makers hum

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Adaptive decoupling control of a coupled drives apparatus

Adaptive decoupling control of a coupled drives apparatus

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23rd IASTED International Conference on Modelling, Identification and control

作者： Kubalcik, M Bobál, V Tomas Bata Univ Inst Informat Technol Dept Control Theory Zlin 76272 Czech Republic

ISBN: (纸本)0889863717

control of a coupled drives apparatus laboratory model as a two inputs - two outputs system is presented. One control algorithm based on polynomial theory and pole placement is proposed. A decoupling precompensator is used to suppress interactions between control loops. The algorithm in adaptive version is then used for control of the model. The results of the real-time experiments are also given.

关键词： multivariable control decoupling precompensator control algorithms polynomial methods adaptive control

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State-of-the-art of semiactive control systems using MR fluid dampers in civil engineering applications

State-of-the-art of semiactive control systems using MR flui...

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United States-Korea Workshop on Smart Infrastructural Systems

作者： Jung, HJ Spencer, BF Ni, YQ Lee, IW Sejong Univ Dept Civil & Environm Engn Seoul 143747 South Korea Univ Illinois Dept Civil & Environm Engn Urbana IL 61801 USA Hong Kong Polytech Univ Dept Civil & Struct Engn Kowloon Hong Kong Peoples R China Korea Adv Inst Sci & Technol Dept Civil & Environm Engn Taejon 305701 South Korea

Semiactive control systems have received considerable attention for protecting structures against natural hazards such as strong earthquakes and high winds, because they not only offer the reliability of passive control systems but also maintain the versatility and adaptability of fully active control systems. Among the many semiactive control devices, magnetorheological (MR) fluid dampers comprise one particularly promising class. In the field of civil engineering, much research and development on MR fluid damper-based control systems has been conducted since this unique semiactive device was first introduced to civil engineering applications in mid 1990s. In 2001, MR fluid dampers were applied to the full-scale in-service civil engineering structures for the first time. This state-of-the-art paper includes a detailed literature review of dynamic models of MR fluid dampers for describing their complex dynamic behavior and control algorithms considering the characteristics of MR fluid dampers. This extensive review provides references to semiactive control systems using MR fluid dampers. The MR fluid damper-based semiactive control systems are shown to have the potential for mitigating the responses of full-scale civil engineering structures under natural hazards.

关键词： semiactive control MR fluid damper dynamic models control algorithms full-scale applications

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A safe flight algorithm for unmanned aerial vehicles

A safe flight algorithm for unmanned aerial vehicles

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IEEE Aerospace Conference

作者： Rathinam, S Sengupta, R Univ Calif Berkeley CEE Syst Berkeley CA 94703 USA

ISBN: (纸本)0780381556

Military applications require unmanned aircraft vehicles (UAVs) to travel in a unknown, hostile environment. Hence minimizina the damage of these UAVs is crucial to any mission. The objective of this paper is to develop control alvorithms that help in keeping the UAV 'safe'. Safety implies that the UAVs are not damaged or destroyed during the mission. We present two algorithms that guide the forward motion of these UAVs and illustrate how this safe flight algorithm can be coupled with other path planning algorithms.

关键词： military aircraft remotely operated vehicles path planning safety safe flight algorithm unmanned aerial vehicles military applications control algorithms

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