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Asia International Conference on Modeling & Simulation

作者： Zakaria Hussain M.O. Tokhi Department of Automatic Control and System Engineering University of Sheffield UK

This paper presents the development of physiological and mathematical model of muscle extension and flexion induced by functional electrical stimulation (FES) for indoor rowing exercise. Three segmental models with nine mono-articular and bi-articular muscle groups are developed to drive hip, knee and ankle extension and flexion. The developed muscle models are evaluated under the dynamic simulation of FES-assisted indoor rowing exercise. The muscle forces and active joint moments generated by each muscle group during rowing manoeuvres are recorded and analysed. In view of good results obtained, it is suggested that the muscle models developed can be used as artificially activated muscle models for future development of FES-assisted indoor rowing exercise.

关键词： Muscles Biological system modeling Hip Knee Mathematical model Neuromuscular stimulation Cardiovascular diseases Humans Asia systems engineering and theory

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A novel approach to attain the true reusability of the code between different PLC programming tools

A novel approach to attain the true reusability of the code ...

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IEEE International Workshop on Factory Communication systems (WFCS)

作者： E. Estevez M. Marcos E. Irisarri F. Lopez I. Sarachaga A. Burgos Automatic Control and System Engineering Department ETSI University of the Basque Country Spain

Industrial Process Measurement and control systems are used in most of the industrial sectors to achieve production improvement, process optimization and time and cost reduction. Integration, reuse, flexibility and optimization are demanded to adapt to a rapidly changing and competitive market. In fact, standardization is a key goal to achieve these goals. The international standardization efforts have lead to the definition of the IEC 61131 standard. Part 3 of this standard defines a software model for defining automation projects as well as 5 programming languages. Nowadays, a major part of Programmable Logic controllers (PLC) vendors follows this standard, although each programming tool adds particularities and stores the automation project in different manner. But, although they may use the same software model and the same programming languages, source code reuse is not available. This work presents an infrastructure that allows transferring source code from one PLC programming tool to any other transparently to the users. The proposal consists of a textual expression of the software model and the programming languages, as well as the mechanisms, based on XML technologies, to achieve tool interoperability.

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Design of new modular walking robot MERO

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11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Ion, Ion Simionescu, Ion Curaj, Adrian Luige, Vladareanu Vasile, Aurelian Technology of Manufacturing Department POLITEHNICA University Bucharest Romania Mechanism and Robot Theory Department POLITEHNICA University Bucharest Romania Automatic Control and System Engineering Department POLITEHNICA University Bucharest Romania Institute of Solid Mechanics Romanian Academy Romania

ISBN: (纸本)9812835768

The walking robots are built to displace the loads on the not-aligned terrain. The modular walking system protect much better the environment when its contact with the soil is discrete, a fact that limits appreciately the area that is crushed. At the Polytechnic University of Bucharest has been new developed a walking modular robot to handle farming tools. This walking robot has three twolegged modules. Every leg has three freedom degrees (RRT) and a tactile sensor to measure the contact, which consists of lower and upper levels. The body of the MERO (MEchanism RObot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic or electric drives and are equipped with transducers and sensors. They are used to control the walking robot in the adaptability to a natural ground. A vehicle like that is Romanian Walking Robot MERO (Fig. 1).

关键词： Machine design

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A framework for disturbance attenuation on SISO stable/unstable systems

A framework for disturbance attenuation on SISO stable/unsta...

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7th World Congress on Intelligent control and Automation, WCICA'08

作者： Vilanova, R. Arrieta, O. Balaguer, P. Ponsa, P. Telecommunication and System Engineering Department School of Engineering Universitat Autònoma de Barcelona 08193 Bellaterra Barcelona Spain Department of Automatic Control Technical University of Catalonia Av. Vctor Balaguer s/n 08800 Vilanova i la Geltr Barcelona Spain

ISBN: (纸本)9781424421145

This paper presents a generalization of the Internal Model control (IMC) approach to feedforward control action generation. As it is well known, one of the distinctive features of the IMC formulation is the possibility to distinguish between the nominal and uncertain situation. However the consideration of the presence of uncertainty for the feedforward part of the controller is not as simple as it is for the feedback one. In this sense, what is proposed in this communication provides a more sistematic way of addressing a robust feedforward design. In addition, being one of the major drawbacks of the Internal Model control is to have to deal with stable systems, the generalization presented here allows for unstable plants as well as unstable disturbance models. © 2008 IEEE.

关键词： Feedforward control

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A model for energy predictions of a hotel room

A model for energy predictions of a hotel room

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20th European Modeling and Simulation Symposium, EMSS 2008

作者： Corzo, Adriana Acosta González Santos, Ana Isabel Zamarreño Cosme, Jesuás M. Álvarez Castelló, Víctor Automatic Control and Computation Department Electrical Faculty ISPJAE C/ 114 47011 Marianao C. Habana Cuba System Engineering and Automatic Department Faculty of Science Cuba University of Valladolid c/Prado de la Magdalena s/n 47011 Valladolid Spain Hotel Energy Staff Havana City Cuba

In this paper a model for energy predictions in three different rooms in a Havana hotel is obtained. The method is based in the determination of the cooling load of the hotel rooms using method Radiant Time Series, RT... 详细信息

ISBN: (纸本)8890073268

关键词： Hotels

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control of parallel robots using passive sensor data

Control of parallel robots using passive sensor data

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Asier Zubizarreta Itziar Cabanes Marga Marcos Charles Pinto Automatic Control and System Engineering Department University of Basque Country (UPV-EHU) Spain Mechanical Engineering Department University of Basque Country (UPV-EHU) Spain

ISBN: (纸本)9781424420575

A novel control architecture for parallel robots is introduced to fully exploit the advantages of these robots on high-speed and precision operation. A closed form of the dynamic model of parallel robots is difficult to obtain, due to the complex kinematic relations of these kind of mechanism. However, with the use of the extra data provided by sensors placed in strategic passive joints, kinematic and dynamic modelling can be simplified. The dynamic model can be used to implement advanced control techniques to improve the efficiency of parallel robots. In this paper, monoarticular and multiarticular control techniques are implemented on a 5R parallel robot, showing that the use of extra sensor data leads to a better and accurate control.

关键词： Joints Robots Mathematical model Sensors Robot sensing systems Kinematics Accuracy

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A framework for disturbance attenuation on SISO stable/unstable systems

A framework for disturbance attenuation on SISO stable/unsta...

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World Congress on Intelligent control and Automation (WCICA)

作者： R. Vilanova O. Arrieta P. Balaguer P. Ponsa Telecommunication and System Engineering Department School of Engineering ETSE Universitat Authnòma de Barcelona Barcelona Spain Department of Automatic Control Technical University of Catalonia Barcelona Spain

This paper presents a generalization of the internal model control (IMC) approach to feedforward control action generation. As it is well known, one of the distinctive features of the IMC formulation is the possibility to distinguish between the nominal and uncertain situation. However the consideration of the presence of uncertainty for the feedforward part of the controller is not as simple as it is for the feedback one. In this sense, what is proposed in this communication provides a more sistematic way of addressing a robust feedforward design. In addition, being one of the major drawbacks of the internal model control is to have to deal with stable systems, the generalization presented here allows for unstable plants as well as unstable disturbance models.

关键词： Feedforward neural networks Uncertainty Robustness Transfer functions Mathematical model Computational modeling Process control

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Real-Time Monitoring and Diagnosis Platform for a Machining Process

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IFAC Proceedings Volumes 2008年第2期41卷 10674-10679页

作者： E. Portillo M. Marcos I. Cabanes D. Orive J.A. Sánchez Department of Automatic Control and System Engineering Department of Mechanical Engineering E.T.S.I. de Bilbao (University of the Basque Country) Alameda Urquijo s/n 48013 Bilbao (SPAIN) (Tel: 0034 601 4049

This paper presents the design and development of a real-time monitoring and diagnosis system for diagnosing degraded cutting regimes in Wire Electrical Discharge Machining (WEDM). The detection in advance of the degradation of the cutting process is crucial since this can lead to the breakage of the cutting tool (the wire), reducing the process productivity and the required accuracy. This work presents the design and development of a real-time monitoring system that alerts of degraded operation. Unlike other works found in the literature review, which are focused on proprietary hardware, the present paper proposes a flexible real-time platform based on a commercial data acquisition board that can be easily configured for different purposes. It has been applied to develop a real-time monitoring and diagnosis system that uses virtual sensors to diagnose the process degradation. The results of this work show a satisfactory performance of the presented approach.

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ANN for Interpolating Instability Trends in WEDM

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IFAC Proceedings Volumes 2008年第2期41卷 2230-2235页

作者： E. Portillo M. Marcos I. Cabanes A. Zubizarreta J.A. Sánchez Department of Automatic Control and System Engineering Department of Mechanical Engineering E.T.S.I. de Bilbao (University of the Basque Country) Alameda Urquijo s/n 48013 Bilbao (SPAIN) (Tel: 0034 601 4049

In Wire Electrical Discharge Machining (WEDM) the breakage of the cutting tool (the wire) reduces the process performance and the required accuracy. Previous works of authors showed that the behavior of the basic signals of the process (current and voltage) can be employed to detect degraded situations that can lead to wire breakage. In particular, different types of degraded behaviors in two commonly used workpiece thicknesses (50 and 100 mm) were identified. In order to achieve this objective, a set of virtual sensors were defined and constructed from the basic signals of the process. Although the types of degraded behaviors were common for the studied workpiece thicknesses, the thresholds achieved by the virtual measurements depended on these. At the sight of this conclusion, the main goal of this work is to detect the process degradation in different workpiece thicknesses using one unique empirical model. Since Artificial Neural Networks are appropriated for processes of stochastic and nonlinear nature, its use is investigated here in order to interpolate the instability trends for different workpiece thicknesses. Firstly, a comparative study performed to select the most appropriated configuration of the neural network is summarized. Secondly, the strategy applied to detect degraded situations in different workpiece thicknesses is presented. The results of this work show a satisfactory performance of the presented approach.

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Optical and radio probing of lightning-associated phenomena in the atmosphere and ionosphere

Optical and radio probing of lightning-associated phenomena ...

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SICE Annual Conference

作者： T. Asano Y. Matsudo T. Suzuki Y. Hobara M. Hayakawa Department of Electronic Engineering University of Electro-Communications Chofu Tokyo Japan Air Force Defense Fuchu Tokyo Japan Department of Automatic Control and System Engineering Sheffield University UK

ISBN: (纸本)9784907764296

The monitoring and/or sounding of lightning discharges and their associated phenomena (mesospheric optical emissions etc.) has been performed by radio and optical measurements. We pay attention to the winter lightning in the Hokuriku area (Japan Sea side) of Japan, because it is extremely important to investigate whether lighting discharges in the Hokuriku area (whole spatial scale is relatively small in comparison with the conventional summer lightning in the US) could trigger the mesospheric optical emissions. The optical observation of those mesospheric emissions and the corresponding radio sounding by ELF and VHF radio waves of their parent lightning, have been reported. The observing systems are firstly presented, and our latest observational facts on the mesospheric emissions in the Hokuriku area, their parent lightning and some computer simulations on the sprite initiation, are presented.

关键词： Lightning Mesospheric emissions Optical measurement Radio measurement

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