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Annual Conference of Industrial Electronics Society

作者： Jiwu Wang H. Kimura M. Sugisaka Department of Electrical and Electronics Engineering Oita University Oita Japan The Institute of Physical and Chemical Research (RIKEN) Bio-Mimetric Control Research Center Nagoya Japan Complex Systems Department of Complexity Science and Engineering The University of Tokyo Tokyo Japan

It is a prerequisite for a mobile robot to realize steady and reliable navigation. But its reliability is often weakened by an unavoidable slip and some incorrigible drift errors of sensors, especially after a long distance navigation. Although perceptual landmarks were solutions to such problems, it is easy to miss landmarks at some specific spots when the robot moves at different speeds, especially at higher speeds. And if the landmarks were put in any intervals, or if the illumination conditions were not good, it is more difficult to find them. In order to detect and extract the artificial landmarks robustly under different illuminating conditions, some low level but robust image processing technique was implemented. The moving speed was controlled with the visual servoing control method. When the robot suddenly can not find some specific landmarks at some specific spots because of the higher speed or rapid turn of the road, it will search for the landmarks based on its intelligence, the inertia of the previous motion, and find the landmark in the shortest time. These methods were verified by the reliable vision-based indoor navigation of an Alife mobile robot.

关键词： Navigation Robot vision systems Robot sensing systems Mobile robots Robustness Intelligent robots Lighting Image processing Visual servoing Roads

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Computationally efficient scheduled model predictive control for constrained nonlinear systems with stability guarantees

Computationally efficient scheduled model predictive control...

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American control Conference (ACC)

作者： Zhaoyang Wan M.V. Kothare Department of Chemical Engineering Chemical Process Modeling and Control Research Center Lehigh Universit Bethlehem PA USA Department of Chemical Engineering Lehigh University Bethlehem PA U.S.A Lehigh University Bethlehem PA US Dept. of Chem. Eng. Lehigh Univ. Bethlehem PA USA

We present a computationally efficient scheduled formulation of model predictive control (MPC) for constrained nonlinear systems with large operating regions. We design a set of local predictive controllers with their explicit regions of stability covering the desired operating region, and implement them as a single scheduled MPC which switches between the set of local controllers and achieves nonlinear transitions with guaranteed stability. This algorithm is computationally efficient and provides a general framework for scheduled MPC design.

关键词： processor scheduling Computational modeling Predictive models Predictive control Nonlinear systems Robust stability Nonlinear control systems control systems Switches Robust control

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A novel gait generation for biped walking robots based on mechanical energy constraint

A novel gait generation for biped walking robots based on me...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： F. Asano M. Yamakita N. Kamamichi Z.-W. Luo Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Japan The Institute of Physical and Chemical Research Bio-Mimetic Control Research Center

This paper proposes a novel energy-based control law for biped robots based on an analysis of passive dynamic walking. Firstly we discuss the essence of dynamic walking using a passive walker on a gentle slope. In the second, we propose a simple and effective control law which imitates the energy behavior in every cycle considering the ZMP condition and other factors of the active walker. The control strategy is formed by the feature of mechanical energy dissipation and restoration. By the effect of the proposed method, the robot can exhibit natural and reasonable walk on a level ground without any gait design in advance. The validity of the proposed method is examined by numerical simulations and experiments.

关键词： Legged locomotion Mechanical energy control systems Numerical simulation chemical technology Automatic generation control Stability control system synthesis DC motors Power engineering and energy

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Tissue-engineered liver microreactor as an in vitro surrogate assay for gene delivery (*** delivery)

Tissue-engineered liver microreactor as an in vitro surrogat...

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Proceedings of the 2002 IEEE engineering in Medicine and Biology 24th Annual Conference and the 2002 Fall Meeting of the Biomedical engineering Society (BMES / EMBS)

作者： Kalezi, Artemis Domansky, Karel Capitano, Adam Wands, Jack R. Lauffenburger, Douglas A. Griffith, Linda G. Biotechnology Process Eng. Center MIT Cambridge MA 02139 United States Department of Chemical Engineering MIT Cambridge MA 02139 United States Division of Biological Engineering MIT Cambridge MA 02139 United States Brown University School of Medicine Liver Research Center Rhode Island Hospital Providence RI 02903 United States

The isolation and culture of cells in vitro alters the structural and functional properties that they exhibit as part of an organized tissue, and could be one of the factors that lead to the lack of correlation between in vitro and in vivo gene delivery. This issue is of particular importance in the case of liver. Hepatocytes undergo a rapid loss of liver-specific function, cell viability and cyto-architecture when maintained under conventional culture conditions. This problem indicates the necessity for an organized in vitro tissue culture system, in order to improve the predictive value of in vitro assays for the performance of gene delivery vectors in vivo. The Tissue-Engineered Liver Microreactor developed in our lab provides a perfused 3D liver culture system. We are pursuing this system as a potential in vitro assay for gene delivery studies. Using an adenoviral vector and enhanced Green Fluorescent Protein as a reporter, we can detect and quantify gene delivery efficiency and levels of gene expression in this 3D system, by the application of techniques such as two-photon microscopy and spectrometry.

关键词： Gene transfer

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Pilot scale production of pory(3-hydroxybutyrate-co-3-hydroxyvalerate) by fed-batch culture of recombinant Escherichia coli

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Biotechnology and Bioprocess engineering 2002年第6期7卷 371-374页

作者： Choi, Jong-Il Lee, Sang Yup Shin, Kyungsup Lee, Woo Gi Park, Si Jae Chang, Ho Nam Chang, Yong Keun Metabolic and Biomolecular Engineering National Research Laboratory Korea Advanced Institute of Science and Technology Yuseong-gu Daejeon 305-701 373-1 Guseong-dong South Korea Department of Chemical and Biomolecular Engineering BioProcess Engineering Research Center Yuseong-gu Daejeon 305-701 373-1 Guseong-dong South Korea Center for Ultramicrochemical Process Systems Korea Advanced Institute of Science and Technology Yuseong-gu Daejeon 305-701 373-1 Guseong-dong South Korea

Production of poly(3-hydroxybutyrate-co-3-hydroxyvalerate) [P(3HB/V)], by fed-batch culture of recombinant Escherichia coli harboring a plasmid containing the Alcaligenes latus polyhydroxyalkanoate (PHA) biosynthesis genes, was examined in two pilot-scale fermentors with air supply only. In a 30 L fermentor having a K_La value of 0.11 s^-1, the final P(3HB/V) concentration and the P(3HB/V) content obtained were 29.6 g/L and 70.1 wt%, respectively, giving a productivity of 1.37 g P(3HB/V)/L-h. In a 300 L fermentor having a K_La of 0.03 s^-1, the P(3HB/V) concentration and the P(3HB/V) content were 20.4 g/L and 69 wt%, respectively, giving a productivity of 1.06 g P(3HB/V)/L-h. These results suggest that economical production of P(3HB/V) is possible by fed-batch culture of recombinant E. coli in a large-scale fermentor having low K_La value.

关键词： Oxygen transfer rate P(3HB/V) Pilot-scale fermentor Recombinant E. coli

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Nonlinear model predictive control of end-use properties in batch reactors under uncertainty 6

Nonlinear model predictive control of end-use properties in ...

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6th European control Conference, ECC 2001

作者： Valappil, Jaleel Georgakis, Christos Chemical Process Modeling and Control Research Center Department of Chemical Engineering Lehigh Univeristy BethlehemPA18015 United States

ISBN: (纸本)9783952417362

There are significant incentives in controlling the end-use properties in batch reactors to reduce the variability in the final product quality specifications. Here we define an approach for controlling the properties within a desired target region, instead of a set point, with an economic objective and with consideration of the model uncertainty. The approach to handling process-model mismatch is based on determining the uncertainty in the predicted final values of the properties, in the form of elliptical confidence regions. The controller then ensures that the complete confidence region is within the target set. A semi-infinite programming problem is solved to find the input values for the rest of the batch, utilizing techniques that reduce the complexity of the problem. An emulsion polymerization process for styrene is chosen as a case study and the methods developed here are demonstrated on this challenging example process. © 2001 EUCA.

关键词： Batch reactors

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On the operability of continuous processes

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IFAC Proceedings Volumes 2001年第25期34卷 65-76页

作者： Christos Georgakis Derya Uztürk Sivakumar Subramanian David R. Vinson Chemical Process Modeling and Control Research Center and Department of Chemical Engineering Lehigh University Air Products and Chemicals Allentown PA

This paper offers a brief overview of past work as well as a critique of the state of the art from the perspective of a recently introduced operability framework (Vinson and Georgakis, 1998, 2000). This framework aims to quantify the inherent operability of a process without having to specify the control structure. It enables the identification of inoperable processes, regardless of the feedback controller selected, necessitating process rather than controller changes. Evaluation of steadystate operability is a necessary first step which should subsequently be complemented by the examination of the dynamic operability. The defined concepts are based on some key operating spaces. These spaces define the available ranges of input variables, the desired ranges of output variables, and the expected ranges of disturbance variables of the process. The calculation of the operability index is demonstrated for linear and the more general case of nonlinear models. This is achieved by mapping the defined input and output spaces onto each other using the nonlinear steadystate model of the process. Dynamic operability is examined by solving an optimal control problem to find the minimum time within which the process can respond to a disturbance or move to a new operating point with the available ranges of inputs.

关键词： integration of design and control operability controllability operability index minimum-time optimal control

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Nonlinear model predictive control of end-use properties in batch reactors under uncertainty

Nonlinear model predictive control of end-use properties in ...

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European control Conference (ECC)

作者： Jaleel Valappil Christos Georgakis Chemical Process Modeling and Control Research Center and Department of Chemical Engineering Lehigh Univeristy Bethlehem PA USA

关键词： Uncertainty Approximation methods Mathematical model Covariance matrices Equations Programming Eigenvalues and eigenfunctions

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State estimation and nonlinear model predictive control of end-use properties in batch reactors

State estimation and nonlinear model predictive control of e...

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American control Conference (ACC)

作者： J. Valappil C. Georgakis Chemical Process Modeling and Control Research Center Department of Chemical Engineering Lehigh University Bethlehem PA USA

There are economic incentives in controlling the end-use properties in batch reactors to reduce the variability in the final product quality specifications. Here we define an approach for controlling the properties within a desired target region, instead of a set point, with an economic objective and with consideration of the model uncertainty. The approach to handling process-model mismatch is based on determining the uncertainty in the predicted final values of the properties, in the form of elliptical confidence regions. The controller then ensures that the complete confidence region is within the target region. A semi-infinite programming problem is solved to find the input values for the rest of the batch. The methods developed here are demonstrated on an emulsion polymerization example.

关键词： State estimation Predictive models Predictive control Inductors Uncertainty Economic forecasting Polymers chemical processes process control chemical engineering

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A computational model for the autonomous control loops through the cerebellum, spinal code and muscle

A computational model for the autonomous control loops throu...

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IEEE International Conference on Systems, Man and Cybernetics

作者： T. Nakayama S. Hosoe Bio-mimetic Control Research Center RIKEN Institute of Physical and Chemical Research Nagoya Japan Department of Electronic-Mechanical Engineering University of Nagoya Nagoya Japan

This paper proposes a computational model for the cerebellum and spinal code. The proposed motion control scheme makes it possible to stabilize the posture of hand to the desired equilibrium trajectories. In this model, a motor neuron regulate the rest length of muscle to compensate the changes of equilibrium joint positions caused by the external load and the cerebellum compensates the inertial forces to stabilize the equilibrium position of joints. The asymptotic stability of joint angles to the desired equilibrium joint positions is proven theoretically and the performance of the control model is verified by some simple computer simulations.

关键词： Muscles Viscosity Elasticity Feedback Acceleration Petroleum Neurons Servomechanisms Asymptotic stability Force control

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