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2013 1st RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2013

作者： Zebardast, Omid Moradi, Hadi Najafi, Farshid Department of Mechatronics Engineering University of Tehran International Campus Kish Island Iran Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Mechanical Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467358118

In this paper, the design and implementation of a novel passive safe joint is reported. This safe joint is designed for applications, such as an air hockey playing robot playing against a human, in which the force applied by the linkage should be kept below a certain threshold. The proposed mechanism benefits from the compliance of two ramps controlled by the nonlinear behavior of a spring. The passivity of the design, the small footprint, the low cost of production, and the ability to rotate 360 degrees are the main advantages of this design. The mechanism has been designed, evaluated, implemented and tested showing its effectiveness. Finally it has been incorporated in an air hockey robot showing its capability in action. © 2013 IEEE.

关键词： Sports

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Applications oriented stability theory for discrete linear repetitive processes 8

Applications oriented stability theory for discrete linear r...

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8th International Workshop on Multidimensional Systems, nDS 2013

作者： Dabkowski, Pawel Galkowski, Krzysztof Rogers, Eric Institute of Physics Nicolaus Copernicus University in Torun Poland Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Institute of Control and Computation Engineering University of Zielona Gora Institute of Physics Nicolaus Copernicus University in Torun Poland Electronics and Computer Science University of Southampton Southampton United Kingdom

ISBN: (纸本)9783800735433

Many systems repeat the same operation over and over again on a finite duration. Repetitive processes have this characteristic where repeated sweeps, termed passes, are made over the finite pass length and when each is complete the process resets to the starting location and the next pass begins. The distinguishing feature of these processes is that the output, or pass profile, produced on each pass explicitly contributes to the dynamics of the next one and can result in oscillations that increase in amplitude from pass-to-pass. For applications, it is necessary to have a stability theory on which to base control law design for stabilization and performance. This paper gives a reflective overview of the stability theory for linear repetitive processes with particular attention to the forms of stability possible, their characterizations, and suitability for control law design. A particular feature is that the strongest form of stability for these processes can, especially for applications, lead to difficulties in control law design for stability and performance. One alternative in such cases is also considered. © VDE VERLAG GMBH 2013.

关键词： Stabilization

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Loss-tolerant quantum cryptography with imperfect sources

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Physical Review A 2014年第5期90卷 052314-052314页

作者： Kiyoshi Tamaki Marcos Curty Go Kato Hoi-Kwong Lo Koji Azuma NTT Basic Research Laboratories NTT Corporation 3-1 Morinosato Wakamiya Atsugi-Shi Kanagawa 243-0198 Japan EI Telecomunicación Department of Signal Theory and Communications University of Vigo E-36310 Spain NTT Communication Science Laboratories NTT Corporation 3-1 Morinosato Wakamiya Atsugi-Shi Kanagawa 243-0198 Japan Center for Quantum Information and Quantum Control Department of Electrical & Computer Engineering and Department of Physics University of Toronto Canada M5S 3G4

In principle, quantum key distribution (QKD) offers unconditional security based on the laws of physics. Unfortunately, all previous QKD experiments assume perfect state preparation in their security analysis. Therefore, the generated key is not proven to be secure in the presence of unavoidable modulation errors. The key reason that modulation errors are not considered in previous QKD experiments lies in a crucial weakness of the standard Gottesman-Lo-Lütkenhaus-Preskill (GLLP) model, namely, it is not loss tolerant and Eve may in principle enhance imperfections through losses. Here, we propose a QKD protocol that is loss tolerant to state preparation flaws. Importantly, we show conclusively that the state preparation process in QKD can be much less precise than initially thought. Our method can also be applied to other quantum cryptographic protocols.

关键词： Preparation Process natural law Quantum cryptography Imperfect

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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On viscosity regulation in polymer extrusion

On viscosity regulation in polymer extrusion

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71st Annual Technical Conference of the Society of Plastics Engineers 2013, ANTEC 2013

作者： Haberbusch, Diane Gao, Zhiqiang Cleveland State University Cleveland OH United States Department of Electrical and Computer Engineering Center for Advanced Control Technologies Cleveland State University Cleveland OH 44115 United States

ISBN: (纸本)9781632665300

Feedback control is important for commercial manufacturers of polymer compounds, especially in the extrusion process. The inability to respond to disturbances in the extrusion process results in production of off- specification product and down-time. Due to the complexity of the system, it is difficult to accurately model an extrusion process. In this paper, we investigate two methods that do not require a strict model. This paper evaluates and compares a solution of traditional proportional-integral-derivative (PID) control with an alternative framework of active disturbance rejection control (ADRC) for viscosity regulation in polymer extrusion. The widely used PID control is easy to tunc, but is prone to cause cycling of the input signal and the control output. The simulations of ADRC in this paper show that only a small amount of knowledge is required of a process or processes for control to be achieved. ADRC is currently in use in programmable logic control code on multiple production lines of polymer hose extruders for barrel zone temperature control.

关键词： Viscosity

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3D automatic segmentation of coronary artery based on hierarchical region growing algorithm (3D HRG) in CTA data-sets

3D automatic segmentation of coronary artery based on hierar...

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2013 20th Iranian Conference on Biomedical engineering, ICBME 2013

作者： Turani, Zahra Zoroofi, Reza A. Shirani, Shapoor Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395/515 Iran Department of Radiology School of Medicine Tehran University of Medical Science Tehran Iran

ISBN: (纸本)9781479932320

Nowadays one of the most important causes of mortality is cardiovascular disease, especially coronary artery stenosis. Therefore, it is important to find an accurate and fast way to diagnose them. Computed tomography angiography is a non-invasive imaging method for the heart and its vessel, which can be used instead of angiography in many cases. Indeed, the main focus is on developing an automatic method which can be as accurate as angiography with the least user's contribution. Automatic coronary artery segmentation is considered as the first step to reach this goal. Therefore, a hierarchical region growing algorithm is proposed in which the whole heart region vessels, aorta, left ventricle and other cardiovascular vessels are segmented for the purpose of coronary artery segmentation. Our method validation is assessed by a radiologist through comparing the results with manual segmentation of him. Proposed method's results are 86.81% in average similar to radiologist's segmentation in kappa statistic and its label consistency with radiologist's segmentation is 90.23%. Comparing to other methods, our method is automatic and both left and right coronary can be segmented in all data-sets. It also segments important branches of coronary artery. According to the radiologist comments and high similarity measure, proposed method is reliable and applicable. © 2013 IEEE.

关键词： Heart

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Toward Combining Intra-Real Time Dispatch (RTD) and AGC for On-Line Power Balancing

Toward Combining Intra-Real Time Dispatch (RTD) and AGC for ...

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IEEE Power and Energy Society General Meeting

作者： Marija D. Ilic Xiaoqi Yin Qixing Liu Yang Weng Dept. of Elec. & Comp. Eng. Carnegie Mellon University Pittsburgh Pennsylvania 15213 Dept. of Elec. & Comp. Eng. Carnegie Mellon University Pittsburgh Pennsylvania China Southern Power Grid Power Dispatching and Control Center Guangzhou Guangdong P.R. China Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh Pennsylvania

In this paper we propose first a predictive adaptive intra-RTD dispatch comprising: (1) Intra-RTD non-zero mean predictor which utilizes historic data about various uncertainties to predict the most likely non-zero mean imbalances;and, (2) Adaptive controller for non-zero mean intra-RTD imbalances using two-stage robust optimization. The result of applying these methods sequentially at the beginning of each RTD interval is the least-cost robust adaptation of RTD schedules in anticipation of the most likely non-zero mean imbalances. We illustrate how this proposed predictive adaptive intra-RTD dispatch can be implemented for a typical hour. Second, only hard-to-predict near-zero-mean imbalances are compensated using Automatic Generation control (AGC). The basic conclusion is that a combination of predictive adaptive intra-RTD and recently proposed Enhanced-AGC (E-AGC) should be used for the least cost on-line balancing of non-zero mean and zero mean imbalances, respectively.

关键词： Generators Schedules Power generation Rotors Silicon Power measurement Uncertainty

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A centralized potential field method for stable operation of a multi-robot dome inspection, repair, and maintenance system

A centralized potential field method for stable operation of...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： K. Naderi A. Nejadfard H. Moradi M. Nili Ahmadabadi School of Electrical and Computer Engineering University of Tehran Iran Control and Intelligent Processing Center of Excellence at the Electrical and Computer Engineering Department University of Tehran Iran

In this paper we propose a centralized algorithm for stable operation of a multi-robot dome inspection, repair, and maintenance based on potential field method. The multi-robot system consists of two robots, a leader robot and a supporter robot, connected to each other by two strings. The follower robot sends its information to the leader robot for processing and receiving commands. The leader robot uses the friction model, the slope of the dome detected by the two robots' tilt sensors and the mass of the robots to calculate the stability ranges and determines the proper action to make the whole system stable. The leader robot moves toward its target pose while adjusting the tension of its string using potential field method to combine the attractive and repulsive potentials. The follower robot executes the commands sent by the leader robot to create the most stable configuration for the whole system. It is shown that the algorithm can guarantee stable operation all over a typical dome. The algorithm has been implemented and shown its effectiveness in simulation. Furthermore, the effect of each parameter has been discussed and it is shown that the multi-robot system is capable of completely covering a typical dome using the proposed potential field algorithm.

关键词： Robot sensing systems Lead Maintenance engineering Radio frequency Force Service robots

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Tuning and experimental evaluation of a likelihood-based engine knock controller

Tuning and experimental evaluation of a likelihood-based eng...

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52nd IEEE Conference on Decision and control, CDC 2013

作者： Thomasson, Andreas Eriksson, Lars Lindell, Tobias Peyton Jones, James C. Spelina, Jill Frey, Jesse Division of Vehicular Systems Department of Electrical Engineering Linkoping University Linkoping SE-581 83 Sweden Center for Nonlinear Dynamics and Control Department of Electrical and Computer Engineering Villanova University Villanova PA 19085 United States Center for Nonlinear Dynamics and Control Villanova University Villanova PA 19085 United States Science Technology Engineering and Mathematics Division Delaware County Community College Media PA 19063 United States Department of Mathematics and Statistics Villanova University Villanova PA 19085 United States

ISBN: (纸本)9781467357173

A new likelihood-based stochastic knock controller, that achieves a significantly improved regulatory response relative to conventional strategies, while also maintaining a rapid transient response is presented. Up until now it has only been evaluated using simulations and the main contribution here is the implementation and validation of the knock controller on a five cylinder engine with variable compression ratio. Furthermore, an extension of the fast response strategy and a re-tuning of the controller is shown to improve performance. The controller is validated with respect to its robustness to changes in engine operating condition as well as compression ratio. The likelihood-based controller is demonstrated in engine tests and compared to a conventional controller and it is shown that it is able to operate closer to the knock limit with less variations in control action without increasing the risk of engine damage. © 2013 IEEE.

关键词： controllers

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Voltage Stabilization in Microgrids via Quadratic Droop control

Voltage Stabilization in Microgrids via Quadratic Droop Cont...

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IEEE Annual Conference on Decision and control

作者： John W. Simpson-Porco Florian Dorfler Francesco Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara Department of Electrical Engineering University of California Los Angeles

ISBN: (纸本)9781467357159

Motivated by the growing interest in energy technology and smart grid architectures, we consider the problem of voltage stability and reactive power balancing in low-voltage electrical networks equipped with DC/AC inverters ("microgrids"). It is generally believed that high-voltage equilibria of such networks are stable, but the locations of these equilibria are unknown, as is the critical network load where stability is lost. Inspired by the "control by interconnection" paradigm developed for port-Hamiltonian systems, we propose a novel droop-like inverter controller which is quadratic in the local voltage magnitude. Remarkably, under this controller the closed-loop network is again a well-posed electrical circuit. We find that the equilibria of the quadratic droop-controlled network are in exact correspondence with the solutions of a reduced power flow equation. For general network topologies, we study some simple yet insightful solutions of this equation, and for the frequently-encountered case of a parallel microgrid, we present a concise and closed-form condition for the existence of an exponentially stable high-voltage network equilibrium. Our condition establishes the existence of a critical inductive load for the network, which depends only on the network topology, admittances, and controller gains. We compare and contrast our design with the conventional droop controller, investigate the relationship between the two, and validate the robustness of our design through simulation.

关键词： Inverters Microgrids Equations Voltage control Mathematical model Vectors Reactive power

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