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2005 IEEE International Conference on Robotics and Automation

作者： Gámez García, J. Robertsson, A. Gömez 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 paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. 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： Force control

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A New Architecture for Robust Model Reference control

A New Architecture for Robust Model Reference Control

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IEEE Conference on Decision and control

作者： C. Pedret R. Vilanova R. Moreno I. Serra System Engineering and Automatic Control Group ETSE Universitat Authnòma de Barcelona Bellaterra Spain

A new controller configuration for Robust Model Reference control is presented in this paper. The structure is based on a right coprime factorization of the plant and makes use of an observer-based feedback control scheme combined with a prefilter controller. It is designed first to guarantee stability robustness and some levels of performance in terms of disturbance rejection. This is done by solving a constrained H ∞ optimization problem using the right coprime factorization of the plant in an active way. Secondly, the prefilter controller is designed to guarantee robust open-loop processing of the reference commands. This is done by assuming a Reference Model and by solving a Model Matching Problem.

关键词： Robust control Open loop systems Robust stability Feedback control control systems Uncertainty Adaptive control control system synthesis automatic control Constraint optimization

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A training simulator for the evaporation section of a beet sugar production process

A training simulator for the evaporation section of a beet s...

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19th Annual European Simulation and Modelling Conference, ESM 2005

作者： Merino, Alejandro Alves, Raúl Acebes, Luis Felipe Center of Sugar Technology University of Valladolid Edificio Alfonso VIII 47011 Valladolid Spain Department of System Engineering and Automatic Control University of Valladolid Escuela Universitaria Politécnica C/ Francisco Mendizábal no 1 47014 Valladolid Spain

ISBN: (纸本)9077381228

This paper deals with a training simulator for plant operators of an evaporation section of a beet-sugar factory. The reasons to use this kind of simulator are exposed. A brief description of the process and the object oriented mathematical modeling using the modeling tool EcosimPro is given. The simulator configuration, its basic architecture and modules, and their communications, based in the OPC standard, are briefly explained.

关键词： Personnel training

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Drug resistance and phase specificity of cancer chemotherapy-finite versus infinite dimensional models

Drug resistance and phase specificity of cancer chemotherapy...

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5th IASTED International Conference on Modelling, Simulation, and Optimization

作者： Świerniak, Andrzej Śmieja, Jaroslaw Ledzewicz, Urszula Schattler, Heinz Department of Automatic Control Silesian University of Technology Akademicka 16 44-100 Gliwice Poland Department of Mathematics and Statistics Southern Illinois University Edwardsville United States Department of Electrical and System Engineering Washington University St Louis United States

ISBN: (纸本)0889865264

In this paper we combine models that so far have been studied separately, taking into account both the phenomenon of gene amplification and drug specificity in chemotherapy, in their different aspects. The finite dimensional model into account only two levels of drug resistance but it allows for rigorous mathematical analysis. In the infinite dimensional model, the mathematical description is given by an infinite number of state equations with a system matrix, which form allows decomposing the model into two interacting subsystems. While the first one, of finite dimension, can have any form, the second one is infinite dimensional and tridiagonal. We compare both approaches and present our results dealing with optimization of protocols based on optimal control problems formulated for them. The optimal control problem is defined in 1 1 space.

关键词： Biomedical engineering

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automatic Calibration Procedure for a Robotic Manipulator Force Observer

Automatic Calibration Procedure for a Robotic Manipulator Fo...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University Jaen Spain Department of Automatic Control Lund University Lund Sweden

关键词： Calibration Robotics and automation Manipulators Robot sensing systems Force sensors Accelerometers Robust stability Service robots Fuses Motion estimation

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Dynamic modelling for condition monitoring of gas turbines: Genetic algorithms approach

Dynamic modelling for condition monitoring of gas turbines: ...

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作者： Breikin, T.V. Kulikov, G.G. Arkov, V.Y. Fleming, P.J. Control System Centre School of Electrical and Electronic Engineering University of Manchester Manchester M60 1QD United Kingdom Department of Automated Control Systems Ufa State Aviation Technical University K.Marx Street 12 Ufa 450000 Russia Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom

ISBN: (纸本)008045108X

The problem of model-based condition monitoring of aero gas turbine engines is considered. Genetic algorithms are applied for the dynamic modelling of aero engines by estimating parameters of the linear reduced-order model. The use of genetic algorithms affords flexibility in the choice of performance metrics. Real engine data is used to investigate the performance genetic algorithms and this approach is compared with traditional modelling techniques used in industry. Copyright © 2005 IFAC.

关键词： Genetic algorithms

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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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IEEE International Conference on Robotics and Automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Dept Jaen University Jaen Spain Dept. of Automatic Control Lund University Lund Sweden

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.

关键词： Force sensors Acceleration Sensor fusion Robot motion Force control Motion control Robot control Robot sensing systems Manipulator dynamics Force measurement

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ADVANCED PREDICTIVE control BASED ON MULTIMODEL LEARNING TECHNIQUES

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IFAC Proceedings Volumes 2005年第1期38卷 7-11页

作者： Nicolae Constantin Ioan Dumitrache Automatic Control and System Engineering Dept. Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania. Tel.40-21-4029974

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.

关键词： nonlinear predictive control in-time estimation multimodel optimization

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Identification of critical load-parameters in power systems using bifurcation analysis

Identification of critical load-parameters in power systems ...

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International Conference on control and Automation (ICCA)

作者： I. Winzenick M. Fette J. Horn Department of Electrical Engineering / Institute of Automatic Control Engineering Helmut Schmidt University-University of the Federal Armed Forces Hamburg Germany System and Dynamik Beratungsunternehmen Paderborn Germany

The importance of an uninterrupted electric power service was illustrated in 2003 and 2004 by several outages of electric power systems all over the world. In order to prevent such incidents information about the possible critical parameters are needed. Because of lack of information about this part of the system parameters of the load components are of special interest. Special recently developed tools are capable to analyze parameter influences. Together with test functions they are even capable to identify and classify so called bifurcation. This work presents a systematical analysis of load parameter changes. Points where the system changes its behavior qualitatively (=bifurcations) are identified. Furthermore, their dependence of second or third parameters are analyzed as well. This is illustrated by considering an often-used example: a nine bus power system.

关键词： Power system analysis computing Bifurcation Power systems Uninterruptible power systems Power system control Testing Power system stability Power system modeling Power system dynamics automatic control

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Macro-Actions in Model-Free Intelligent control with Application to pH control

Macro-Actions in Model-Free Intelligent Control with Applica...

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IEEE Conference on Decision and control

作者： S. Syafiie F. Tadeo E. Martinez Department of System Engineering and Automatic Control Faculty of Sciences University of Valladolid Prado de la Magdalena s/n 47011 Valladolid Spain (email: syam@autom.uva.es). Department of System Engineering and Automatic Control University of Valladolid Valladolid Spain Consejo Nacional de Investigaciones Cientificas y Technicas Santa Fe Argentina

ISBN: (纸本)0780395670

MFIC (Model-Free Intelligent control) is a technique, based on Reinforcement Learning, previously proposed by the authors to control processes without needing a precalculated model. In standard reinforcement learning algorithms (including MFIC), the interaction between an agent and the environment is based on a fixed time scale: during learning, the agent can select several primitive actions depending on the system state. This creates the problem of selecting a suitable fixed time scale to select control actions, to trade off accuracy in control against learning complexity and flexibility. A novel solution to this problem is presented in this paper: Macro-actions, that incorporate a general closed-loop policy and temporal extended actions. The application of macro actions on a laboratory plant of pH process shows that the proposed MFIC learns to control adequately the neutralization process, with reduced computational effort.

关键词： Intelligent control Learning Process control Size control Laboratories Signal processing Stochastic processes systems engineering and theory automatic control Iron

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