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2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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Sensors reliability optimal allocation for fault tolerant control system with imperfect fault diagnosis

Sensors reliability optimal allocation for fault tolerant co...

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World Congress on Intelligent control and automation (WCICA)

作者： Fei Gao Hongyue Zhang Department of Test and Control School of Automation Science and Electrical Engineering BeiHang University Beijing China

ISBN: (纸本)0780382730

The absolute reliability of a fault diagnostic device is assumed in most of reliability optimal allocation methods, and the fault diagnostic device is ignored in the system reliability model. In this paper, the hardware and software conditions on which the fault diagnostic device depends upon are analyzed. The fault diagnostic device is assumed imperfect and is regarded as a part of the whole system reliability model. Therefore, a more practical reliability optimal allocation method of a control system is provided. The method is used in sensors reliability optimal allocation of satellite attitude control system.

关键词： Sensor systems Fault tolerant systems Optimal control control systems Fault diagnosis Automatic control Reliability Satellites control system synthesis Automatic testing

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

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Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Improved basic planar algorithm of vehicle guidance through ...

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International Symposium on Communications control and Signal processing (ISCCSP)

作者： V. Bakaric Z. Vukic R. Antonic Department of Control Engineering Brodarski institut Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Split College of Maritime Studies Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to use in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current compensation method to cancel its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

关键词： Navigation Remotely operated vehicles Computer vision System recovery Error correction control engineering Automatic control control engineering computing Automotive engineering automation

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Universal algorithm for the solution of the regulator equation 6

Universal algorithm for the solution of the regulator equati...

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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Rehák, Branislav Čelikovský, Sergej Czech Technical University Faculty of Electrical Engineering Department of Control Engineering Technická 2 Praha 6166 27 Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 Prague182 08 Czech Republic

The computational aspects of the output regulation problem are considered. The standard solution of the output regulation problem uses the explicit solution of the so-called regulator equation being a highly complex PDE combined with algebraic equations. At this moment, the methods to solve regulator equation are, nevertheless, restricted to special classes of systems only. A universal algorithm to solve the regulator equation is proposed here. It is based on a special regularization procedure combined with finite elements method and an optimization of the error induced by the regularization. The approach is demonstrated on an example of the two-cart with an inverted pendulum system. Copyright © 2004 IFAC.

关键词： Nonlinear equations

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Optimizing supervision and control for industrial furnaces: Predictive control based design 4

Optimizing supervision and control for industrial furnaces: ...

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4th IFAC Workshop Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2004

作者： Dimirovski, Georgi M. Dinibütün, A. Talha Vukobratovic, Miomir K. Zhao, J. Faculty of Electrical Engineering MK-1000 Skopje SS Cyril and Methodius University Macedonia Computer Engineering Department Faculty of Engineering Acibadem Dogus University Zeamet Sk. 21 Kadikoy IstanbulTR-34722 Turkey Centre of Robotics and Flexible Automation Institute Mihailo Pupin Belgrade11000 Serbia School of Information Science and Engineering Institute of Control Theory Northeastern University Shenyang Liaoning110004 China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons. Copyright © 2004 IFAC.

关键词： Integrated control

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Predicting the product yield profile and cracking degrees in an industrial ethylene pyrolysis furnace

Predicting the product yield profile and cracking degrees in...

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International Conference on control, automation, Robotics and Vision (ICARCV)

作者： Qiang Zhou Jie Zhang Yongmao Xu Institute of Process Control Department of Automation Tsinghua University Beijing Beijing China Centre for process Analytics and Control Technology School of Chemical Engineering & Advanced Materials University of Newcastle Newcastle-upon-Tyne UK

ISBN: (纸本)0780386531

This paper presents two soft-sensing models for predicting the product yields profile and the cracking degree of an ethylene pyrolysis furnace. The model based on single neural network with only one hidden layer trained by Levenberg-Marquardt algorithm with regularisation was first developed. It was found that the single neural network lack generalisation capability in that they can give undesirable performance when applied to unseen data. To improve the generalisation capability of the soft-sensing model, multi-model soft-sensors based on bootstrap aggregated neural networks with sequential training are used. In the sequential training of bootstrap aggregated networks, the first network is trained to minimise its prediction error whereas the rest of the networks are trained not only to minimise their prediction errors but also minimise the correlation among the trained networks. The overall output is obtained by combining all the individual networks. Application results show that the multi-model soft-sensors possess good generalisation capability in that they give good performance when applied to unseen data.

关键词： Furnaces Neural networks process control Predictive models Petrochemicals Chemical industry automation Postal services Chemical analysis Automatic control

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Scheduling of iterative algorithms on FPGA with pipelined arithmetic unit

Scheduling of iterative algorithms on FPGA with pipelined ar...

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IEEE Symposium on Real-Time and Embedded Technology and Applications

作者： P. Sucha Z. Pohl Z. Hanzalek Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Czech Republic Department of Signal Processing Institute of Information Theory and Automation AS CR Czech Republic

This paper presents a scheduling technique for a library of arithmetic logarithmic modules for FPGA illustrated on a RLS filter for active noise cancellation. The problem under assumption is to find an optimal periodic cyclic schedule satisfying the timing constraints. The approach is based on a transformation to monoprocessor cyclic scheduling with precedence delays. We prove that this problem is NP-hard and we suggest a solution based on integer linear programming that allows to minimize completion time. Finally experimental results of optimized RLS filter are shown.

关键词： Iterative algorithms Field programmable gate arrays Arithmetic Resonance light scattering Libraries Active filters Noise cancellation Timing Delay Integer linear programming

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Temperature prediction control based on least squares support vector machines

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control Theory and Technology 2004年第4期2卷 365-370页

作者： Bin LIU, Hongye SU, Weihua HUANG, Jian CHU (National Laboratory of Industrial control Technology, Institute of Advanced process control, Zhejiang University, Yuquan Campus,Hangzhou Zhejiang 310027,China department of automation, College of Information Science and engineering, Wuhan University of Saence and Technology, Wuhan Hubei 430081, China) National Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Yuquan Campus Hangzhou Zhejiang China Department of Automation College of Information Science and Engineering Wuhan University of Science and Technology Wuhan Hubei China

A prediction control algorithm is presented based on least squares support vector machines (LS-SVM) model for a class of complex systems with strong nonlinearity. The nonlinear off-line model of the controlled plant is built by LS-SVM with radial basis function (RBF) kernel. In the process of system running, the off-line model is linearized at each sampling instant, and the generalized prediction control (GPC) algorithm is employed to implement the prediction control for the controlled *** obtained algorithm is applied to a boiler temperature control system with complicated nonlinearity and large time *** results of the experiment verify the effectiveness and merit of the algorithm.

关键词： Predictive control Least squares support vector machines RBF kernel function Generalized prediction control

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Stability of linear time invariant systems with interval fractional orders and interval coefficients

Stability of linear time invariant systems with interval fra...

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ICCC 2004 - Second IEEE International Conference on Computational Cybernetics

作者： Petráš, Ivo Chen, Yangquan Vinagre, Bias M. Podlubny, Igor Department of Informatics and Process Control BERG Faculty Technical University of Kosice B. Nemcovej 3 042 00 Kosice Slovakia Dept. of Electrical and Computer Engineering Utah State University Logan UT 84322-4160 United States Dept. of Electronic and Electromechanical Engineering Industrial Engineering School University of Extramadura Avda. De Elvas s/n 06071-Badajoz Spain

ISBN: (纸本)0780385888

This paper considers the stability of the fractional-order linear time-invariant systems with interval type uncertainties in both fractional orders and the relevant coefficients. It is an extension of our previous result on the robust stability analysis of the interval type uncertain fractional order LTI systems with crisply known fractional orders. We have proposed a stability check procedure for uncertain LTI systems with interval fractional orders and interval coefficients. The procedure is demonstrated with some simple examples. © 2004 IEEE.

关键词： System stability

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