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American control Conference (ACC)

作者： Jian Chen Zheng Chen Hongye Su Jian Chu National Laboratory of Industrial Control Technology Institute of Advanced Process Control Department of System Science and Engineering Zhejiang University of Technology Hangzhou China Department of System Science and Engineering Zhejiang University Hangzhou P. R. China National Laboratory of Industrial Control Technology stitute of Advanced Process Control Zhejiang University of Technology Hangzhou China

Three types of gross errors-measurement biases, process leaks, and abnormal variances-are discussed. A new class of test statistics for gross error detection, called the two-step method, is proposed. This method consists of two steps. The first step is to detect and eliminate the abnormal variances in measured variables. The second step is to detect measurement biases and process leaks. In the second step, a mean-value transformation is introduced to improve the performance of gross error detection. Simulations are performed, and the two-step method is compared to the existing test statistics. It is shown that the new tests have a superior overall performance, and can detect all three types of gross errors discussed in this paper, even gross errors of small magnitudes. Also, the two-step method can easily distinguish measurement biases and process leaks from abnormal variances.

关键词： Testing Q measurement Fluid flow measurement Statistical analysis Error analysis Instruments Steady-state Laboratories Industrial control Process control

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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A new method on judgement of static stability for the quadruped robot

A new method on judgement of static stability for the quadru...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory control engineering Mechanical engineering

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Using front and back information for tight vehicle following maneuvers

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IEEE Transactions on Vehicular Technology 1999年第1期48卷 319-328页

作者： Y. Zhang B. Kosmatopoulos P.A. Ioannou C.C. Chien Center for Advanced Transportation Technologies Department of Electrical Engineering Systems University of Southern California Los Angeles CA USA Department of Electronics Control Division of Information Storage Opto-Electrons System Laboratory Industrial Research Institute Hsinchu Taiwan

During manual driving, most human drivers often use information about the speed and position of the preceding and following vehicles in order to adjust the position and speed of their vehicles. The purpose of this paper is to design an autonomous intelligent cruise control (AICC) which mimics this human driving behavior. The proposed AICC law uses relative speed and spacing information from the preceding and following vehicles in order to choose the proper control action for smooth vehicle following and for maintaining a desired intervehicle spacing specified by the driver. The vehicle stability and platoon stability (in the case of multiple vehicles) in both directions (backward and forward) are guaranteed by the proposed AICC law. Furthermore, platoon stability is guaranteed for a speed-dependent desired spacing (time headway approach) as well as for a constant desired spacing at all speeds.

关键词： Intelligent control Intelligent vehicles Remotely operated vehicles Mobile robots vehicle driving Stability vehicle safety Automatic control Humans control systems

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An Adaptive PI control system for an Omnidirectional Mobile Robot

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Journal of Robotics and Mechatronics 1999年第5期11卷 349-355页

作者： Sato, Kazuya Watanabe, Keigo Izumi, Kiyotaka Watanabe, Makoto Department of Advanced Systems and Control Engineering Graduate School of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Telecommunication System Engineering Information Technology Division Nitsuko Corporation 2-6-1 Kitamigata Takatsu-ku Kawasaki210 Japan

Resolved acceleration and PID control provide high-performance control in an omnidirectional mobile robot, but most research does not consider plant parameter perturbations requiring that control gains be reacĳusted. We present an adaptive PI control strategy for mobile robots that automatically adjusts PI controller parameters based on error signals. Experiments verify the effectiveness of our method. © 1999, Fuji Technology Press. All rights reserved.

关键词： Mobile robots

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Exponential Stability and Feasibility of Receding Horizon control for Constrained systems

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IFAC Proceedings Volumes 1998年第18期31卷 317-322页

作者： Jae-Won Lee Wook Hyun Kwon Hyung S. Cho System and Control Sector Samsung Advanced Institute of Technology School of Electrical Engineering Seoul National University Department of Mechanical Engineering Korea Advanced Institute of Science and Technology

In this paper, we propose a new receding horizon controller for discrete linear systems with hard constraints on inputs and states. It is shown that exponential stability of the closed loop system with the proposed receding horizon controller, is guaranteed utilizing terminal ellipsoid constraints. In order to improve the feasibility, we also propose some implementable versions of the proposed controller where the system matrix is partitioned into the stable and unstable modes and hard state constraints are softened. We also propose some methods to penalize violations resulting from softened state constraints, and make comparison among them by some illustrative examples. Dans cette communication, nous proposons des commandes a horizon fuyant par retour d'état ou de sortie pour des systèmes linéaires en temps discret soumis à des contraintes sur l'entrée et sur l'état. Les commandes à horizon fuyant proposées sont obtenues à partir d'un probléme d'optimisation à horizon fini où la matrice de coût final et la contrainte ellipsoéde invariante artificielle sont moins restrictives que la contrainte égalité finale habituelle. On considère les problèmes avec contraintes strictes ou contraintes mixtes dans le cas de retour d'état, et le problème avec contraintes mixtes dans le cas de retour de sortie. On montre, en utilisant l'approche de Lyapunov, que toutes les lois de commande proposées guarantissent la stabilité exponentielle des systèmes en boucle fermée pour tout les ensembles initiaux faisables.

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Soft computing for the intelligent robust control of a robotic unicycle with a new physical measure for mechanical controllability

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Soft Computing 1998年第2期2卷 73-88页

作者： Ulyanov, S. V. Watanabe, S. Ulyanov, V. S. Yamafuji, K. Litvintseva, L. V. Rizzotto, G. G. Department of Mechanical and Control Engineering The University of Electro-Communication 1-5-1 Chofugaoka Chofu Tokyo 182 Japan JP Corporate Advanced System SGS-THOMSON Microelectronics Via C. Olivetti 2 20041 Agrate Brianze Italy IT

The posture stability and driving control of a human-riding-type unicycle have been realized. The robot unicycle is considered as a biomechanical system using an internal world representation with a description of emotion, instinct and intuition mechanisms. We introduced intelligent control methods based on soft computing and confirmed that such an intelligent control and biological instinct as well as intuition together with a fuzzy inference is very important for emulating human behaviors or actions. Intuition and instinct mechanisms are considered as global and local search mechanisms of the optimal solution domains for an intelligent behavior and can be realized by genetic algorithms (GA) and fuzzy neural networks (FNN) accordingly. For the fitness function of the GA, a new physical measure as the minimum entropy production for a description of the intelligent behavior in a biological model is introduced. The calculation of robustness and controllability of the robot unicycle is presented. This paper provides a general measure to estimate the mechanical controllability qualitatively and quantitatively, even if any control scheme is applied. The measure can be computed using a Lyapunov function coupled with the thermodynamic entropy change. Interrelation between Lyapunov function (stability condition) and entropy production of motion (controllability condition) in an internal biomechanical model is a mathematical background for the design of soft computing algorithms for the intelligent control of the robotic unicycle. Fuzzy simulation and experimental results of a robust intelligent control motion for the robot unicycle are discussed. Robotic unicycle is a new Benchmark of non-linear mechatronics and intelligent smart control.

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Unattended Production Based on Cooperation between Offline and Online Robots

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Journal of Robotics and Mechatronics 1998年第6期10卷 538-541页

作者： Yang, Hong-Zhi Yamafuji, Kazuo Arita, Kouichiro Ohara, Naoki Department of Mechanical and Control Engineering. University of Electro-Communications 1-5-1 Chofugaoka Tokyo Chofu182-8585 Japan Production System Business Center Sony Corporation 6-7-35 Kitashinagawa Shinagawa-ku Tokyo141-0001 Japan Human Technology Department Advanced Technology Research Division Yamaha Motor Co. Ltd. 2500 Shingai Shizuoka Iwata438-8501 Japan

To cope with labor shortages due to low birth rates in the 21st century, and create friendlier production systems, we propose a robot system assisting production in flexible manufacturing environments, where offline robots replace or reduce human labor on the shop floor. Offline robots conduct aid or service tasks for online robots operating on production lines or sites. We analyze conventional automatic production systems using robots, propose a robotic production concept using two types of robots, present ways to implement the proposed concept and technical results, and discuss fault recovery using offline robots and peripheral technology. © Fuji Technology Press Ltd.

关键词： Robots

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Architectural Design for Open Intelligent Manufacturing system

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IFAC Proceedings Volumes 1997年第14期30卷 251-254页

作者： Hyoung Joong Kim Gi Taek Kim Byung-Wook Choi Department of Control and Instrumentation Engineering Kangwon National University Chunchon 200-701 Korea Advanced Manufacturing System R&D Office Korea Institute of Industrial Technology Chonan 230-820 Korea

The next generation manufacturing systems will exploit new features from distributed computing, object-oriented software engineering, and Internetworking. In this respect, the role of agents for intelligent manufacturing systems is addressed. This paper mainly surveys the state-of-the-art of the distributed object and agent technologies, which are the core of the intelligent manufacturing systems. Open architecture for interoperability is stressed. Standardization activities are also addressed.

关键词： Intelligent manufacturing systems Intelligent agents Open Architecture Distributed computing Interoperability

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Physical limits and information bounds of micro control. I. Quantum filters and non-demolition measurements 8

Physical limits and information bounds of micro control. I. ...

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8th International Symposium on Micromechatronics and Human Science, MHS 1997

作者： Ulyanov, S.V. Arai, F. Yamafuji, K. Fukuda, T. Rizzotto, G.G. Kurawaki, I. Department of Mechanical and Control Engineering University of Electro-Communications 1-5-1 Chofu Tokyo182 Japan Department of Micro Systems Nagoya University Furo-cho Chikusa-ku Nagoya Japan Corporate Advanced System Architectures Groups SGS-THOMSON Microelectronics Via C. Olivetti 2 Agrate Brianza20041 Italy Human Technology Division Research and Development Department Yamaha Motor Co. Ltd 2500 Shingai Iwata Shizuoka438 Japan

ISBN: (纸本)0780341716

The possible accuracy limit of micro control of dynamic systems in which the dominating disturbances are thermal and quantum noises is considered. The optimal control with a Kalman-Bucy filter (KBF) and physical limits of micro control of a macro object are studied. For the individual control of a micro object a quantum prototype of KBF with non-demolition observation on the basis of quantum filtering equation is introduced. © 1997 IEEE.

关键词： Demolition

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