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IEEE Conference on Control Technology and Applications (CCTA)

作者： D.M. Lane G. Bartolini G. Cannata G. Casalino J.B.C. Davies G. Veruggio M. Canals C. Smith Institute of Marine Biology of Creete (IMBC) Crete Greece Department of Mechanical and Chemical Engineering (MCE) Heriot-Watt University Edinburgh UK Department of Computer Communications and System Science (DIST) Università di Genova Genoa Italy Institute for Naval Automation (IAN) CNR Genoa Italy Department of Computing and Electrical Engineering (CEE) Heriot-Watt University Edinburgh UK Department of Geology Geophysics and Paleontology University Autònoma de Barcelona Barcelona Spain

This paper describes the design, development and future activities for the ongoing EU MAST II and III programmes AMADEUS I and II. The AMADEUS is a project focusing on improving the dexterity and sensory abilities of underwater systems for grasping and manipulation of delicate and other objects. Phase I of the project was completed in May 1996, and has developed a prototype dextrous three fingered underwater dextrous gripper. Phase II is now underway to deploy the hand from an underwater robot arm and carry out wet trials with end users. This paper summarizes the major achievements obtained within the programme.

关键词： Sampling methods Fingers Grippers Grasping Sliding mode control Force sensors Prototypes Supervisory control Vibration control Computer architecture

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A Method of PID Controller Autotuning

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IFAC Proceedings Volumes 1997年第6期30卷 597-602页

作者： Nedjeljko Perić Ivan Petrović Ivan Branica University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 10000 Zagreb Croatia

A method of PID controller autotuning based on relay feedback control is described. Special attention is paid to the process structure and parameters estimation in the phase of reaching the desired operating point. This may increase the method's robustness and also speed up the tuning procedure. The algorithm's validity is illustrated by some simulation results and an experimental result on a laboratory pilot plant. Il est decrit la mèthode du régulateur d'autoadaptation PID basée au système asservi à relais. L'attention particulierè est consacrée à l'estimation de la structure et des paramètres du procès à la phase dans laquelle on met le proces dans le point de fonetionnement dont on augmente la robustesse et la vitesse de l'autoadaptation. Nous avons presenté certains résultats de la simulation à l'ordinateur ainsi qu'à l'installation pilote qui attestent la validité des algorithmes élaborés.

关键词： Autotuners Describing functions Limit cycles PID controllers Relay control

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Fuzzy Autopilot for Ships Experiencing Shallow Water Effect in Manoeuvering

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IFAC Proceedings Volumes 1997年第22期30卷 99-104页

作者： Zoran Vukić Edin Omerdić Ljubomir Kuljača University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

A fuzzy autopilot for ship path control is proposed. Nonlinear model of a ship and a steering subsystem is used. The autopilot uses heading signal and yaw rate signal to produce a command rudder angle. The autopilot does not use lateral offset from the nominal track. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. The influence of the shallow water effect during larger maneuver is analyzed.

关键词： Disturbance rejection Fuzzy control Nonlinear control systems Ship control

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Matrix approach to deadlock avoidance of dispatching in multi-class finite buffer reentrant flow lines

Matrix approach to deadlock avoidance of dispatching in mult...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Bogdan F.L. Lewis Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Automation and Robotics Research Institute University of Texas Arlington Worth TX USA

For a very general class of finite-buffer multi-class reentrant flow lines, necessary and sufficient conditions are given for the absence of deadlock in terms of circular wait relations. The result is a multi-class last buffer first serve (LBFS) dispatching policy for finite buffer flow lines. The notion of so-called "critical siphons", as well as the novel notion of "critical traps" are introduced in this paper. Petri net (PN) techniques are used in the analysis. Computationally efficient matrix techniques are given for implementing a multiclass dispatching policy that is guaranteed not only to avoid deadlock, but allows one to obtain efficient utilization of the resources in multi-class reentrant flow lines.

关键词： System recovery Dispatching Manufacturing systems Petri nets Stability Flexible manufacturing systems Computational complexity Assembly systems Computer aided manufacturing Production facilities

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Dynamic Positioning of Floating Vessels Postoptimal Analysis

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IFAC Proceedings Volumes 1997年第22期30卷 183-186页

作者： S. Mandžuka Z. Vukić Control Engineering Department Brodarski institute d.o.o. Av. V. Holjevca 20 10000 Zagreb CROATIA Department of Control and Computer Engineering in Automation University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb CROATIA

A procedure for the postoptimal analysis of dynamic positioning control system of floating vessels is proposed. The control system design is based on the optimal constrained covariance control (OC 3 ). Using the OC 3 technique, the disadvantages of the classical LQG optimal control technique are avoided. The presented numerical example illustrates the properties of the new approach.

关键词： Positioning system LQG control Optimization problems

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Orthogonal fuzzy model of the solder paste printing stage of surface mount technology

Orthogonal fuzzy model of the solder paste printing stage of...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： A. Lotfi M. Howarth P.D. Thomas Manufacturing Automation Research Group Department of Mechanical and Manufacturing Engineering Nottingham Trent University Nottingham UK Real Time Machine Control Research Group Department of Computing Nottingham Trent University Nottingham UK

The novel idea of an orthogonal fuzzy rule-based system is introduced in this paper. It is shown that in a fuzzy rule-based system where rules are orthogonal, each rule induces its maximum effect on the final decision. Using 18 orthogonal fuzzy rules, a model for the solder paste printing stage of SMT is created. The predicted percentage of deposit volume from the orthogonal and non-orthogonal models are compared with actual values. The orthogonal model shows less error in 85% of the data points.

关键词： Printing Surface-mount technology Fuzzy systems Knowledge based systems Input variables Manufacturing automation Fuzzy set theory Bismuth Machine control Computer aided manufacturing

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Feature extraction of postage stamps using an iterative approach of CNN

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IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES 1996年第10期E79A卷 1741-1746页

作者： Kishida, J Rekeczky, C Nishio, Y Ushida, A Faculty of Engineering Tokushima University Tokushima-shi 770 Japan Analogical and Neural Computing Systems Laboratory Computer and Automation Institute Hungarian Academy of Sciences 27 H-1111 Budapest Kende-u. 13-17 Hungary

In this article, a new analogic CNN algorithm to extract features of postage stamps in fray-scale images is introduced. The Gradient Controlled Diffusion method plays an important role in the approach. In our algorithm, it is used for smoothing and separating Arabic figures drawn with a color which is similar to the background color. We extract Arabic figures in postage stamps by combining Gradient Controlled Diffusion with nearest neighbor linear CNN template and logic operations. Applying the feature extraction algorithm to different test images it has been verified that it is also effective in complete segmentation problems.

关键词： cellular neural networks analogic algorithm image processing feature extraction gradient controlled diffusion

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Predictive gain scheduling autopilot for ships

Predictive gain scheduling autopilot for ships

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Mediterranean Electrotechnical Conference (MELECON)

作者： Z. Vukic L. Kuljaca D. Milinovic Department of Control Engineering and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

The paper presents results of research with the new predictive autopilot structure (PIP+D) with gain scheduling. The autopilot is tested and compared with conventional PID autopilot for a mariner class ship. The autopilot parameters are changed with the speed of the ship using the gain scheduling technique. Results obtained during the research show that the proposed autopilot structure is to be recommended if improved performance is of prime interest, when the velocity of the ship is changing. The analysis is based on the simulation of a mariner class ship as a nonlinear system, with the steering servo system taken as a nonlinear model. Results of the simulation are included.

关键词： Marine vehicles Limit-cycles Gears Servomechanisms System testing Spirals Mathematical model Performance gain Regulators

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Influence of turbogenerator set parameters on the calculation of shaft transient torsional strains

Influence of turbogenerator set parameters on the calculatio...

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Mediterranean Electrotechnical Conference (MELECON)

作者： Z. Maljkovic L. Kuterovac I. Gasparac Department of Electric Machines Drives aiiid Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

The paper involves an analysis of the impact of some turbogenerator set parameters which considerably influence its mechanical behaviour on the calculations of torsional strains. The analysis is carried out for a case of a three-phase short circuit at one of two parallel lines through which a generator is supplied followed by a fault clearing. Maximum torsional torques and critical fault clearing times at which they occur are presented. The mechanical parameters which have the largest influence on the torsional strains in the shaft are the stiffness coefficients of the shaft sections and the mechanical time constants (or moments of inertia) of the generator and the turbine rotors. The influence of mechanical damping coefficients is less significant. Maximum torsional torques are also indirectly influenced by electrical parameters of the generator, primarily by the subtransient and the transient synchronous reactance, but their impact is minor. Calculated time responses of torsional torques for the combined fault show that inaccurately defined mechanical parameters can lead to wrong conclusions concerning maximum values of torsional torques which could occur during a fault.

关键词： Turbogenerators Shafts Capacitive sensors Circuit faults Power system modeling Transient analysis Turbines Power system stability Power system protection Mathematical model

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Shepe from Shading with perspective projection and camera calibration

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Computers & Graphics 1996年第3期20卷 351-364页

作者： Júlio Kiyoshi Hasegawa Clésio Luis Tozzi Department of Computing Engineering and Automation—DCA Electrical Engineering Faculty UNICAMP Universidade Estadual de Campinas CP6101 13081-970 Campinas São Paulo Brazil

The majority of algorithms making use of the Shape from Shading technique to reconstruct a 3-D surface from its image employ the orthographic projection system which, in the case of real images, always causes deformation on the reconstructed surface. To remove this constraint a simultaneous procedure (Hybrid Model) is proposed which uses the Shape from Shading (SFS) technique combined with the photogrammetric technique and the perspective projection to reconstruct the surface and determine the camera calibration parameters. The procedure is based on an explicit mathematical model and an iterative process is adopted to solve the resulting system of equations. The Least Square Method (LSM) is adopted and the Taylor's Series Lianearization technique is applied due to the non-linearity of the model. The proposed procedure differs from the procedures found in the literature in that it adopts the simultaneous computation of the tridimensional coordinates for surface point and the camera calibration parameters while employing perspective projection. In addition to that, solving the resulting system of equations does not demand any restriction on the surface, as it happens in other related procedures.

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