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American control Conference (ACC)

作者： S.C. Hsieh A.G. Stefanopoulou J.S. Freudenberg K.R. Butts Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Scientific Research Laboratory Ford Motor Company Limited Dearborn MI USA

Tradeoffs between low feedgas emissions and smooth brake torque are discussed in the context of an engine equipped with variable camshaft timing (VCT). The use of VCT lowers the generation of feedgas emissions but adversely affects the torque response. However, with the addition of an electronic throttle and knowledge of online torque, the tradeoffs between emissions and drivability in the VCT engine can be lessened; conventional (nonVCT) engine torque response can be achieved while simultaneously preserving most of the emissions benefits gained by using VCT.

关键词： computer aided manufacturing CADCAM Timing Engines Fuel economy Exhaust systems Actuators Torque control Laboratories Couplings

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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Implementation of the velocities of the end-effector with the distributed arithmetic architecture

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1996年第4期17卷 387-417页

作者： Grigoriadis, GK Mertzios, BG Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace 67100 Xanthi Greece

The fast implementation of the linear and of the angular velocities of the end-effector of robotic manipulators, using the distributed arithmetic technique is described. The linear and angular velocities of the end-effector as well as the positional and the orientational Jacobian matrices is calculated by a cascade configuration of two pipelined arrays. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the linear and angular velocities of the end-effector is described, while the serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic computer architecture may be used in the real-time operation of the robot control system that requires the on-line computation of the position, of the linear and angular velocities of the end-effector and of the Jacobian matrix.

关键词： robot kinematics linear velocity angular velocity positional and orientational Jacobian matrices fast implementation pipelining distributed arithmetic and end-effector

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Fast algorithms for basic processing and analysis operations on block-represented binary images

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PATTERN RECOGNITION LETTERS 1996年第14期17卷 1437-1450页

作者： Spiliotis, IM Mertzios, BG Automatic Control Systems Laboratory Department of Electrical and Computer Engineering. Democritus University of Thrace Xanthi 67100 Greece

This paper describes a binary image representation scheme, called Image Block Representation and presents new algorithms for a number of basic binary image processing and analysis operations, which are rapidly implemented on block-represented binary images. The main purpose of the Image Block Representation is to provide an efficient binary image representation that permits the execution of operations on image areas instead of image points.

关键词： image block representation image normalization image measurements logic operations

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Internal force-based impedance control for cooperating manipulators

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1996年第1期12卷 78-89页

作者： Bonitz, RG Hsia, TC Systems Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.

关键词： Impedance Force control Motion control Manipulator dynamics Velocity control Robot sensing systems End effectors Kinematics Stability Computational modeling

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Improved performance model reference adaptive control with parameter mismatch compensation

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IEEE TRANSACTIONS ON automatic control 1996年第2期41卷 224-228页

作者： Papadakis, INM Thomopoulos, SCA Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University University Park PA USA

An adaptive controller with improved performance characteristics is introduced. The proposed controller extends recent results in this area since it achieves performance improvement of the zero-state output error in t... 详细信息

关键词： performance characteristics compensated model reference adaptive control performance boost PERFORMANCE MODELING adaptive controller outlet error adaptive control

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A design techique for the control of discrete-time systems subject to state and control constraints

A design techique for the control of discrete-time systems s...

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IEEE Conference on Decision and control

作者： G. Bitsoris E. Gravalou Control. Systems Laboratory Electrical and Computer Engineering Department University of Patras Patras Greece

The regulation problem of linear discrete-time systems under state and control constraints is investigated. In the first part of the paper necessary and sufficient conditions for the existence of a solution to the constrained control problem are established. The constructive form of the proof of this result provides also a method for the derivation of a control law transferring to the origin any state belonging to a given set of initial states while respecting the state and control constraints. Then a design technique for the determination of a solution to the constrained control problem is developed. The proposed technique is based on the reduction of the constrained control problem to simple linear programming problems.

关键词： control systems Sufficient conditions Laboratories Ear Strain control Linear programming Vectors Constraint theory

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Robust internal-force based impedance control for coordinating manipulators-theory and experiments

Robust internal-force based impedance control for coordinati...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Department of Electrical and Computer Engineering Systems Control and Robotics Laboratory University of California Davis CA USA

A robust internal force-based impedance control scheme for coordinating manipulators is introduced. Internal force-based impedance control enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects and requires no knowledge of the object dynamic model. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. The scheme is computationally inexpensive and suitable for general-purpose microcomputer implementation. Rigorous experimental investigations are performed and the results presented which validate the proposed concepts.

关键词： Robust control Impedance Manipulator dynamics Force control Nonlinear dynamical systems Velocity control Robot kinematics Uncertainty Payloads Stability analysis

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Robust dual-arm manipulation of rigid objects via palm grasping-theory and experiments

Robust dual-arm manipulation of rigid objects via palm grasp...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Systems Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Los Angeles Davis CA USA

An internal force-based impedance control scheme for two coordinating robots manipulating a rigid object via palm grasping is introduced. The minimal internal force required to maintain the grasp on the object is computed from the frictional constraints and sensed forces. A closed-form solution to the minimization problem is developed which makes the algorithm suitable for real-time control. The controller uses sensed moments at the palm interface to maintain proper orientation of the palms to achieve maximum surface contact. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. Rigorous experimental investigations are are performed and the results presented which validate the proposed concepts.

关键词： Robustness Robot sensing systems Robot kinematics Impedance Force control Closed-form solution Minimization methods Manipulator dynamics Nonlinear dynamical systems Robust control

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Application of reversible discrete-time cellular neural networks to image copyright labelling

Application of reversible discrete-time cellular neural netw...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： Tao Yang K.R. Crounse L.O. Chua Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA Department of Automatic Control Engineering Shanghai University of Technology Shanghai China

In this paper, we proposed a discrete-time cellular neural network (DTCNN) structure for the labelling of digital images. First, we present the concept and the structure of reversible DTCNN, which can be used to generate 2D binary random image sequences. Then both the original image and the copyright label, which is often another binary image, are used to generate a binary random key image. The key image is then used to scramble the original image. Due to the reversibility of a reversible DTCNN, the same reversible DTCNN is used to recover the copyright label from a labelled image. Due to the high speed of a DTCNN chip, our method can be used to label image sequences, e.g., video sequences, in real time. computer simulation results are presented.

关键词： Cellular neural networks Labeling Image sequences computer networks Multimedia databases Space technology Cellular networks Application software Laboratories Digital images

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