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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 526-1042

作者： Norihiro Kamamichi Toshiharu Maeba Masaki Yamakita Toshiharu Mukai Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Chiyoda Tokyo Japan Institute of Physical and Chemical Research Bio-mimetic Control Research Center Nagoya Japan Department of Control and Systems Engineering School of Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Riken Japan BMC Riken Japan

ISBN: (纸本)9781424420575

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In this paper, we demonstrate an automatic fabrication method of the bucky gel devices based on a printing method. By using a dispensing machine, we construct the printing system, and manual forming process is replaced with automatic printing. We investigate the printing of complicated shapes and 3D electrode pattern through experiments.

关键词： Printing Gels Printing process Printing system fabrication FORMING PROCESSES electromotive forces Low voltage

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Observability Based Parameter Identifiability for Biochemical Reaction Networks

Observability Based Parameter Identifiability for Biochemica...

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2008 American control Conference (ACC), vol.5

作者： D. Geffen R. Findeisen M. Schliemann F. Allgower M. Guay Department of Chemical Engineering Queen''s University Canada Institute for Automation Engineering Otto von Guericke Universität Magdeburg Magdeburg Germany Institute of Cell Biology and Immunology University of Stuttgart Germany Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany

In systems biology, models often contain a large number of unknown or only roughly known parameters that must be identified. This work examines the question of whether or not these parameters can in fact be estimated from available measurements. We consider identifiability of unknown parameters in biochemical reaction networks obtained from first-principles-modeling of metabolic and signal transduction networks. Such systems consist of continuous time, nonlinear differential equations. Several methods exist for answering the question of identifiability for such systems;many of which restate the question of identifiability as one of observability. We consider the application of such methods to a representative biological system: the NF-(kappa)B signal transduction pathway. It is shown that existing observability based strategies, which rely on finding an analytical solution, require significant simplifications to be applicable to systems biology problems which are often not feasible. For this reason, a new method based on the use of an 'empirical observability Gramian' for checking identifiability is proposed. This method is demonstrated through the use of a simple biological example.

关键词： Observability systems biology Biological systems Biological system modeling Parameter estimation Biological control systems Signal processing Differential equations Optimization methods State-space methods

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Improving convergence of Iterative Feedback Tuning using optimal external perturbations

Improving convergence of Iterative Feedback Tuning using opt...

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IEEE Conference on Decision and control

作者： Jakob Kjobsted Huusom Hakan Hjalmarsson Niels Kjolestad Poulsen Sten Bay Jorgensen Department of Chemical and Biochemical Engineering Technical University of Denmark Denmark Automatic Control at the Department of Signals Sensors and Systems Royal Institute of Technology in Sweden Sweden Department of Informatics and Mathematical Modeling Technical University of Denmark Denmark

ISBN: (纸本)9781424431236

Iterative feedback tuning constitutes an attractive control loop tuning method for processes in the absence of sufficient process insight. It is a purely data driven approach to optimization of the loop performance. The standard formulation ensures an unbiased estimate of the loop performance cost function gradient, which is used in a search algorithm. A slow rate of convergence of the tuning method is often experienced when tuning for disturbance rejection. This is due to a poor signal to noise ratio in the process data. A method is proposed for increasing the information content in data by introducing an optimal perturbation signal in the tuning algorithm. For minimum variance control design the optimal design of an external perturbation signal is derived in terms of the asymptotic accuracy of the iterative feedback tuning method.

关键词： Convergence Cost function Iterative methods Optimal control Feedback loop Iterative algorithms control design Shape control Signal design Signal processing

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Stabilization of Nonlinear systems using Weak-control-Lyapunov Functions

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IFAC Proceedings Volumes 2008年第2期41卷 6190-6195页

作者： Gou Nishida Takayuki Tsuzuki Hisakazu Nakamura Yuh Yamashita RIKEN(The Institute of Physical and Chemical Research) Bio-Mimetic Control Research Center Environment Adaptive Robotic Systems Lab. 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya Aichi 463-0003 Japan Department of Electronic and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University 1060 Nishikawatsu-cho Matsue-shi Shimane 690-8504 Japan Nara Institute of Science and Technology Systems and Control Lab. Graduate School of Information Science Takayama 8916-5 Ikoma Nara 630-0192 Japan Hokkaido University Graduate School of Information Science and Technology Division of Systems Science and Informatics Kita 13 Nishi 8 Kita-ku Sapporo 060-8628 Japan

This paper proposes a recursive method of constructing weak-control-Lyapunov functions for nonlinear systems. Lyapunov function is one of effective tools to study stability and stabilization in nonlinear system control design. However, a general way of finding Lyapunov functions has not been known yet. Our method is introduced by an explicit topological-geometric assumption for a state space manifold, called a Morse-Smale. The assumption indicates that there exists a sequence of inclusions of the manifold and its singular structures, called a weak-Lyapunov filtration. From this structure, we can construct a finite number of iterations to define weak-control-Lyapunov functions. As a result, the existence of the weak-control-Lyapunov functions can be specified by the investigation of property of manifolds.

关键词： Nonlinear systems Iterative modeling and control design

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Topological geometry and control for distributed port-Hamiltonian systems with non-integrable structures

Topological geometry and control for distributed port-Hamilt...

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IEEE Conference on Decision and control

作者： Gou Nishida Bernhard Maschke Masaki Yamakita Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Group RIKEN Institute of Physical and Chemical Research Nagoya Aichi Japan Laboratoire dAutomatique et de Génie des Procédés (LAGEP UMR 5007) Universit éClaude Bernard Lyon 1 Université de Lyon Villeurbanne France Department of Mechanical and Control Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424431236

This paper discusses topological geometrical aspects and a control strategy for a distributed port-Hamiltonian system with a non-integrable structure called a distributed energy structure. First, we show a geometrical structure of port variables determined by differential forms. Next, we state the necessary condition for regarding the distributed energy structure as a boundary energy structure which is boundary integrable. From these results, we define the fundamental form that generates the distributed port-Hamiltonian system with distributed energy structures in a variational problem. Finally, we present a new concept of boundary controls for the distributed port-Hamiltonian system with distributed energy structures in space-time coordinates.

关键词： Geometry Distributed control control systems Shape control Load flow Calculus Differential equations Laplace equations Partial differential equations Damping

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A methodology for integrated system identification with IMC-PID controller design

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RIAI - Revista Iberoamericana de Automatica e Informatica Industrial 2007年第4期4卷 5-18+129页

作者： Flores, Daniel Eduardo Rivera Control Systems Engineering Laboratory Department of Chemical Engineering Arizona State University Tempe AZ 85287-6006 United States

This paper describes, in tutorial fashion, an integrated identification and control design methodology that begins with dynamic modelling from plant data and concludes with parameter settings for high performance PID controllers. By integrating identification with PID controller design, the method displays functionality that is often demanded by the practicing engineering community. The major steps in this integrated methodology are: experimental design, high-order ARX estimation, and control-relevant model reduction leading to models that comply with the MC-PID tuning rules. When a persistently exciting input is applied, high-order ARX model estimation is consistent, which makes it an attractive intermediate model for control-relevant model reduction purposes;furthermore, the low computational effort associated with ARX estimation means that simple statistical tools (such as cross validation) can be used to efficiently determine a suitable structure for the ARX model without substantial user intervention. The methodology is illustrated for the case of a delayed plant subject to a disturbance displaying significant drift. Copyright ©2007 CEA-IFAC.

关键词： Three term control systems

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Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite

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IFAC Proceedings Volumes 2008年第2期41卷 2300-2305页

作者： Gou Nishida Kentaro Takagi Bernhard Maschke Zhi-wei Luo RIKEN(The Institute of Physical and Chemical Research) Bio-Mimetic Control Research Center Environment Adaptive Robotic Systems Lab. 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya Aichi 463-0003 Japan Dept. of Mechanical Science and Engineering Graduate School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 JAPAN Université Claude Bernard Lyon-1 CPE Lyon - Bâtiment 308 G UCB Lyon 1 - UFR Génie Electrique et des Procédés - CNRS UMR 5007 Laboratoire d'Automatique et de Génie des Procédés 43 bd du 11 Novembre 1918 F-69622 Villeurbanne cedex France Department of Computer and Systems Engineering Kobe University 1-1 Rokkodai Nada-ku Kobe Hyogo 657-8501 JAPAN / RIKEN BMC

This paper shows that one of soft actuators, Ionic Polymer-Metal Composite (IPMC) can be modeled in terms of distributed port-Hamiltonian systems with multi-scale. The physical structure of IPMC consists of three parts. The first part is an electric double layer at the interface between the polymer and the metal electrodes. The frequency response of the polymer-metal interface shows a fractal degree of gain slope. Then we adopt a black-box circuit model to this part and give considerations for distributed impedance parameters. The second part is an electrostress diffusion coupling model with bending and relaxation dynamics. This part is represented by an electro-osmosis, which is a water transport by an electric field, and a streaming potential, which is an electric field created by a water transport. We discuss the relationship of stress and bending moment induced by swelling. The third part is a mechanical system modeled as a flexible beam with large deformations. The representation has the capability extracting the control structure based on passivity from distributed parameter systems possessing a complex behavior.

关键词： Modeling Design methodologies

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MPC relevant identification using Generalized orthonormal basis filters 8th

MPC relevant identification using Generalized orthonormal ba...

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8th IFAC Symposium on Dynamics and control of Process systems, 2007

作者： Palnitkar, Koustubh Badwe, Abhijit S. Patwardhan, Sachin C. Gudi, Ravindra D. Systems and Control Engineering Indian Institute of Technology Powai Mumbai400076 India Department of Chemical Engineering Indian Institute of Technology Powai Mumbai400076 India

In MPC relevant identification, it is necessary to identify models that are suited for multi-step ahead predictions. This can be achieved by minimizing the multi-step ahead prediction error in the identification stage. This work aims at the development of a methodology for identification of MPC relevant models based on Generalized orthonormal basis filters (GOBF). Specifically, ARX models parameterized using GOBF are identified. The efficacy of the proposed modeling technique is demonstrated by carrying out simulation studies on the benchmark Shell control problem. The relative quality of the obtained models is evaluated through closed-loop performance with MPC. © Copyright 2007 IFAC.

关键词： Model predictive control

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LQG control with reconfigurable state estimator under sensor and actuator failures 8th

LQG control with reconfigurable state estimator under sensor...

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8th IFAC Symposium on Dynamics and control of Process systems, 2007

作者： Zamad, Ujjwal S. Deshpande, Anjali P. Patwardhan, Sachin C. Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India Department of Chemical Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

Occurrences of sensor/actuator failures can lead to significant degradation in the closed loop performance when conventional feedback controllers are used. In this work, we propose an active failure tolerant LQG (FTLQG) control scheme, which employs model based fault diagnosis for on-line reconfiguration of state estimator on diagnosis of failures. Generalized likelihood ratio (GLR) method proposed in the literature is extended for diagnosis of sensor failures. Recurrence relationships are derived for diagnosing sensor failures, which are amenable for on-line computations. The efficacy of the proposed FTLQG scheme is demonstrated using simulation and experimental studies on a laboratory scale heater-mixer setup. © Copyright 2007 IFAC.

关键词： Fault detection

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MPC RELEVANT IDENTIFICATION USING GENERALIZED ORTHONORMAL BASIS FILTERS *

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IFAC Proceedings Volumes 2007年第5期40卷 321-326页

作者： Koustubh Palnitkar Abhijit S. Badwe Sachin C. Patwardhan Ravindra D. Gudi Systems and Control Engineering Department of Chemical Engineering Indian Institute of Technology Powai Mumbai-400076 India

关键词： Model Predictive control MPC relevant identification Generalized orthonormal basis filters ARX models

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