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IEEE International Conference on Robotics and Automation (ICRA)

作者： Thomas Nierobisch Johannes Krettek Umar Khan Frank Hoffmann Faculty of Electrical Engineering and Information Technology Chair for Control and Systems eNGINEERING Universität Dortmund Dortmund Germany

This paper presents a novel approach to large view visual servoing in the context of object manipulation. In many scenarios the features extracted in the reference pose are only perceivable across a limited region of the work space. The limited visibility of features necessitates the introduction of additional intermediate reference views of the object and requires path planning in view space. In our scheme the visual control is based on decoupled moments of SIFT-features, which are generic in the sense that the control operates with a dynamic set of feature correspondences rather than a static set of individual features. The additional freedom of dynamic feature sets enables flexible path planning in the image space and online selection of optimal reference views during servoing to the goal view. The time to convergence to the goal view is estimated by a neural network based on the residual feature error and the quality of the SIFT feature distribution. The transition among reference views occurs on the basis of this estimated cost which is evaluated online based on the current set of visible features. The dynamic switching scheme achieves robust and nearly time-optimal convergence of the visual control across the entire task space. The effectiveness and robustness of the scheme is confirmed in an evaluation in a virtual reality simulation and on a real robot arm with a eye-in-hand configuration.

关键词： Visual servoing Path planning Convergence Feature extraction Neural networks Costs Robust control Robustness Virtual reality Orbital robotics

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Benchmark problems of Signal Processing and control for Testing Emergent Architectures and Programming Techniques of DSP's, FASIC's, and PLD's

Benchmark problems of Signal Processing and Control for Test...

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Computer Information systems and Industrial Management Applications (CISIM)

作者： Adam Dabrowski Pawel Pawlowski Department of Computing and Management Chair of Control and System Engineering Division of Signal Processing and Electronic Systems Poznań University of Technology Poznan Poland

In this paper we present four carefully selected computationally intensive signal processing problems, which can serve as benchmark applications for efficiency testing of modern DSP's, FASIC's, and PLD's.

关键词： Benchmark testing Signal processing Process control Digital signal processing Signal generators control systems Vehicle crash testing Circuit testing System testing Finite impulse response filter

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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MARKOV DECISION PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN control

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Asian Journal of control 2008年第2期6卷

作者： Suresh Kalyanasundaram Edwin K. P. Chong Ness B. Shroff Motorola India Electronics Limited No. 66/1 Plot 5 Bagmane Techpark C. V. Raman Nagar Post Bangalore 560 093 India. Department of Electrical and Computer Engineering Colorado State University Fort Collins CO 80523-1373 USA. Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the University of Adelaide South Australia in 1987 graduating top of his class and the M.A. and Ph.D. degrees in 1989 and 1991 respectively both from Princeton University where he held an IBM Fellowship. He joined the School of Electrical and Computer Engineering at Purdue University in 1991 where he was named a University Faculty Scholar in 1999 and promoted to Full Professor in 2001. Since August 2001 he has been a Professor of Electrical and Computer Engineering and Professor of Mathematics at Colorado State University. His current interests are in communication networks and optimization methods. He coauthored the best-selling book An Introduction to Optimization 2nd Edition Wiley-Interscience 2001. He received the NSF CAREER Award in 1995 and the ASEE Frederick Emmons Terman Award in 1998. He coauthored a paper that was awarded Best Paper in the journal Computer Networks 2003. Professor Chong is a Fellow of the IEEE. He was founding chairman of the IEEE Control Systems Society Technical Committee on Discrete Event Systems and until recently served as an IEEE Control Systems Society Distinguished Lecturer. He has been on the editorial board of the IEEE Transactions on Automatic Control. He is currently on the editorial board of the journal Computer Networks. He has also served on the organizing committees of several international conferences. He has been on the program committees for the IEEE Conference on Decision and Control the American Control Conference the IEEE International Symposium on Intelligent Control IEEE Symposium on Computers and Communications and the IEEE Global Telecommunications Conference. He has also served in the executive committees for the IEEE Co

Solution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per-unit-time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max-min optimal policy, which maximizes the worst-case average per-unit-time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time-varying transition rates.

关键词： Markov decision processes sensitivity max-min control call admission control policy iteration

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A Novel Method Of controller Design For Simultaneous Stabilization And Performance Improvement Of An Electromagnetic Levitation System

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Asian Journal of control 2008年第4期9卷

作者： Subrata Banerjee T. K. Sunil Kumar Jayanta Pal Dinkar Prasad Department of Electrical Engineering Indian Institute of Technology Kharagpur India. T.K.Sunil Kumar:was born in 1974 at Calicut India. He received the B.Tech in electrical engineering in 1997 from N.S.S College of Engineering Palakkad (Calicut University) and M.Tech in Power System in 2001 from Regional Institute of Technology Jamshedpur (Ranchi University). Since 2001 he has been pursuing research work for his Ph.D in Electrical Engineering at Indian Institute of Technology Kharagpur. He is a life member of Systems Society of India. His main research interests includes application of control theory and computers to power system model order reduction genetic algorithm PID tuning random search optimization controller deign in 2-DOF configuration and interval systems. Emerson Network Power India.

This paper describes design and implementation of a control philosophy for simultaneous stabilization and performance improvement of an electromagnetic levitation system. An electromagnetic levitation system is an inherently unstable and strongly nonlinear system. To determine the overall closed loop stability for such a system, cascade lead-lag compensation has mostly been reported [1,2]. However, a single lead controller can not satisfy both stability and performance for such unstable systems [3]. Performance enhancement to satisfy the conflicting requirements of fast response with almost zero overshoot and zero steady state error has been successfully achieved by using a two loop controller configuration. The lead controller in the inner loop is designed to ensure stability while the outer loop PI controller is designed for performance enhancement. This approach decouples the twin requirements of stabilization (by the inner loop) and performance achievement (by the outer PI loop). The outermost PI controller has been designed using the ‘Approximate Model Matching’ technique [4]. The proposed control strategy has been implemented and the experimentation has been demonstrated successfully. Different experimental results have been included for verification.

关键词： Electromagnetic levitation lead-lag compensation approximate model matching control switched-mode DC to DC chopper model order reduction technique.

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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SUPER-HEURISTICS AND THEIR APPLICATIONS TO COMBINATORIAL PROBLEMS

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Asian Journal of control 2008年第1期1卷

作者： Tak Wing Edward Lau Yu-Chi Ho Division of Engineering and Applied Sciences Harvard University Cambridge MA02138 U.S.A. Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Professor of Engineering at Harvard and as visiting professor to the Cockrell Family Regent's Chair in Engineering at the University of Texas Austin. He has published over 120 articles and three books one of which (co-authored with A.E. Bryson Jr.) has been translated into both Russian and Chinese and made the list of Citation Classics as one of the most referenced works on the subject of optimal control. He is on the editorial boards of several international journals and is the editor-in-chief of the new international Journal on Discrete Event Dynamic Systems. He is the recipient of various fellowships and awards including the Guggenheim (1970) and the IEEE Field Award for Control Engineering and Science (1989) the Chiang Technology Achievement Award (1993). He is a fellow of IEEE a Distinguished Member of the Control Systems Society and a member of the U.S. National Academy of Engineering. In addition to serving on various governmental and industrial panels and professional society administrative bodies he was the President of the IEEE Robotics & Automation Society in 1988

Combinatorial problems are known to be difficult because of the shear size of the solution space and the lack of polynomial time algorithms to “solve” them. Heuristics are often devised to produce acceptable solutions in an affordable time. In this paper, we propose a method called super-heuristic that expands the capabilities of heuristics using randomization and sampling techniques. We submit that heuristics are in general strategies that map from available information of a problem instance to decisions in solution constructions/improvement. We show that it is important to utilize the information effectively in the randomization process. More importantly, the possibility of randomization around a heuristic spells out the demarcation between the roles of human and machines in complex optimization problems.

关键词： Combinatorial problems heuristics randomization and sampling techniques man-machine interactions

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Evolutionary Hardware-in-the-Loop Optimization of a controller for Cascaded Hydraulic Valves

Evolutionary Hardware-in-the-Loop Optimization of a Controll...

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2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Johannes Krettek Daniel Schauten Frank Hoffmann Torsten Bertram Chair for Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology Universitat Dortmund D-44221 Dortmund Germany

ISBN: (纸本)9781424412631;1424412633

This paper presents a method for evolutionary optimization of a cascaded control structure for an industrial hydraulic valve. It proposes an iterative optimization scheme, in which the controller optimization alters between inner and outer loop parameters. The evolutionary optimization is a combination of hardware-in-the-loop evaluation of the pilot valve and a dynamic simulation of the main valve behavior. The experimental results demonstrate that the intertwined scheme results in faster convergence as it breaks down the overall optimization of the cascaded control structure into the less complex subproblems of separate optimization of inner and outer loop.

关键词： control system hydraulic valve evolutionary optimization hardware-in-the-loop optimization

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Stabilization of two-wheeled mobile robot using smooth control laws - experimental study

Stabilization of two-wheeled mobile robot using smooth contr...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Kozlowski D. Pazderski Chair of Control and Systems Engineering Poznań University of Technology Poznan Poland

The paper presents a comparison of selected smooth and time-differentiable control laws used for stabilization of nonholonomic two-wheeled mobile robot. The significant part of the research is concentrated on application of these algorithms in resolving parallel parking problem. Some remarks concerning tuning of the controllers and their robustness to the delay in control loop are given

关键词： Mobile robots Robot control Robot kinematics control systems Vectors systems engineering and theory Robust control Delay Wheels Feedback

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Evaluation of manipulator dynamics based on optimal controller

Evaluation of manipulator dynamics based on optimal controll...

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IEEE Conference on Decision and control

作者： Przemyslaw Herman Krzysztof Kozlowski Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland

ISBN: (纸本)1424401704

Some observations that are useful for evaluation of a manipulator dynamics are presented in this paper. First, by adopting the Pontryagin maximum principle optimal motion profiles were derived. Next, based on the obtained results and description of motion using unnormalized quasi-velocities (UQV) some properties observable during the manipulator motion were considered. The strategy allows one to conclude about the system behavior under an optimal controller. The presented method was tested analytically and by simulation on a 2 d.o.f. planar mechanical system

关键词： Manipulator dynamics Optimal control Equations control systems control nonlinearities Robots Motion control Nonlinear control systems USA Councils System testing

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