The paper describes set-bounded parameters and state estimation component for Model Predictive Control of integrated wastewater treatment plant at medium time scale purposes. This is one of the components within Intel...
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The paper describes set-bounded parameters and state estimation component for Model Predictive Control of integrated wastewater treatment plant at medium time scale purposes. This is one of the components within Intelligent Hierarchical Control Structure designed in order to cope with problems of the controlled system such us: multiple time scale, highly non linear dynamics, small number of on-line measurements etc. The set-bounded joined parameter and state estimation algorithm generates robust estimates of these parameters and state for Model Predictive Control purposes. Both, the estimation algorithm and the Model Predictive Controller utilise a grey-box model of controlled plant dedicated for medium time scale. The set-bounded joined state and grey-box model parameters estimation algorithm is validated by simulation. The data were taken partly from real data records gathered at Kartuzy WWTP in Poland and partly from the Kartuzy plant simulation based on recently developed and calibrated plant model.
Bioprocesses, like fed-batch fermentations, are complex, nonlinear and nonstationary systems. These qualities have led to use of adaptive models, which have simple, often linear, model structure but were the parameter...
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Bioprocesses, like fed-batch fermentations, are complex, nonlinear and nonstationary systems. These qualities have led to use of adaptive models, which have simple, often linear, model structure but were the parameters vary in time. An important question then becomes what kind of adaptation strategy should be chosen. Here the parameter adaptation is formulated as a Kalman filtering problem. The required state-space model is estimated using the EM-algorithm
The paper presents a new approach to eliciting information on current professional airline pilot skills and pilotage experience as a decision making person (DMP). Such an approach is regarded to the heuristic regulari...
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The paper presents a new approach to eliciting information on current professional airline pilot skills and pilotage experience as a decision making person (DMP). Such an approach is regarded to the heuristic regularities of the DMP thinking process. In turn, the regularities are revealed on basis of recording the motions of the pilot eyes over the information field of the flight deck and processing the experimental data obtained. For the data mining, a probability theoretical approach is involved. Such an approach is based on applying the notion of consistency of measures of stochastic dependence of random variables; and a method of deriving almost sure converging estimate of such a measure by sample data is proposed.
The point-mass method for nonlinear state estimation is re-examined. Several aspects of the method are treated and algorithms for multi-step prediction and smoothing based on the point-mass filtering algorithm are der...
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The point-mass method for nonlinear state estimation is re-examined. Several aspects of the method are treated and algorithms for multi-step prediction and smoothing based on the point-mass filtering algorithm are derived. Thus solution of all three estimation problems, i.e. filtering, prediction and smoothing, is unified within the pointmass framework. An anticipative technique for adaptation of support grid is presented. This technique automatically sets the number of grid points according to a future behaviour of the system and with respect to the user-defmed accuracy of pdf approximation.
An adaptive Kalman filter was designed to shape the covariance of a quadrature encoder signal to achieve better performance under measurement quantisation. Both temporal and system state measurements were used to pred...
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An adaptive Kalman filter was designed to shape the covariance of a quadrature encoder signal to achieve better performance under measurement quantisation. Both temporal and system state measurements were used to predict the measurement noise of the encoder. Results show that the new adaptive filter produces more accurate results while requiring a lower resolution encoder than a similarly designed conventional Kalman filter intended to remove quantisation noise. An example with simulated output is presented to show the performance of the new filter.
This paper addresses the complex issues involved extending prediction intervals for inspection and maintenance of electrical protection equipment on manufacturing lines. Illustrations are based on representative data.
This paper addresses the complex issues involved extending prediction intervals for inspection and maintenance of electrical protection equipment on manufacturing lines. Illustrations are based on representative data.
This paper presents a self-sensory robot arm to two basic sensing problems in control of flexible manipulators: detection of the position and orientation variations due to structural deformation and detection of the c...
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This paper presents a self-sensory robot arm to two basic sensing problems in control of flexible manipulators: detection of the position and orientation variations due to structural deformation and detection of the contact force of end-effector when manipulator interacts with its environment. Taking advantage of structural flexibility, a flexible robot arm with strain gauges distributed on it acts as a sensing unit. The position and orientation of flexible arm are expressed as a function of curvature of the arm. An interpolation technique gives this continuous curvature function from a finite set of measurements made with strain gauges. A relation between strain measurements and endpoint force of flexible arm is developed and the contact force of end-effector is then determined using a force propagation algorithm. The proposed technique and algorithm were implemented and evaluated in a laboratorial flexible arm. Experimental validations using a vision system and two force sensors have shown that the self-sensory flexible arm can provide accurate endpoint position and force in both static and dynamic loading situations. (C) 2003 Elsevier Science Ltd. All rights reserved.
A new decoding method is presented for linear analog encoders enabling major improvements in both accuracy and resolution. A simulation study is used to demonstrate the performance improvement of the proposed method, ...
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ISBN:
(纸本)008044010X
A new decoding method is presented for linear analog encoders enabling major improvements in both accuracy and resolution. A simulation study is used to demonstrate the performance improvement of the proposed method, demonstrating that the new method can generate position estimates with accuracy about three times better than that of standard methods. Moreover, in some special cases, the resulting position accuracy can reach subnanometer levels, thus enabling further size reduction in the semiconductor industry. The proposed algorithm also yields velocity estimates better by about two orders of magnitude than those obtained with standard methods. Copyright (C) 2003 IFAC.
Numerical solution of the Bayesian recursive relations in state estimation by the point-mass approach is treated. The stress is laid on the new grid design for multimodal probahility density functions of state. A bank...
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Numerical solution of the Bayesian recursive relations in state estimation by the point-mass approach is treated. The stress is laid on the new grid design for multimodal probahility density functions of state. A bank of grids is used for representation of the state space to cover different modes of the density. Splitting and merging techniques are designed for managing the bank of grids.
The prospect of helping disabled patients by translating neural activity from the brain into control signals for prosthetic devices is currently being realized. Initial proof-of-concept systems have demonstrated the n...
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ISBN:
(纸本)0780375793
The prospect of helping disabled patients by translating neural activity from the brain into control signals for prosthetic devices is currently being realized. Initial proof-of-concept systems have demonstrated the need for faster and more accurate estimation algorithms, without requiring unrealistically many neurons. To address this need, we recently reported the plan-movement maximum likelihood (PMML) algorithm. It combines plan activity, specifying reach end-point, with movement activity, specifying instantaneous direction and speed of the arm movement, to yield more accurate estimates with fewer neurons. This approach could greatly benefit from an improved ability to track the switching of plan activity, which precedes movement onset, so that a more accurate plan estimate can be incorporated into movement decoding. In this paper, we propose a modified point-process filter, employing an adaptive parameter, that is capable of more accurately tracking constant plan periods and step changes than conventional methods. We also suggest that this algorithm is more attractive than an alternate maximum likelihood step tracking scheme. Ultimately, the adaptive algorithm is well-suited for use with the PMML algorithm, or for directly controlling prosthetic devices with plan activity, and should improve neural prosthetic system performance.
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