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An exact solution for the infinite horizon LQ optimal output tracking problem

An exact solution for the infinite horizon LQ optimal output...

引用

IEEE Conference on Control technology and Applications (CCTA)

作者： Peter Bauer Balazs Kulcsar Jozsef Bokor Delft Center for System and Control Faculty 3ME Technical University Delft Delft Netherlands Faculty of Transportation Engineering Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The paper proposes a new, discrete time LQ optimal controller synthesis for output tracking over an infinite horizon. The resulted controller consists of a state feedback and a feedforward term. The solution requires a one step ahead prediction of the reference signal. For a smooth enough reference signal this can be replaced with extrapolation. Here, the properties for constant reference signals are examined, time varying references will be covered with another article. The method guarantees asymptotical stability and zero steady state tracking error. The elaborated techniques satisfy the separation principle for an arbitrary deterministic or stochastic state estimator. The reference tracking problem for a quadrotor helicopter is solved by the method. The trajectory tracking control is successfully applied both with reference signal preview and extrapolation (considering time varying references also).

关键词： Control systems USA Councils Conferences

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On the use of proper weighting in reference tracking optimal control with guaranteed DARE solvability

On the use of proper weighting in reference tracking optimal...

引用

Mediterranean Conference on Control and Automation (MED)

作者： Peter Bauer Balazs Kulcsar Jozsef Bokor Transportation Engineering Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Delft Center of System and Control Faculty ME Technical University of Delft Delft Netherlands

The paper suggests to apply a proper output weight to achieve guaranteed discrete algebraic Riccati equation (DARE) solvability of the LQ optimal control problem with output tracking. Usually a positive semi definite state weighting matrix (Q) is mentioned to be sufficient for solvable DARE. However, the literature also proposes more general rank conditions. The paper shows a sufficient condition to guarantee DARE solvability under output tracking problems, by the appropriate selection of a Q > 0 matrix. At output tracking quadratic problems Q results as a sparse matrix. Therefore, a special attention has to be carried on the output weighting strategy guaranteing DARE solvability for a class of linear and mostly integrating systems. Injecting additional weights, the closed system performance can be increased. The importance of the proper weighting strategy is illustrated with a numerical example where it has been pointed out that inappropriate weights leads to infeasible DARE.

关键词： Automation Conferences

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VPP operating in the isolated grid

VPP operating in the isolated grid

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IEEE General Meeting Power& Energy Society

作者： Hugo Morais Peter Kadar Marilio Cardoso Zita A. Vale Hussein Khodr GECAD Knowledge Engineering and Decision-Support Research Group of the Electrical Engineering Institute of Porto Polytechnic Institute of Porto Portugal Budapest University슠of슠Technology슠and슠Economics Hungary Portugal

In the energy management of the isolated operation of small power system, the economic scheduling of the generation units is a crucial problem. Applying right timing can maximize the performance of the supply. The optimal operation of a wind turbine, a solar unit, a fuel cell and a storage battery is searched by a mixed-integer linear programming implemented in GAMS (general algebraic modeling systems). A VPP (virtual power producer) can optimal operate the generation units, assured the good functioning of equipment, including the maintenance, operation cost and the generation measurement and control. A central control at system allows a VPP to manage the optimal generation and their load control. The application of methodology to a real case study in budapest Techpsilas, demonstrate the effectiveness of a this method to solve the optimal isolated dispatch of the DC microgrid renewable energy park. The problem has been converged in 0.09 seconds and 30 iterations.

关键词： Batteries Fuel cells Photovoltaic systems Solar power generation Power systems Generators Power system dynamics

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Opto-Mechanical Oriented Edge Filtering

Opto-Mechanical Oriented Edge Filtering

引用

Canadian Conference on Computer and Robot Vision, CRV

作者： Barna Reskó Péter Baranyi Péter Korondi Regional Education and Innovation Center Budapest University슠of슠Technology슠and슠Economics Szekesfehervar Hungary Budapest Tech Regional Education and Innovation Center Szekesfehervar Hungary Hungarian Academy of Sciences Computer and Automation Research Institute Budapest Hungary

Cognitive informatics is a very hot topic today, trying to provide solutions to problems in computation that are easily solved by the brain but are hard for a computer. The information processing properties of the brain are taken as the basis for such artificial systems. The first step of visual information processing, the extraction of orientation selective contours, is done in the primary visual cortex. A similar, orientation based filtering can be the first step in many vision systems of cognitive informatics. This paper presents a new approach to orientation selective contour detection. Oriented motion blur is used to filter for the desired orientations. The motion blur operation is performed before digitalization, using a vibrating mirror. The proposed technique not only provides a very high speed, high resolution contour detector, but also solves the problem of contour integration.

关键词： Cognitive informatics Neurons Brain modeling Computer vision Information processing Hardware Robotics and automation Filtering Data mining Mirrors

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3D visualization for Intelligent Space: Time-delay compensation in a remote controlled environment

3D visualization for Intelligent Space: Time-delay compensat...

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Conference on Human System Interactions, HSI

作者： Peter Zanaty Drazen Brscic Zsolt Frei Department of Automation and Applied Infor5matics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Industrial Science University of Tokyo Tokyo Japan Institute of Physics Eötvös University Budapest Hungary

By virtually re-creating and visualizing an intelligent space (iSpace) geographically far from the original version, one opens up the possibility of remote control and interaction between the real iSpace and the virtual copy. Here we present the required components for such a mixed environment: the actual iSpace in a form of a laboratory built for such experiments, the stereoscopic (real 3D) visualization tool at the far end to reproduce the original iSpace, and the middleware embodied by the computer network that connects the two. To remotely operate in the iSpace one has to overcome the important problem of synchronization that is made difficult by the time delay in the computer network. Here we present our first approach to solve this problem by demonstrating a successful remote control of a mobile robot in this mixed environment.

关键词： Robots Three dimensional displays Mobile robots Robot kinematics Glass Visualization Data visualization

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Experiences with fetal phonocardiographic telemonitoring and future possibilities

Experiences with fetal phonocardiographic telemonitoring and...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： E. Kosa Cs. Horvath N. Kersner K. Kadar F. Kovacs M. Torok G. Hosszu Pázmány Péter Catholic University Budapest Hungary Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Gottsegen Gy. National Institute of Cardiology Budapest Hungary Obstetrics of the State Health Centre Budapest Hungary

Phonocardiography (PCG) makes possible the examination of some fetal cardiac anomalies which otherwise usually remain undetected during pregnancy. The application of PCG in a telemonitoring system enhances its diagnostic capabilities, allowing long-term measurements even at home. The paper summarizes the intensive fetal monitoring campaign carried out in Hungary during the last three years that yielded useful experience regarding recent and future possibilities of fetal monitoring. Results collected from a large number of measurements suggest that PCG home monitoring may be a suitable screening method for fetal congenital heart diseases, even if surgical intervention in this phase of pregnancy is not easy.

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Recent progress of thermal interface material research - an overview

Recent progress of thermal interface material research - an ...

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International Workshop on Thermal Investigation of ICs and Systems (THERMINIC)

作者： Johan Liu Bruno Michel Marta Rencz Christian Tantolin Claude Sarno Ralf Miessner Klaus-Volker Schuett Xinhe Tang Sebastien Demoustier Afshin Ziaei Chalmers University of Technology Sweden IBM Zurich Research Laboratory Switzerland Budapest University슠of슠Technology슠and슠Economics Hungary Thales Avionics France Robert Bosch GmbH Germany Electrovac Austria Thales Research Limited France

This paper provides a comprehensive review of the recent progress of research work performed to develop new thermal interface materials. The review starts by classifying existing thermal interface materials and analyzing their advantages and disadvantages. The state of the art research is then reviewed with an emphasis on those materials based on various carbon allotropes, such as graphite, carbon nanotubes (CNTs) and fibers. Other kinds of fillers with high thermal conductivity, such as silicon carbide, boron nitride, aluminum nitride, aluminum oxide, silver and other metals, have also been extensively studied. These materials are also reviewed in this paper. Besides the achievements in materials development, other methods have also been developed to further reduce the overall interface resistance, such as modifying the surfaces of the integrated chips or heat sinks. This aspect is also discussed in this paper. The paper is summarized with a perspective on the future technical trends.

关键词： Conducting materials Thermal conductivity Surface resistance Organic materials Carbon nanotubes Silicon carbide Boron Aluminum nitride Aluminum oxide Silver

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Vision Based Robot Programming

Vision Based Robot Programming

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IEEE International Conference on Networking, Sensing and Control

作者： Bjorn Solvang Gabor Sziebig Peter Korondi Industrial Engineering Department Narvik University College Narvik Norway Industrial Engineering Department Narvik University College Norway Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Hungary

Programming of industrial robots is normally carried out via so-called "Teach" or "Offline" programming methodologies. Both methodologies have associated weaknesses like a high time consumption for programming on sculptured surfaces (especially "Teach"), and both methodologies cannot, at the same time, carry information of the real work piece and the ideal work piece (CAD-model). To be able to see both the real and ideal world is especially important when the industrial robot is used in manufacturing processes like machining, grinding, deburring etc. where the difference between the real and ideal world represents the material removal. This paper presents a new vision based programming methodology which combines information of the real and ideal world, especially adapted for robot grinding and deburring operations. Further, the presented methodology is especially developed with simplicity in mind when it comes to man-machine communication. Thus, a standard marker pen can be used by the operator to draw the robot path directly onto the work piece. This line is captured by a vision system and finally leads to the generation of the robot path. The presented methodology is a further development of the previous work of the authors as presented (Solvang et al., 2007 and Sziebig, 2007), especially concerning optimization of the robot tool positioning with respect to a work piece surface.

关键词： Robot programming Service robots Deburring Robot vision systems Educational robots Manufacturing industries Manufacturing processes Machining Man machine systems Machine vision

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Model-based nonlinear optimal blood glucose control of Type I diabetes patients

Model-based nonlinear optimal blood glucose control of Type ...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Levente Kovacs Balazs Kulcsar Jozsef Bokor Zoltan Benyo Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University Delft Netherlands Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

Using induced L 2 -norm minimization, a robust controller was developed for insulin delivery in Type I diabetic patients. The high-complexity nonlinear diabetic patient Sorensen-model [1] was considered. LPV (Linear Parameter Varying) methodology was used to develop open loop model and robust controller. Considering the normoglycemic set point (81.1 mg/dL), a polytopic set was created over the physiologic boundaries of the glucose-insulin interaction of the Sorensen-model. In this way, LPV model formalism was defined. The robust control was developed considering input and output multiplicative uncertainties with other weighting functions.

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Adaptive Services in a Distributed Environment

Adaptive Services in a Distributed Environment

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Workshop on Applications and Services in Wireless Networks, ASWN

作者： Borbála Katalin Benko Edzard Höfig Nermin Brgulja Rico Kusber Department of Telecommunications Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Fraunhofer Institute of Open Communication Systems (FOKUS) Berlin Germany Communication Technology (ComTec) University of Kassel Kassel Germany Chair for Communication Technology (ComTec) University of Kassel Kassel Germany

The dynamically changing nature of distributed service environments requires a computing model in which services modify their behavior in order to adapt to changes and fulfill new requirements in the environment. This paper describes design and implementation of the autonomic communication element (ACE) component model with main focus on service adaptability. Autonomic Communication Element (ACE) is a component model developed to support the creation of autonomic communication services which are capable of adapting their behavior according to changes in the context in which they are executing and from which they are requested. In this paper we present our approach for service adaptability and illustrate this on the example of an ACE.

关键词： Communications technology Systems engineering and theory Biological system modeling Wireless networks Adaptive systems Environmental economics Computer networks Distributed computing Telecommunication computing Context modeling

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