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Fault detection and isolation on flexible-joint manipulators

Fault detection and isolation on flexible-joint manipulators

引用

2003 European Control Conference, ECC 2003

作者： Vasegh, N. Yazdanpanah, M.J. Dept. of Electrical Engineering K. N. Tossi University of Technology University of Tehran P.O. Box 14395/515 Tehran Iran Intelligent Control and Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran

ISBN: (纸本)9783952417379

In this paper, first we survey Fault Detection and Isolation (FDI) for nonlinear systems. A necessary condition for the problem to be solvable is derived in terms of an unobservability distribution, which is computable by means of suitable algorithms. Then we apply this method on m-link manipulators with flexible joints in order to detect actuator faults. The simulation result for the case of a single-link flexible joint manipulator reveals the effectiveness of approach. © 2003 EUCA.

关键词： Fault detection

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1/f/sup /spl beta// noise-based real-time animation of trees swaying in wind fields

1/f/sup /spl beta// noise-based real-time animation of trees...

引用

computer Graphics International

作者： S. Ota M. Tamura K. Fujita T. Fujimoto K. Muraoka N. Chiba Iwate Software Center Inc. Japan Computer Science Department Faculty of Engineering Iwate University Japan Department of Communications Engineering Tohoku Institute of Technology Japan

Trees are one of the most important elements of natural landscapes. Therefore, in computer graphics, there is a great demand for methods to realize the natural representation of trees in virtual landscapes in various fields such as entertainment industry or environmental assessment in construction. Many studies have been made on techniques in which the shapes of trees are modeled but only a few studies have been reported on methods to incorporate the shapes with motions in a wind field. Most of these studies use physical simulation techniques based on the equations of motion to generate the branch motions and cannot realize the motions of individual leaves. We propose a method to create the natural motions of individual leaves and branches swaying in a wind field. This method generates the leaf and branch motions based on "1/f/sup /spl beta// noise", which is observed in various natural phenomena. For the branch motion, a simple simulation method based on the spring model is applied to enhance the realism of the motion. This method enables the real-time creation of the leaf and branch motions. Diverse motions according to tree species and shapes and wind conditions can be easily realized by controlling the parameters.

关键词： Tree graphs Shape control computer graphics computer industry Construction industry Equations Noise shaping Noise generators Springs Motion control

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Design optimization for a novel class of high power microwave sources

Design optimization for a novel class of high power microwav...

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2003 Congress on Evolutionary Computation, CEC 2003

作者： Merkle, Laurence D. Luginsland, John W. Rose-Hulman Institute of Technology Department of Computer Science and Software Engineering 5500 Wabash Ave CM 103 Terre Haute IN 47803 United States SAIC 3465 Box Hill Corporate Center Dr. Abingdon MD 21009 United States

ISBN: (纸本)0780378040

Significant benefits would follow from improving the signal growth rates of certain high-power microwave (HPM) sources, including the relativistic klystron oscillator (RKO). Optimization of the growth rate via analytical and standard numerical techniques is intractable because of the high dimensionality of the design space and the existence of many local optima. Instead, the growth rate is optimized using a real-value evolutionary algorithm (EA), which performs mutation, selection, and recombination on a population of candidate design parameters. Practical application of EAs requires the availability of a computationally efficient model of design quality. Two models of the RKO are developed relating the growth rate of the microwave output power to the design parameters. Both models have computationally efficient implementations, and one of them generalizes easily to a novel multi-cavity class of RKO devices, which has significantly better growth rates than standard two-cavity RKOs. Many design optimization problems of interest involve physical constraints. The GENOCOP evolutionary algorithm includes features which support the incorporation of physical constraints in the problem specification through the maintenance of separate search and reference populations, where the latter consists entirely of feasible individuals. It provides blind operators to recombine individuals from the two populations to produce new reference population individuals. However, the use of these blind operators can result in unnecessary modification of the search individual, and domain specific recombination operators can result in improved effectiveness. As with any optimization technique, GENOCOP also allows the use of either the penalty function or repair method for evaluation of infeasible individuals. Computational experiments are performed comparing the effectiveness of each possible combination of these constraint handling techniques. © 2003 IEEE.

关键词： Evolutionary algorithms

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Automatic landmark detection on chromosomes' images for feature extraction purposes

Automatic landmark detection on chromosomes' images for feat...

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International Symposium on Image and Signal Processing and Analysis

作者： M. Moradi S.K. Setarehdan S.R. Ghaffari Electrical and Computer Engineering Department Faculty of Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering Faculty of Engineering University Of Tehran Tehran Iran Cancer Institute School of Medicine University of Tehran Iran

Valuable medical information can be achieved by analysing shape and appearance of human chromosomes. Karyotype, an image of collection of all 23 pairs of human chromosomes, is usually used for this purpose. Making a Karyotype is hard and time consuming, encouraging experts in the image processing and machine vision field to work towards an automatic Karyotyping method. The first step in automation of this process is to define the geometric (morphologic) and intensity based features of the chromosome originating mostly from its banding pattern. As part of a complete project, which is defined to develop a new knowledge based classification technique for chromosomes, a number of new features in addition to the commonly used geometric and intensity based features, are introduced in this paper. Some of the features are computed using the so-called medial axis transform (MAT). For an accurate determination of most of these features it is necessary, however, to identify some key points or landmarks in the image (mostly over the MAT). This paper describes novel algorithms developed to locate such landmarks as centromere, end points of chromosome and two points defined as branching points on the chromosome axis. The algorithms have been tested on the real images supplied by the cytogenetic laboratory of Cancer Institute, University of Tehran. The automatically defined positions of the landmarks have been compared to those manually identified by an expert. In most of the cases the results were in complete agreement.

关键词： Biological cells Feature extraction Humans Biomedical imaging Information analysis Shape Image processing Machine vision Automation Testing

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Notice of Violation of IEEE Publication Principles: Internal model control based on locally linear model tree (LOLIMOT) model with application to a PH neutralization process

Notice of Violation of IEEE Publication Principles: Internal...

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IEEE International Conference on Systems, Man and Cybernetics

作者： M. Jalili-Kharaajoo A. Rahmati F. Rashidi Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical Engineering Department Iran University of Science and Technology Tehran Iran

Notice of Violation of IEEE Publication Principles "Internal model control based on locally linear model tree (LOLIMOT) model with application to a PH neutral process" by M. Jalili-Kharaajoo, A. Rahmati and F. Rashidi, in proceedings of the 2003 IEEE Internationa Conference on Systems, Man, and Cybernetics, vol 4, pp. 3051-3-55. After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles. This paper contains portions of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission. "Nonlinear Internal Model Control for MISO Systems Based on Local Linear Neuro-Fuzzy Models" by A. Fink, O. Nelles and R. Isermann, in 15th IFAC World Congress, Barcelona, Spain, 2002. The internal model control (IMC) scheme has been widely applied in the field of process control. So far, IMC has been mainly applied to linear processes. This paper discusses the extension of the IMC scheme to nonlinear processes based on local linear models where the properties of linear design procedures can be exploited. The IMC scheme results in controllers that are comparable to conventional multi layer perceptron (MLP) networks. In practice, the tuning of conventional MLP based controllers can be very time-consuming whereas the IMC design procedure is very simple and reliable. The design effort of the IMC based on locally linear model tree (LOLIMOT) algorithm are discussed and the control results are compared by application to nonlinear control of an industrial-scale PH neutralization process. Simulation studies of a PH neutralization process confirm the excellent nonlinear modeling properties of the proposed locally linear network and illustrate the potential for set point tracking and disturbance rejection within an IMC framework.

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GUI ripping: reverse engineering of graphical user interfaces for testing

GUI ripping: reverse engineering of graphical user interface...

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Working Conference on Reverse engineering

作者： A. Memon I. Banerjee A. Nagarajan Department of Computer Science and Fraunhofer Center for Experimental Software Engineering University of Maryland College Park MD USA Department of Computer Science University of Maryland College Park MD USA

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DART: a framework for regression testing "nightly/daily builds" of GUI applications

DART: a framework for regression testing "nightly/daily buil...

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International Conference on software Maintenance (ICSM)

作者： A. Memon I. Banerjee N. Hashmi A. Nagarajan Department of Computer Science and Fraunhofer Center for Experimental Software Engineering University of Maryland College Park MD USA Department of Computer Science University of Maryland College Park MD USA

"Nightly/daily building and smoke testing" have become widespread since they often reveal bugs early in the software development process. During these builds, software is compiled, linked, and (re)tested with the goal of validating its basic functionality. Although successful for conventional software, smoke tests are difficult to develop and automatically rerun for software that has a graphical user interface (GUI). In this paper, we describe a framework called DART (daily automated regression tester) that addresses the needs of frequent and automated re-testing of GUI software. The key to our success is automation: DART automates everything from structural GUI analysis; test case generation; test oracle creation; to code instrumentation; test execution; coverage evaluation; regeneration of test cases; and their re-execution. Together with the operating system's task scheduler, DART can execute frequently with little input from the developer/tester to retest the GUI software. We provide results of experiments showing the time taken and memory required for GUI analysis, test case and test oracle generation, and test execution. We also empirically compare the relative costs of employing different levels of detail in the GUI test cases.

关键词： Graphical user interfaces Automatic testing software testing Application software computer bugs Programming Automation Instruments System testing Costs

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Using supervisory control to synthesize safety controllers for connected spaces

Using supervisory control to synthesize safety controllers f...

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International Conference on Quality software

作者： B. Sridharan A.P. Mathur Kai-Yuan Cai Software Engineering Research Center Department of Computer Sciences Purdue University West Lafayette IN USA Beijing Aeronautics and Astronautics University Beijing China

A procedure for synthesizing safety controllers for pervasive computing environments is described. Control-theoretic techniques are used in the synthesis. We describe the notions of connected spaces and digital device manuals for modeling pervasive computing environments and devices, respectively. The safety requirements for the environment are specified as a set of safety policies. The safety policies are enforced by the safety controller. The notions of policy relaxation cost of the safety policies and safety criticality ranking of the devices are novel to this work. An experimental evaluation of the synthesis procedure is presented. Results show that the synthesis procedure scales linearly with respect to the density of the set of policies.

关键词： Supervisory control Pervasive computing Automatic control Safety devices Control system synthesis Aerospace electronics Aircraft navigation Discrete event systems Costs Integrated circuit synthesis

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A two-phase scatternet formation protocol for Bluetooth wireless personal area networks

A two-phase scatternet formation protocol for Bluetooth wire...

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IEEE Conference on Wireless Communications and Networking

作者： Y. Kawamoto V.W.S. Wong V.C.M. Leung Network & Software Technology Center Sony Corporation Tokyo Japan Department of Electrical and Computer Engineering University of British Columbia Vancouver BC Canada

Bluetooth is a promising short-range radio technology for wireless personal area networks. There is an interest to expand the coverage of such networks by interconnecting them to form scatternets. Most of the scatternet formation algorithms recently proposed in the literature do not support dynamic topology changes, and the master of bridge nodes in the resulting scatternet may become the traffic bottleneck and reduce network throughput. In this paper, we propose a two-phase scatternet formation (TPSF) protocol to support dynamic topology changes while maintaining a high aggregate throughput. In the first phase, a control scatternet is constructed to support topology changes and route determination. The second phase creates a separate on-demand scatternet whenever a node wants to initiate data communications with another node. The on-demand scatternet is torn down when the data transmissions are finished. Since all the time slots in an on-demand scatternet are dedicated to a single communication session, a high aggregate throughput is achieved at the expense of a slightly higher connection setup delay.

关键词： Scattering Wireless application protocol Bluetooth Wireless personal area networks Network topology Throughput Aggregates Data communication Bridges Communication system traffic control

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Analysis of overvoltage on transformers terminated at transmission lines through a cable, using EMTP

Analysis of overvoltage on transformers terminated at transm...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： F. Besharati M. Jalili-Kharaajoo H. Ebrahimirad Young Research Center Islamic Azad University슠 Iran Control and Intelligent processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

In this paper, the overvoltage on a transformer terminated at a transmission line through a cable is considered. Also, the effects of the length and size of the cable on the amplitude of overvoltage and its harmonics are investigated. Simulations are performed using EMTP and their results show the longer cable the less amplitude of overvoltage on the terminal of the transformer.

关键词： Voltage control Transformers Transmission lines Power cables EMTP Power transmission lines Power system transients Power system simulation Surges Oil filled cables

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