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International Conference on Industrial Electronics, control and Instrumentation

作者： M.M. Svinin M. Uchiyama Aeronautics and Space Engineering Department University of Tohoku Sendai Miyagi Japan Automatic Control Department System Theoryand Robotics Section Darmstadt University of Technology Darmstadt Hessen Germany

This paper presents a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are described, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and the force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and the moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling central law to ensure the tracking of the object trajectories in the position and the force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.< >

关键词： Force control control systems Force feedback Manipulator dynamics Robot kinematics Orbital robotics Equations Acceleration Trajectory Testing

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Output feedback control based on state and disturbance estimation

arXiv

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arXiv 2018年

作者： Hu, Wuhua Camacho, Eduardo F. Xie, Lihua Singapore Singapore Department of System Engineering and Automatic Control Escuela Superior de Ingenieros University of Sevilla Spain School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance. This work extends the concept of disturbance as the mismatch between a system model and the true dynamics, and estimates and compensates the disturbance for multi-input multi-output linear/nonlinear systems described in a general form. The results presented do not need to assume the disturbance to be independent of the control inputs or satisfy a certain matching condition, and do not require the system to be expressible in an integral canonical form as required by algorithms previously described in literature. The estimator and controller are designed under a state tracking framework, and sufficient conditions for the closed-loop stability are presented. The performance of the resulting controller relies on a co-design of the system model, the state and disturbance observer, and the controller. Numerical experiments on a first-order system and an inverted pendulum under uncertainties are used to illustrate the control design method and demonstrate its efficacy. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear systems

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An agent-based architecture in geographical information system

An agent-based architecture in geographical information syst...

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American control Conference (ACC)

作者： Tang Chao Feng Shan Qiu Rendong L.D. Xu Department of Automatic Control Engineering Institute of Systems Engineering Huazhong University of Science and Technology Wuhan Hubei China Department of Management Science and Information System Wright State University Dayton OH USA

In this paper, agent-based architecture has been introduced into GIS for interactability and scalability. We have developed an interface agent to interactively assist the user with the query formation process. The interface agent has a capability of offering domain knowledge that is associated with a given query. Also the agent records users troubleshooting experience and show them to the same user and other user as hints. Further, we also have developed the agent-based architecture with a 2-tier mediator model in GIS to meet the needs for interoperability among diverse application domains and integration of heterogeneous information source. Also broker agent provides a matchmaking service to other agent. As a result, qualitative and quantitative data can be integrated into GIS. Also we describe a prototype system, GXGIS, using agent-based technology.

关键词： Information systems Geographic Information systems Management information systems Database systems systems engineering and theory Data models Geography Chaos Information management Technology management

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ROBUST SPECIFICATION INFLUENCE ON FEEDBACK control STRATEGIES

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IFAC Proceedings Volumes 2002年第1期35卷 425-430页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía 31006 Pamplona SPAIN

The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design.

关键词： Robust control Uncertain dynamical systems Quantitative Feedback Theory

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A quantization method for haptic data lossy compression

A quantization method for haptic data lossy compression

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International Conference on Mechatronics (ICM)

作者： Tomohiro Nakano Seiji Uozumi Rolf Johansson Kouhei Ohnishi Graduate School of Science and Technology Keio University Yokohama Japan Department of Automatic Control Lund University Lund Sweden Department of System Design Engineering Keio University Yokohama Japan

In this paper, a quantization scheme for haptic data compression is proposed and the results of its application to a motion copying system are described. The data compression of image and audio data has been researched a lot. However, the data compression of haptic data has not been much researched yet although the amount of haptic data is large in general. The discrete cosine transform (DCT) is used for the lossy compression of haptic data in this paper. A new quantization scheme using characteristics of DCT is proposed. By using a proposed method, a larger signal-to-noise ratio compared to conventional method is achieved. In the experiment, the validity of the proposed method was verified.

关键词： Force Discrete cosine transforms Haptic interfaces Quantization (signal) Signal to noise ratio Predictive coding Data compression

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Use of pseudo measurement to real-time target tracking

Use of pseudo measurement to real-time target tracking

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IEEE International Conference on systems, Man and Cybernetics

作者： Yaping Dai K. Hirasawa J. Murata Jinglu Hu Chunzhi Jin Zhen Liu Department of Automatic Control Beijing Institute of Technology China Department of Electrical and Electronic System Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Japan Department of Earth Resource Engineering Graduate School of Engineering Kyoto University Japan

In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and is described by an AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e., there are four measurement data: range r, azimuth /spl theta//sub a/, elevation /spl theta//sub e/ and range rate r/spl dot/). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance can be decoupled. Thus the computing requirement of the algorithm is reduced and can be performed in real time.

关键词： Target tracking Noise measurement Colored noise Coordinate measuring machines Nonlinear equations Motion measurement White noise Electric variables measurement Gain measurement Azimuth

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Estimation of lactate threshold with machine learning techniques in recreational runners

arXiv

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arXiv 2018年

作者： Etxegarai, Urtats Portillo, Eva Irazusta, Jon Arriandiaga, Ander Cabanes, Itziar Department of Automatic Control and System Engineering Faculty of Engineering University of Basque Country BilbaoUPV/EHU Spain Department of Physiology Faculty of Medicine and Nursing University of Basque Country LeioaUPV/EHU Spain

Lactate threshold is considered an essential parameter when assessing performance of elite and recreational runners and prescribing training intensities in endurance sports. However, the measurement of blood lactate concentration requires expensive equipment and the extraction of blood samples, which are inconvenient for frequent monitoring. Furthermore, most recreational runners do not have access to routine assessment of their physical_tness by the aforementioned equipment so they are not able to calculate the lactate threshold without resorting to an expensive and specialized center. Therefore, the main objective of this study is to create an intelligent system capable of estimating the lactate threshold of recreational athletes participating in endurance running sports. The solution here proposed is based on a machine learning system which models the lactate evolution using recurrent neural networks and includes the proposal of standardization of the temporal axis as well as a modi_cation of the strati_ed sampling method. The results show that the proposed system accurately estimates the lactate threshold of 89.52% of the athletes and its correlation with the experimentally measured lactate threshold is very high (R=0,89). Moreover, its behaviour with the test dataset is as good as with the training set, meaning that the generalization power of the model is high. Therefore, in this study a machine learning based system is proposed as alternative to the traditional invasive lactate threshold measurement tests for recreational runners. Copyright © 2018, The Authors. All rights reserved.

关键词： Sports

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Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Hao Ding Georg Schnattinger Benjamin Passenberg Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering University of Kassel Germany High-Frequency Engineering Technische Universität München Munchen Germany Institute of Automatic Control Engineering Technische Universität München Munchen Germany

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs) in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario.

关键词： Planning Joints Optimization Trajectory Service robots Dynamics

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Process Optimization of Black Soldier Fly Egg Production via Model Based control

arXiv

引用

arXiv 2022年

作者： Kobelski, Alexander Hempel, Arne-Jens Padmanabha, Murali Wille, Luiz-Carlos Streif, Stefan Faculty of Electrical Engineering and Information Technology Automatic Control and System Dynamics Technische Universitaet Chemnitz Chemnitz09111 Germany The Department of Digital Engineering Staatliche Studienakademie Glauchau Glauchau08371 Germany

Black soldier fly (BSF) larvae (Hermetia illucens) are a valuable protein source for manufacturing animal feed. To maximize their production, both the quantity and quality of their reproductive cycle, i.e. egg production during oviposition, must be increased. In artificial environments, flies often sit idle in cages without mating, depleting their energy reserves and resulting in lower egg production per female. By controlling environmental conditions such as temperature and light inside breeding cages, the flies may be stimulated in a way that improves egg output. However, this stimulation increases the energy demand of the process and may stress the flies, resulting in reduced egg production. Therefore, control must be applied in a careful way, which requires knowledge of the egg production cycle. In this work, a mathematical model describing the various fly life stages and their transition to the egg production process is developed. Relevant factors are identified and their effect on the fly life and egg production is mathematically described. Parameters are identified using data from literature and goodness of fit is evaluated. Using the model, an optimal control problem is formulated with the goal of minimizing the energy costs and increasing the egg production quantity. In Simulation, our approach showed 13% higher output in shorter time at reduced energy costs compared to a (standard) constant setpoint approach. Optimal control could reach same amount of egg in 60 % of time compared to standard scenario. © 2022, CC BY-NC-ND.

关键词： Optimal control systems

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Energy Efficiency of Hybrid-Power HetNets: A Population-like Games Approach

Energy Efficiency of Hybrid-Power HetNets: A Population-like...

引用

2018 Annual American control Conference, ACC 2018

作者： Fletscher, L.A. Barreiro-Gomez, J. Ocampo-Martinez, C. Maestre, J.M. Valencia Peroni, C. Facultad de Ingeniería Universidad de Antioquia UdeA Departamento de Ingeniería Electrónica y Telecomunicaciones Medellín Colombia New York University Abu Dhabi Learning Game Theory Laboratory United Arab Emirates Automatic Control Department Barcelona Spain School of Engineering Universidad de Sevilla System Engineering and Automation Department Seville Spain Universidad Nacional de Colombia Process and Energy Department Medellín Colombia

ISBN: (纸本)9781538654286

In this paper, a distributed control scheme based on population games is proposed. The controller is in charge of dealing with the energy consumption problem in a Heterogeneous Cellular Network (HetNet) powered by hybrid energy sources (grid and renewable energy) while guaranteeing appropriate quality of service (QoS) level at the same time. Unlike the conventional approach in population games, it considers both atomicity and non-anonymity. Simulation results show that the proposed population-games approach reduces grid consumption by up to about 12% compared to the traditional best-signal level association policy. © 2018 AACC.

关键词： Games Energy consumption Sociology Statistics Base stations Cellular networks Optimization"

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