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American control Conference (ACC)

作者： A. Ibeas M. de la Sen S. Alonso-Quesada System Engineering and Automatic Control Group ETSE Universidad Autónoma de Barcelona Bellaterra Spain Department of Electricity and Electronics University of Basque Country (UPV-EHU) Leioa Spain

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of the manuscript is to design a robust control law capable of improving the tracking of each robot to its corresponding reference model in comparison to existing controllers when the slave is interacting with an obstacle while guaranteeing closed-loop stability. In this way, a multiestimation-based adaptive controller is proposed. Thus, the control scheme for each robot is composed of a set of estimation algorithms running in parallel along with a supervisory index proposed with the aim of evaluating the identification performance of each one. Hence, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single estimation based controller is used. Finally, some simulation examples showing the working of the multiestimation scheme complete the paper

关键词： Robust control Adaptive control Master-slave Robots Manipulators Reflection Force control control systems Robust stability Programmable control

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Multiestimation based discrete adaptive control of LTI continuous plants with unknown bounded external time delays

Multiestimation based discrete adaptive control of LTI conti...

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American control Conference (ACC)

This paper addresses the problem of controlling an unknown continuous linear time invariant plant with external point delays using a multiestimation scheme. The plant is supposed to be unknown while the delay is also supposed to be unknown but upper-bounded with known upper bound. The control algorithm is based on a multiestimation scheme. The estimation scheme is composed of a bank of estimation algorithms running in parallel, being each one associated to a discretization of the plant with a different value of the discrete time delay. In this way, a conceptually simple control design for unknown plants with external point delays is presented. Furthermore, the scheme has revealed to be potentially capable of estimating an approximation of the actual delay of the plant as simulation examples have pointed out. This is an important novelty since nowadays there are not effective methods to estimate simultaneously the delay of the continuous plant and its parameters

关键词： Adaptive control Delay effects Delay estimation control systems Upper bound automatic control Sampling methods control design Digital control Delay systems

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Evaluation of muscle activity and fatigue in extensor forearm muscles during isometric contractions

Evaluation of muscle activity and fatigue in extensor forear...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： M.A. Mananas M. Rojas F. Mandrile J. Chaler Department Automatic Control Biom. Engineering Research Center CREB Technical University of Catalonia Barcelona Spain Department of Electronics Laboratory for Neuromuscular System Engineering LISIN Politecnico di Torino Torino Italy Rehabilitation Service Laboratory of Biomechanics Mutua Egara Terrassa Spain

Work-related upper extremity disorders as epycondylitis and tendonitis are closely related to localized muscle fatigue of extensor forearm muscles. The aim of this work is to evaluate levels of activity, fatigue and interactions between the main extensor muscles of the wrist. Surface EMG signals were acquired from extensor carpi radialis (ECR), extensor digitorum comunis (EDC) and extensor carpi ulnaris (ECU) muscles during isometric contractions using linear electrode array technique. Parameters such as muscle fiber conduction velocity (CV), EMG average rectified value (ARV) and frequency parameters were estimated to study muscle activity during selective contractions, during a non specific task at different percentage of the maximum voluntary contraction (MVC) level and during a fatiguing exercise at 50% MVC. Results show that it is possible to enhance significantly ECR and ECU muscle ARV during their selective activation. Moreover, in the non selective task, ECU muscle ARV significantly decreases with respect to the other muscles with the increase of the MVC level. The activity of ECR muscle in a non specific task is predominant with respect to the other muscles at 80% MVC. EMG spectral parameters and CV show fatigue in all muscles during a sustained contraction at 50% MVC

关键词： Muscles Fatigue Biomedical engineering

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SUGAR FACTORY SIMULATOR FOR OPERATORS TRAINING

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IFAC Proceedings Volumes 2006年第6期39卷 259-264页

作者： A. Merino R. Mazaeda R. Alves A. Rueda L.F. Acebes de Prada C. Center of Sugar Technology.University of Valladolid. Edificio Alfonso VIII. Real de Burgos s/n. Valladolid 47011. Spain Department of System Engineering and Automatic Control University of Valladolid. Faculty of Sciences. c/ Real de Burgos s/n 47011 Valladolid Spain

This paper presents the main features of a sugar factory training simulator currently used for control room operators training. This simulator is based on a realistic distributed real time simulation of the whole factory and in a mimic of the control system. It allows the familiarization of the operators with the process and control system as well as with the process information that they use in the real plant. The main aims of the simulator are: (i) to guarantee operators knowledge of the process, and its control system; (ii) to test potentially dangerous situations and (iii) to identify possible problems sources and learn to correct them.

关键词： Training Simulators Physical Modelling Distributed simulation Sugar Factories

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Adaptive control for Stabilizing Possibly Inversely Unstable Continuous-time Plants by Using Multirate Input and Fractional-order Holds

Adaptive Control for Stabilizing Possibly Inversely Unstable...

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American control Conference

作者： S. Alonso-Quesada M. De la Sen A. Ibeas Department of Electricity and Electronics University of Basque Country (UPV-EHU) Leioa Spain Institute of Processes Research and Development University of Basque Country (UPV-EHU) Leioa Spain System Engineering and Automatic control Group ETSE. Universidad Autónoma de Barcelona Bellaterra Spain

This paper presents an adaptive control strategy for stabilizing a potentially non-inversely stable, linear and time-invariant plant. Such a strategy consists of a discretization of the plant by means of a fractional-order hold (FROH) with a multirate input in order to place the zeros of the discretized plant into the stability region. In this way, an adaptive controller can be designed so that the discretized plant asymptotically matches a stable reference model without any linking between the reference model zeros and those of the discretized plant Such a controller ensures the matching of the reference model at sampling instants and the boundedness of the plant output for all time. An example is presented to illustrate this control strategy.

关键词： Adaptive control Stability Programmable control Sampling methods controllability automatic control Joining processes Helium State feedback Context modeling

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Advanced predictive control based on multimodel learning techniques

Advanced predictive control based on multimodel learning tec...

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作者： Constantin, Nicolae Dumitrache, Ioan Automatic Control and System Engineering Dept. Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

ISBN: (纸本)008045108X

in this paper a new algorithm for local estimation for approximating a function by means of local models is introduced. The instant or in-time estimation provides an attractive alternative for nonlinear identification, since it requires less structural decisions to be made by the user. It represents a hybrid between local and global modeling. This estimation procedure is combined with a predictive control algorithm with a modification cost function for efficient control. Simulation results are provided to show the results of the proposed approach. Copyright © 2005 IFAC.

关键词： Cost functions

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A simulation based environment for designing real-Time decision tools in the trucking industry

A simulation based environment for designing real-Time decis...

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International Mediterranean Modeling Multiconference, I3M 2005, 17th European Modeling Simulation Symposium, EMSS 2005

作者： Ramos, Juan José Piera, Miquel Àngel Guasch, Antoni Figueras, Jaume Department of Telecommunication and System Engineering - Logisim Universitat Autònoma de Barcelona 08193 Bellaterra Spain Dpt. of System Engineering and Automatic Control - Logisim Universitat Politècnica de Catalunya 08028 Barcelona Spain

ISBN: (纸本)2952071233

During the last years, the transportation industry has been involved in important new challenges to cope the changes in production and logistical systems. Just-In- Time procurement and quick and efficient consumer response are some of the reasons why the transportation industry has recognized the need to incorporate new information technologies such as Global Positioning system (GPS), Electronic Data Interchange (EDI) and Internet (Roy 2001). These technologies can enhance the capabilities to optimize the transport operations since they provide the necessary information required to perform real-time decision making. This paper presents the laboratory environment that is being developed for the design of real-time decision tools for the transportation industry. © 2005 Frydman, LSIS.

关键词： Distributed computer systems

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control of power systems with facts devices considering different load characteristics

Control of power systems with facts devices considering diff...

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作者： Winzenick, Ingo Fette, Michael Horn, Joachim Department of Electrical Engineering Institute of Automatic Control Engineering Helmut-Schmidt-University Holstenhofweg 85 D-22043 Hamburg Germany System and Dynamik Beratungsunternehmen Tempelhoferstrabe 37 D-33100 Paderborn Germany

ISBN: (纸本)008045108X

Power systems form one of the largest and most complex technical systems. Changes of load parameters may lead to so called bifurcations, resulting in nonlinear phenomena like voltage collapse or interarea oscillations. Special software tools are able to simulate these systems and to identify bifurcations. This paper presents a systematic approach to determine gain factors of Flexible AC Transmission Devices (FACTS) considering changes of load parameters. This approach is applied to two different power system models. Copyright © 2005 IFAC.

关键词： Hopf bifurcation

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Self calibrating procedure for a 3D force observer

Self calibrating procedure for a 3D force observer

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Gámez García, J. Robertsson, A. Ortega, J. Gómez Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Department Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)0780395689

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently In order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system Identification. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Force and acceleration sensor fusion for compliant robot motion control

Force and acceleration sensor fusion for compliant robot mot...

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2005 IEEE International Conference on Robotics and Automation

作者： Gámez García, J. Robertsson, A. Gómez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors - that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer - whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Motion control

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