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AN ONLINE FUZZY GAIN SCHEDULING FOR BLOOD PRESSURE REGULATION

IFAC Proceedings Volumes 2005年第1期38卷 13-18页

作者： Chi-Ngon Nguyen Olaf Simanski Agnes Schubert Ralf Kähler Bernhard Lampe Department of Electrical Engineering Institute of Automation Department of Mechanical Engineering Sect. Measurement and Control University of Rostock Germany Tel/Fax: +49 381 498 3556/3563

This paper presents a method of fuzzy gain scheduling for a PID controller applied to mean arterial pressure (MAP) regulation during general anesthesia by sodium nitroprusside (SNP) infusion. A supervising algorithm is used for online updating the fuzzy gain scheduler of the PID controller to act stronger against the body reaction. A new model based on Slate's model and Furutani's ideas was developed for testing the controller. Simulation and clinical results in deep hypotensive controls at 40mmHg on pigs indicate the safety and stability of designed controller.

关键词： Fuzzy control fuzzy logic PID control scheduling algorithms medical systems medical applications blood pressure

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Object-oriented methodology to the development of embedded real-time systems

Object-oriented methodology to the development of embedded r...

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2005 3rd IEEE International Conference on Industrial Informatics, INDIN

作者： Wehrmeister, Marco A. Pereira, Carlos E. Becker, Leandro B. PPGC - Informatics Institute Federal University of Rio Gande do Sul Brazil Electrical Engineering Department Federal University of Rio Grande do Sul Brazil Automation and Control Systems Department Federal University of Santa Catarina Brazil

ISBN: (纸本)0780390946

The growing complexity of today's embedded real-time systems demands new methods and tools to manage the problems of design, analysis, integration, and validation of complex systems. Focusing this issue, the present paper describes an object-oriented platform-based design process for real-time embedded systems. The proposed approach promotes a smooth transition from high-level RT-UML specification to the final embedded system, which is composed by hardware and software components. The transition from higher to lower abstraction levels is facilitated by the use of an OO real-time API, whose underlying facilities can be optimized according to the application needs and selected platform. An integrated toolset is used to support the intermediate steps of the design process. In order to illustrate the proposed approach and related toolset the design of an embedded real-time automation system for an "intelligent" wheelchair is presented. The paper also includes a performance evaluation of the implemented control and automation system for the wheelchair application, with focus on timing requirements. © 2005 IEEE.

关键词： Object oriented programming

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A robot-assisted surgery system for spinal fusion

A robot-assisted surgery system for spinal fusion

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作者： Chung, Goo Bong Lee, Soo Gang Kim, Sungmin Yi, Byung-Ju Kim, Whee-Kuk Oh, Se Min Kim, Young Soo Park, Jong Oh, Seong Hoon School of Electrical Engineering and Computer Science Hanyang University Korea Republic of Departmen of Control and Instrumentation Engineering Korea University Korea Republic of Automation R and D Center LG Indestrial Systems Co. LTD. Korea Republic of College of Medicine Hanyang University Korea Republic of Department of Biomedical Engineering Hanyang University Korea Republic of Division of Electrical and Computer Engineering Hanyang University Korea Republic of

ISBN: (纸本)0780389123

The goal of this work is to develop a robot-assisted surgery system for spinal fusion, which is composed of a robot, a surgical planning system, and an optical tracking system. The system plays roles of assisting surgeon for inserting a pedicle screw in spinal fusion. Compared to pure navigation systems as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical area. Furthermore, the robot can position and guide needles, drills, and other surgical instruments or conducts drilling/screwing directly. In preoperative surgery, the desired entry point, orientation, and depth of surgical tools for pedicle screw insertion are determined by the surgical planning system based on CT or MR images. Intra-operatively, the position information on the surgical instruments and the targeted surgical areas are obtained by the tracking system and, using that information, a robot conducts the preplanned operation depending on its role while compensating the movement of the surgical area. Two exemplary experiments employing the developed robot-assisted surgery system are conducted. © 2005 IEEE.

关键词： Navigation systems

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Hierarchical multiple models adaptive decoupling controller applied to the wind tunnel system

Hierarchical multiple models adaptive decoupling controller ...

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作者： Wang, Xin Li, Shao-Yuan Wang, Zhong-Jie Center of Electrical and Electronic Technology Institute of Information and Control Technology Shanghai Jiao Tong University Shanghai 200030 China Institute of Automation Shanghai Jiao Tong University Shanghai 200030 China Department of Control Science and Engineering Tongji University 200092 China

ISBN: (纸本)008045108X

For the biggest wind tunnel in Asia, during the aerodynamic research on the scale models, it is difficult to keep the Mach number in the test section and the stagnation pressure constant strictly because the interaction is strong, the operation conditions change abruptly and the transient response's requirements are high. To cope with these problems, a Hierarchical Multiple Models Adaptive Decoupling controller (HMMADC) is presented in this paper. The controller is composed of multiple fixed controller models and two adaptive controller models. Multiple models are used to improve the transient response of the wind tunnel. Hierarchical structure is presented to reduce the number of the fixed models greatly. Adaptive Decoupling controller not only decouples the system dynamically but also places the poles of the closed loop system arbitrarily. The significance of the proposed method is that it is applicable to a MIMO system with a much small number of models. The global convergence is obtained. Finally, several simulation examples in a wind tunnel experiment are given to show both effectiveness and practicality of the proposed method. Copyright © 2005 IFAC.

关键词： Wind tunnels

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Applying the SEEP method in the design of a real-time embedded control system for a motorized wheelchair

Applying the SEEP method in the design of a real-time embedd...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： M.A. Wehrmeister L.B. Becker C.E. Pereira Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details regarding embedded system modeling and its transition to the programming level are presented. Moreover, it describes the embedded system generation and provides data obtained from the hardware synthesis and the application execution. Moreover, it discusses how projects can be optimized according to requirements priorities. It finishes by highlighting the main advantage of SEEP in comparison to other existing methodologies for embedded systems design

关键词： Design methodology Real time systems control systems Wheelchairs Embedded system Hardware Embedded software Object oriented modeling Application software process design

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Parameter estimation for nonlinear dynamic systems from a feedback control viewpoint

Parameter estimation for nonlinear dynamic systems from a fe...

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International Conference on control and automation (ICCA)

作者： Xuemei Zhu Shuqing Wang Pu Li G. Wozny College of Electrical and Automation Engineering Nanjing Normal University Nanjing China Institute of Advanced Process Control University of Zhejiang Hangzhou China Institute of Process and Plant Technology Technical University Berlin Berlin Germany

The estimation of time-variant parameters in nonlinear models remains as an open problem. In this work, we propose a new approach to addressing this problem by tuning weighting factors in the least-squares dynamic optimization. Through analysis of the solution procedure of the resulting optimization problem, it is found that parameter estimation with a weighted least-squares method is equivalent to a multi-variable closed-loop control system. The weighting factors in the objective function are equivalent to the controller parameters. Like any control system synthesis, the tuning can be made based on the output-input sensitivity analysis. The effectiveness of the approach is illustrated by estimating tray efficiencies and feed composition of a heat-integrated distillation column system.

关键词： Parameter estimation Feedback control Nonlinear dynamical systems Optimization methods process control Maximum likelihood estimation Constraint optimization control systems control system synthesis Sensitivity analysis

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Web-based MATHEMATICA platform for systems and control education

Web-based MATHEMATICA platform for systems and control educa...

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20th IEEE International Symposium on Intelligent control, ISIC '05 and the13th Mediterranean Conference on control and automation, MED '05

作者： Kujan, Petr Hromčík, Martin Šebek, Michael Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Karlovo nam. 13 12135 Prague 2 Czech Republic Centre for Applied Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Karlovo nam. 13 12135 Prague 2 Czech Republic Centre for Applied Cybernetics Institute of Information Theory and Automation Pod vodarenskou vezi 4 18208 Praha 8 Czech Republic Institute of Information Theory and Automation Pod vodarenskou vezi 4 18208 Praha 8 Czech Republic

ISBN: (纸本)0780389360

Computer algebra software tools in general, and the MATHEMATICA system in particular, are increasingly employed during the controls and systems graduate and undergraduate courses at FEE CTU in Prague. MATHEMATICA benefits from its high-level user interface, graphical abilities, as well as numerical and symbolic computational power and dedicated packages for control systems analysis and design (control Systems Professional and Advanced Numerical Methods). In addition, MATHEMATICA provides a web-based platform for publication of results and presenting user-callable routines (webMATHEMATICA). In the Czech Republic a project financed by the Ministry of Education and called PUMA (Power User Mathematic Array) has been started recently, focused on creation of webaccessible software tools to support education at technical universities. The authors have been involved in these efforts and would like to contribute by creating a web site based on webMATHEMATICA dedicated to numerical and symbolic computations for systems and controls. This paper is the first report on this topic. The work is in rapid progress now and the paper summarizes the authors' plans and first results. ©2005 IEEE.

关键词： Computer aided software engineering

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Fuzzy temperature controller based on PMV

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2005年第SUPPL.期36卷 630-635页

作者： Duan, Chen-Xu Li, Jian-Xin Li, Hui Sun, Hao Duan, Pei-Yong Department of Information and Electrical Engineering Shandong University of Architecture and Engineering Ji'nan 250014 China Automation Institute Shandong Academy of Sciences Ji'nan 250014 China Department of Air-Conditioning Engineering Shandong University of Architecture and Engineering Ji'nan 250014 China College of Control and Information Shandong University Ji'nan 250061 China

A method was provided to control the temperature of the room by setting a parameter of PMV (Predicted mean vote). PMV presents as a setting value by controller, while feedback value was calculated through PMV model based on temperature and humidity measured directly. The comparison between setting and model calculated value of PMV gives rise to a PMV error signal which after calculated by Fuzzy controller can control the PMV through controlling the temperature of the room. This method, compared with the traditional method of temperature control based on temperature setting, takes into account the influence of humidity parameter on the PMV, so it can raise or lower the temperature of the room properly according to different seasons, on the premise of assuring the PMV, to achieve the aim of saving energy sources.

关键词： Energy savement Fuzzy control Predicted mean vote Temperature control

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Performance characterization of IP network-based control methodologies for DC motor applications. Part I

Performance characterization of IP network-based control met...

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Annual Conference of Industrial Electronics Society

作者： T. Richards M.-Y. Chow Advanced Diagnosis Automation and Control Lab Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Using a communication network, such as an IP network, in the control loop is increasingly becoming the norm. This process of network-based control (NBC) has a potentially profound impact in areas such as: teleoperation, healthcare, military applications, and manufacturing. However, limitations arise as the communication network introduces delay that often degrades or destabilizes the control system. Four methods have been investigated that alleviate the IP network delays to provide stable real-time control. This paper presents the four methodologies, while the companion paper presents a case study on a DC motor with a networked proportional-integral (PI) speed controller with various network delays and noise levels. The four methodologies are gain scheduling middleware (GSM), optimal stochastic methodology, queuing methodology, and robust control methodology. Simulation results show that NBC combined with these techniques can successfully maintain system stability, allowing control of real-time applications.

关键词： DC motors Communication system control Communication networks IP networks Niobium compounds process control Medical services Manufacturing processes Degradation control systems

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Experimental comparison of two pneumatic servo position control algorithms

Experimental comparison of two pneumatic servo position cont...

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IEEE International Conference on Mechatronics and automation

作者： Shu Ning G.M. Bone Control Automation and Electrical Grou Hatch Limited Mississauga ONT Canada Department of Mechanical Engineering McMaster University Hamilton ONT Canada

Many researchers have investigated pneumatic servo positioning systems due to their numerous advantages: inexpensive, clean, safe and high ratio of power to weight. However, the compressibility of the working medium, air, and the inherent non-linearity of the system continue to make achieving accurate position control a challenging problem. In this paper two control algorithms are designed for the pneumatic servo problem and their experimental performance is compared. The first algorithm uses position plus velocity plus acceleration feedback combined with feedfoward and deadzone compensation (PVA+FF+DZC). The second algorithm is a form of sliding-mode control (SMC). Extensive experiments using different payloads (1.9, 5.8 and 10.8 kg), vertical and horizontal movements, and move sizes from 3 to 250 mm were conducted. Averaged over 70 experiments with various operating conditions, the tracking error for SMC was 59% less than with PVA+FF+DZC. For a 5.8 kg payload and a 0.5 Hz, 70 mm amplitude, sine wave reference trajectory the root mean square error with SMC was less than 0.4 mm for both vertical and horizontal motions. This tracking control performance is better than those previously reported for similar systems.

关键词： Servomechanisms Position control Payloads Sliding mode control Pulse width modulation Trajectory Friction Three-term control Robotics and automation control systems

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