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International Conference on Control and automation (ICCA)

作者： G. Noshirvani A. Fatehi B. Araabi M. Shirvani M. Azizi ACER Markaz Branch Arak Iran Advanced Process Automation & Control Research group Electrical Engineering Department K.N. Toosi University of Technology Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Chemical Engineering Department and member of Cement Research Center University of Science and Technology Tehran Iran Saveh Cement Company Saveh Iran

Rotary cement kiln is the main part of a cement plant that clinker is produced in it. Clinker is the main ingredient of cement. Continual and prolonged operation of rotary cement kiln is vital in cement factories. However, prolonged operation of the kiln is not possible and periodic repairs of the refractory lining would become necessary, due to non-linear phenomena existing in the kiln, such as sudden falls of coatings in the burning zone and probability of damages to the refractory materials during production. This is the basic reason behind the needs for a comprehensive model which is severely necessary for better control of this process. Such a model can be derived based on the mathematic analysis with consultation of expert operator experiences. In this paper both linear and nonlinear model are identified for rotary kiln of Saveh white cement factory. The linear model is introduced using Box-Jenkins structure. The results of the obtained model were satisfactory compared to some other linear models and can be used for designing adaptive or robust controllers. Also, nonlinear system identification via Neural Network technique is performed and its result was compared to linear models.

关键词： Kilns Production facilities Coatings Building materials Process control Mathematical model Mathematics Programmable control Adaptive control Robust control

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Generating stationary entangled states in superconducting qubits

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Physical Review A 2009年第5期79卷 052308-052308页

作者： Jing Zhang Yu-xi Liu Chun-Wen Li Tzyh-Jong Tarn Franco Nori Advanced Science Institute The Institute of Physical and Chemical Research (RIKEN) Wako-shi Saitama 351-0198 Japan Department of Automation Tsinghua University Beijing 100084 People’s Republic of China CREST Japan Science and Technology Agency (JST) Kawaguchi Saitama 332-0012 Japan Department of Electrical and Systems Engineering Washington University St. Louis Missouri 63130 USA Department of Physics Center for Theoretical Physics Center for the Study of Complex Systems The University of Michigan Ann Arbor Michigan 48109-1040 USA

When a two-qubit system is initially maximally entangled, two independent decoherence channels, one per qubit, would greatly reduce the entanglement of the two-qubit system when it reaches its stationary state. We propose a method on how to minimize such a loss of entanglement in open quantum systems. We find that the quantum entanglement of general two-qubit systems with controllable parameters can be controlled by tuning both the single-qubit parameters and the two-qubit coupling strengths. Indeed, the maximum fidelity Fmax between the stationary entangled state, ρ∞, and the maximally entangled state, ρm, can be about 2/3≈max{tr(ρ∞ρm)}=Fmax, corresponding to a maximum stationary concurrence, Cmax, of about 1/3≈C(ρ∞)=Cmax. This is significant because the quantum entanglement of the two-qubit system can be produced and kept, even for a long time. We apply our proposal to several types of two-qubit superconducting circuits and show how the entanglement of these two-qubit circuits can be optimized by varying experimentally controllable parameters.

关键词： Quantum entanglement

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Inspection technology for F-theta lens: Practices and discussions

Inspection technology for F-theta lens: Practices and discus...

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作者： Li, Hua To, Suet Kong, Ling Bao Cheung, Chi-Fai Lee, Wing Bun Advanced Optics Manufacturing Center Department of Industrial and Systems Engineering Hong Kong Polytechnic University Hung Horn Kowloon Hong Kong School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

This paper presents the inspection technology for a freeform surface component which is named F-theta lens. F-theta lens is widely used in laser scanners, printers, etc. Freeform characterization is one of the main approaches to verify the manufacturing precision of freeform surface. At present, there is still a lack of techniques for the characterization of freeform surfaces. This study aimed to explore some approaches to inspect freeform surfaces. Two types of measurement methods, namely contact and non-contact measurement methods, are employed to measure the F-theta lens surface. The pros and cons, the existing problems, different applications and areas for improvement of the two methods are discussed. A series of advanced measuring instruments are used in the measurement process. A brief description of measurement mechanisms of these instruments is also presented. As a whole, this paper contributes to the development of the precision measurement technology for optical freeform surfaces.

关键词： Lenses

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Real-Time Level Plant Control Using Improved BELBIC

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IFAC Proceedings Volumes 2008年第2期41卷 4631-4635页

作者： M. Masoudinejad R. Khorsandi A. Fatehi C. Lucas S. Fakhimi Derakhshan M.R. Jamali Advanced Process Automation & Control (APAC) Research Group Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Center of Excellence for Control and Intelligent Processing Electrical and Computer engineering Department University of Tehran Iran

Brain emotional learning based intelligent controller (BELBIC) is based on computational model of limbic system in the mammalian brain. In recent years, this model was applied in many linear and nonlinear control applications. Previous studies show that this controller has fast response, simple implementation and robustness with respect to disturbances. It is also possible to define emotional signal based on control application objectives. But in the previous studies, internal instability of this controller was not considered and control task were done in limited time period. In this article mathematical description of BELBIC is investigated and improved to avoid internal instability. Simulation and implementation of improved model was done on level plant. The obtained results showed that instability of model has been solved in the new model without loss of performance by using Integral Anti Windup (IAW).

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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On robust position control of DC motors by ∈-PID controller and its application to humanoid robot arms

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IFAC Proceedings Volumes 2008年第2期41卷 14449-14453页

作者： Ho-Lim CHOI Young-Hwan Chang Yonghwan Oh Jong-Tae Lim Department of Electrical Engineering Dong-A University 840 Hadan2-Dong Saha-gu Busan 604-714 Korea Center for Cognitive Robotics Research Korea Institute of Science and Technology 39-1 Hawolgok-dong Seongbuk-gu Seoul 136-791 Korea Dept. of Electrical Engineering Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Korea

In this paper, we propose a new ∈-PID controller for DC motors. We provide a systematic design steps of selecting the gains of the proposed ∈-PID controller. We also analytically show that the proposed controller provides robustness against system parameter uncertainty and reduces the effect of unknown load torque to the order of ∈. The benefit of our control approach is that the PID gains are tuned conveniently by adjusting a single ∈ gain-factor. An experiment of DC motor control with its application to humanoid robot arms demonstrates the practical aspect of the proposed control method.

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Real-time sound source localization system based on FPGA

Real-time sound source localization system based on FPGA

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Seunghun Jin Dongkyun Kim Hyung Soon Kim Chang Hoon Lee Jong Suk Choi Jae Wook Jeon School of Information and Communication Engineering Sungkyunkwan University Suwon South Korea School of Electronic Electrical and Communication Engineering Pusan University Busan South Korea Department of Electronic Engineering Pai Chai University Daejeon South Korea Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea

This paper presents a real-time sound source localization system based on FPGA (field programmable gate array). The system employs three microphones with different locations and calculates the direction of the sound source using TDOA (time-delay of arrivals). All the functions for the sound source localization are implemented with the use of a dedicated parallel architecture, including acoustic signal capturing, cross correlation, short-term energy and azimuth computation. The proposed system uses two different clocks for achieving real-time performance - low frequency signal capturing clock and high frequency processing clock. The proposed system can be used to intelligent service robots, security and surveillance applications as a result of a FPGA implementation.

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Forward kinematics of a macro-micro parallel manipulator

Forward kinematics of a macro-micro parallel manipulator

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IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Hamid D. Taghirad Meyer A. Nahon Advanced Robotics and Automated Systems (ARAS) Department of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Center for Intelligent Machines (CIM) Department of Mechanical Engineering McGill University Montreal QUE Canada

In this paper the kinematic analysis of a macro-micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of large adaptive reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable-driven. Inverse and forward kinematic analysis of this structure is presented in this paper. It is shown that unique closed form solution to the inverse kinematic problem of such structure exists. However, the forward kinematic solution is derived using numerical methods, and simulation results are reported to illustrate the integrity and accuracy of the solution.

关键词： Kinematics Optical design Councils Telescopes Winches Radio astronomy Frequency Reflector antennas Antenna accessories Receiving antennas

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Jacobian analysis of a macro-micro parallel manipulator

Jacobian analysis of a macro-micro parallel manipulator

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IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

In this paper the Jacobian analysis of a macro- micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable- driven. The Jacobian matrices of the manipulator at macro and micro level are derived and a thorough singularity and sensitivity analysis of the system is presented. It is shown that due to the crossed cable structure used in the design, the macro micro manipulator experiences no singularity at the required workspace.

关键词： Jacobian matrices Optical design Telescopes Radio astronomy Councils Winches Reflector antennas Antenna accessories Packaging Receivers

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