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IEEE Conference on control Technology and Applications (CCTA)

作者： C. Pedret A. Ibeas M. de la Sen R. Vilanova ETSE Universitat Autònoma de Barcelona Bellaterra Spain ETSE Universitat Autònoma de Barcelona Spain Systems Engineering and Automatic Control Group ETSE Universitat Autònoma Barcelona Bellaterra Spain Department of Electricity and Electronics University of Basque Country Campus of Leioa Bilbao Spain

This paper explores the use of a discretization procedure based on multirate sampling called generalized sample-data hold function (GSHF) for modeling and control purposes. Within this framework, the designer is allowed to use the degrees of freedom provided by the GSHF to deliberately cause stable pole-zero cancellations and, thus, obtaining reduced-order discrete-time models from linear continuous-time ones. This methodology is used for controller design purposes, concretely, proportional-integral-derivative (PID) control. In this way, a continuous-time process that is not suitable for PID control is discretized by means of a GSHF allowing a double benefit: complex dynamics of the continuous-time plant are removed in order to make PID control adequate and, for the reason that the order of the model is reduced, more simple tuning procedures can be used. Simulation examples have shown the applicability of the proposed approach and its usefulness providing good asymptotic tracking and smooth inter-sample behavior both in the perfectly known system and under parametric uncertainty.

关键词： Reduced order systems Three-term control Digital control Sampling methods Pi control Proportional control Stability Adaptive control Process control control system synthesis

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Active security system for an industrial robot based on artificial vision and fuzzy logic principles

Active security system for an industrial robot based on arti...

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ICINCO 2008 - 5th International Conference on Informatics in control, Automation and Robotics

作者： Fevery, B. Wyns, B. Boullart, L. Llata García, J.R. Torre Ferrero, C. Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Control Engineering Group Electronic Technology and Automatic Systems Department University of Cantabria Santander Spain

ISBN: (纸本)9789898111319

An active security system assures that interacting robots don't collide or that a robot operating independently doesn't hit any obstacle that is encountered in the robots workspace. In this paper, an active security system for a FANUC industrial robot is introduced. The active security problem where one robot needs to avoid a moving obstacle in its workspace is considered. An obstacle detection and localization mechanism based on stereoscopic vision methods was successfully developed. To connect the vision system, an operator's pc and the robot environment a real-time communication is set up over Ethernet using socket messaging. We used fuzzy logic for intelligent trajectory planning. A multitask oriented robot application in the KAREL programming language of FANUC Robotics was implemented and tested.

关键词： Fuzzy logic

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Intelligent control Based on Reinforcement Learning for Batch Thermal Sterilization of Canned Foods

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IFAC Proceedings Volumes 2008年第2期41卷 3568-3573页

作者： S. Syafiie Carlos Vilas Miriam R. Garcia Fernando Tadeo Antonio A. Alonso Ernesto Martinez Department of Systems Engineering and Automatic Control University of Valladolid 47011 Valladolid Spain { Process Engineering Group IIM-CSIC Vigo Spain National Research Council of Argentina Avellaneda 3657 3000-Santa Fe Argentina

A control technique based on Reinforcement Learning is proposed for controlling thermal sterilization of canned food. Without using an a-priori mathematical model of the process, the proposed Model-Free Learning controller (MFLC) aims to follow a temperature profile during two stages of the process: first heating by manipulating the saturated steam valve and then cooling by opening the water valve) by learning. From the defined state-action space, the MFLC agent learns the environment interacting with the process batch to batch and then using a tabular state-action mapping. The results show the advantages of the proposed technique for this kind of processes.

关键词： Reinforcement Learning Intelligent Process control Sterilization Process Batch Process

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An integral human-machine system framework: From automation to usability engineering

An integral human-machine system framework: From automation ...

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21st International Symposium on Human Factors in Telecommunication, HFT 2008

作者： Ponsa, P. Vilanova, R. Department of Automatic Control Technical University of Catalonia EPSEVG Av. Victor Balaguer s/n 08800 Vilanova i la Geltrú Barcelona Spain Department of Telecomunications and Systems Engineering Universitat Autónoma of Barcelona ETSE Campus UAB 08913 Bellaterra Barcelona Spain

ISBN: (纸本)9789833927722

The aim of this paper is to show an additional advantage of the guide for start and stop modes, GEMMA guide, that should motivate its use as well as to introduce the consideration of the human operator as an integral part of the automation procedure. The inclusion of the human operator as well as his interplay with the automation device needs some ergonomic guidelines, that can be drawn from joining the GEMMA structured approach and some concepts borrowed from cognitive ergonomic theory and human-computer interaction. Finally, this paper shows some examples of human-machine interfaces and the users' experience.©2008 HFT2008.

关键词： Automation

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Robust H ∞ controller Design for Aircraft Lateral Dynamics using Multi-objective Optimization and Genetic Algorithms

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IFAC Proceedings Volumes 2008年第2期41卷 8834-8839页

作者： M Giacomán-Zarzar R Ramirez-Mendoza PJ Fleming I Griffin A Molina-Cristóbal Center for Innovation in Design and Technology Tecnológico de Monterrey Monterrey Nuevo León México (Tel: 8358-2000 Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield England Electrical Machines & Drives Group Department of Electronic and Electrical Engineering The University of Sheffield Sheffield England

Two techniques are combined during the design of an optimal controller: Linear Matrix Inequalities (LMIs) and Multi-objective Genetic Algorithms (MOGAs). In this paper the LMI optimization technique is used to obtain a single controller while MOGA is used to convert the controller design into a multi-objective optimization procedure. The combination of these techniques is proposed in this document and is shown to be advantageous against independent application of the aforementioned techniques. It is also presented how the sensitivity and complementary sensitivity functions are shaped with the weighting functions, while restricting the magnitude of the control signals by adding them as a hard objective in the MOGA approach.

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Active Disturbance Rejection control of Toggle-Motor Coupling Servomechanism System

Active Disturbance Rejection Control of Toggle-Motor Couplin...

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7th World Congress on Intelligent control and Automation (WCICA 2008), vol.9

作者： Zhe Zuo Ya-ping Dai Dong-hai Li Ya-li Xue Chuan-feng Wang Yue-jin Song Department of Automatic Control Beijing Institute of Technology Beijing China Institute of Simulation and Control for Thermal Power Engineering Tsinghua University Beijing China North Industries Group Research Institute of China Ordnance Industry Taiyuan China

This paper presents Active Disturbance Rejection control system for Toggle-Motor coupling Servomechanism System. Genetic algorithm and mixed H2/H∞ norm index are utilized to optimize the system parameters;Monte-Carlo method is applied to evaluate the robustness of the control system. Simulation results show that under the condition of external disturbance, parameters perturbation and coupling, this method has cutting off characteristic for high-frequency noises and achieve lower sensitivity against the disturbances in low frequency range;its settling time is less than 0.5s, there is no step response static error and it has strong performance robustness. Compared with Sliding Mode control, this method avoids the chattering phenomena;compared with Fuzzy Neural Network control, structure is simpler.

关键词： Active disturbance Rejection control Toggle-Motor coupling Servomechanism System Genetic Algorithm Monte-Carlo method Mixed H2/H∞

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Multiway principal component analysis and case base reasoning methodology for abnormal situation detection in a nutrient removing SBR 9

Multiway principal component analysis and case base reasonin...

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2007 9th European control Conference, ECC 2007

作者： Garcia, M. Ruiz, M. Colomer, J. Melendez, J. Modal Interval Automatic Engineering Group - MICE Department of Electronics Computer Science and Automatic Control University of Girona CP 17071 Building PIV Girona Spain Control Engineering and Intelligent Systems Group EXiT Department of Electronics Computer Science and Automatic Control University of Girona CP 17071 Building PIV Girona Spain

ISBN: (纸本)9783952417386

Multiway Principal Component Analysis (MPCA) and Case-Based Reasoning (CBR) approaches are applied in a biological nutrient removal process. The goal of this study was to monitor of normal and abnormal operation conditions in this process. MPCA is used as a compression tool where, with a few variables, the process can be described, as well as, to detect batches with abnormal conditions. However, some false alarms were produced and others abnormal conditions were omitted. CBR is then proposed and it assumes that similar problems should have similar solutions. In biological process, these problems generally are operational situations under normal or abnormal situations: low ORP, high pH, sensors fault, among others. These symptoms can be stored in a Case Base (CB) in order to diagnose future situations. Several proof are made in order to improve the methodology. © 2007 EUCA.

关键词： Nutrients

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Experimental testing and modelling of a passive mechanical steering compensator for high-performance motorcycles 9

Experimental testing and modelling of a passive mechanical s...

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2007 9th European control Conference, ECC 2007

作者： Papageorgiou, Christakis Lockwood, Oliver G. Houghton, Neil E. Smith, Malcolm C. Automatic Control Group University of Linkoping Linkoping581 83 Sweden Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

ISBN: (纸本)9783952417386

This paper presents experimental results and a modelling study of a prototype mechanical device that represents a novel steering compensator for high-performance motorcycles. The mechanical device is different from conventional damper devices since it has been designed to represent a series combination of a damper and an inerter. The ideal inerter is a one-port mechanical element which is the exact analogue of the capacitor under the force-current analogy between mechanical and electrical networks, so that the force (torque) through the device is proportional to the relative acceleration (angular acceleration) across its terminals. The steering compensator is tested on a hydraulic test rig and the experimental admittance of the device is calculated over a specified frequency range. A model of the device is developed, including parasitic effects and nonlinearities, which achieves a good fit between model and experimental data. © 2007 EUCA.

关键词： Motorcycles

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