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Improved line-of-sight guidance for cruising underwater vehicles

IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

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Position accuracy improvement of linear motor container transfer system using DR-FNNs

Position accuracy improvement of linear motor container tran...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Jin-Woo Lee Jin-Ho Suh Young-Jin Lee Kwon-Soon Lee Department of Electrical Engineering Dong-A University Busan Korea Department of Electrical Instrument of Control Korea Aviation Polytechnic College Korea Division of Electrical Electronics and Computer Dong-A University Korea

ISBN: (纸本)0780386337

We introduced a multi-step prediction control of linear motor-based container transport system for high precision using dynamically constructed recurrent fuzzy neural networks (DR-FNN). Linear motor-based container transport system (LMCTS) is the horizontal transfer system for yard automation, which is proposed to take the place of automated guided vehicle in the maritime container terminal. LMCTS is the system that can suddenly changed its model by loading and unloading container. The proposed control system is using two DR-FNN for multi-step prediction. Consequently, the system has the ability to adapt for a huge rolling friction, cogging force ripple, and sudden changes by loading and unloading.

关键词： Containers Automatic control control systems Fuzzy neural networks Fuzzy control Automation Vehicles Load modeling Friction Forging

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Anti-sway control of an ATC using NN predictive PID control

Anti-sway control of an ATC using NN predictive PID control

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Annual Conference of Industrial Electronics Society

作者： Jin Ho Suh Jin Woo Lee Young Jin Lee Kwon Soon Lee Department of Electrical Engineering Dong-A University Busan South Korea Department of Electrical Instrument and Control Korea Aviation Politechnic College Sachun South Korea Division of Electrical Electronics and Computer Engineering Dong-A University Busan South Korea

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the final coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm proposed in this study can be readily used for industrial applications.

关键词： Neural networks Three-term control Automatic control Cranes control systems Containers Costs Robust control Stacking Instruments

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Novel topology of a line interactive UPS using PQR instantaneous power theory

Novel topology of a line interactive UPS using PQR instantan...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Hyosung Kim Jun-Keun Ji Jang-Hwan Kim Seung-Ki Sul Kyung-Hwan Kim Department of Control Engineering Cheonan National Technical College South Korea Division of Information Technology Engineering Soonchunhyang University South Korea School of Electrical Engineering and Computer Science Seoul National University South Korea EWHA Technologies Information Company South Korea

ISBN: (纸本)0780384865

This work proposes a novel topology and control algorithm for a three-phase line-interactive UPS system with active power-line conditioning capability. This paper presents a simple and systematic control algorithm to regulate the source current and the load voltage of the proposed UPS system using PQR transformation. A parallel inverter operating as a controlled voltage source regulates the source current sinusoidal by controlling the applied voltage on an AC line inductor. The series inverter operating as a dynamic voltage restorer (DVR) compensates for the main source voltage and rides through the output load voltage to be balanced and harmonic-free. Both of the series and parallel inverters always act as controllable voltage sources independently, so that the three-phase output voltages can transfer seamlessly between normal mode and backup mode. The proposed UPS system has high operation efficiency and high usage of the converter capacity, and good endurance against voltage transients or EMI noise resulted from the mains. The feasibility of the proposed UPS system has been investigated and verified through computer simulations and experiments by a 60 kVA prototype UPS.

关键词： Topology Uninterruptible power systems Voltage control Inductors Batteries Feeds Pulse width modulation inverters control systems Reactive power Power supplies

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Weighted vector directional filters optimized by genetic algorithms

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5th International Conference on Parallel Processing and Applied Mathematics, PPAM 2003

作者： Lukac, Rastislav Smolka, Bogdan Swierniak, Andrzej Plataniotis, Konstantinos N. Venetsanopoulos, Anastasios N. Slovak Image Processing Center Jarkova 343 Dobsina049 25 Slovakia Department of Automatic Control Silesian University of Technology Akademicka 16 Str Gliwice44-101 Poland The Edward S. Rogers Sr. Dept. of Electrical and Computer Engineering University of Toronto 10 King’s College Road Toronto Canada

ISBN: (纸本)3540219463

This paper focuses on genetic optimization and filtering efficiency ofa recently developed class ofWeighted Vector Directional Filters (WVDFs), which minimize the aggregated weighted angular distances between the samples contained in a sliding filtering window. As shown in the paper, the proposed genetically optimized WVDFs hold excellent detail preserving characteristics and are able to remove impulsive noise affecting color images. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Impulse noise

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Adaptive noise reduction in microarray images based on the center-weighted vector medians

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5th International Conference on Parallel Processing and Applied Mathematics, PPAM 2003

ISBN: (纸本)3540219463

In this paper, we provide a new noise reduction method for the enhancement of the images of gene chips. We demonstrate that the new technique is capable of reducing outliers present in microarray images while preserving the spot edges. This paper contains the comparisons of the proposed technique with the standard schemes used in color image filtering, as well as examples of their efficiency when these methods are applied to typical microarray images. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Noise abatement

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AGV steering controller using NN identifier and cell mediated immune algorithm

AGV steering controller using NN identifier and cell mediate...

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American control Conference (ACC)

作者： Young-Jin Lee Jin-Ho Suh Jin-Woo Lee Kwon-Soon Lee Department of Electrical Instrument and Control Korean Aviation Polytechnic College South Korea Department of Electrical Engineering Dong-A University South Korea Division of Electrical Electronics and Computer Science Dong-A University South Korea

In this paper, CMIA (cell mediated immune algorithm) controller was proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller was based on specific immune response of the biological immune system which is the cell mediated immunity. To verify the performance of the proposed CMIA controller, some experiments for the control of steering of that AGV are performed. The tracking error of the AGV was mainly investigated for this purpose. As a result, the capability of realization and reliability were proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID (neural network PID) controller.

关键词： Neural networks Immune system control systems Three-term control control system synthesis Displacement control Robot control Remotely operated vehicles Vehicle driving Mobile robots

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Using gated experts in fault diagnosis and prognosis

Using gated experts in fault diagnosis and prognosis

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： H. Berenji Yan Wang D. Vengerov R. Langari M. Jamshidi NASA Research Park Intelligent Inference Systems Corporation Moffett Field CA USA ECElectrical and Computer Engineering Department atid Autonomous Control Engineering ACE University of New Mexico Albuquerque NM USA Texas A and M University College Station TX USA

Three individual experts have been developed based on extended auto associative neural networks (E-AANN), Kohonen self organizing maps (KSOM), and the radial basis function based clustering (RBFC) algorithms. An integrated method is proposed later to combine the set of individual experts managed by a gated experts algorithm, which assigns the experts based on their best performance regions. We have used a Matlab Simulink model of a chiller system and applied the individual experts and the integrated method to detect and recover sensor errors. It has been shown that the integrated method gets better performance in diagnostics and prognostics compared with each individual expert.

关键词： Fault diagnosis Neural networks Clustering algorithms Self organizing feature maps Pattern recognition Fault detection Intelligent systems NASA control engineering Mathematical model

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A novel three-phase line-interactive UPS system with parallel-series active power-line conditioning capabilities using AC line reactor

A novel three-phase line-interactive UPS system with paralle...

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Annual Conference of Industrial Electronics Society

作者： Jun-Keun Ji Jang-Hwan Kim Seung-Ki Sui Hyo-sung Kim Division of Information & Technology Engineering Soonchunhyang University Asan Gyeongnam South Korea Division of Information & Technology Engineering Soonchunhyang University Asan-Si Chungnam Korea School of Electrical Engineering and Computer Science Seoul National University Seoul Korea Department of Control & Measurement Engineering Cheonan National Technical College Cheonan Chungnam Korea

ISBN: (纸本)0780387309

In this paper a novel three-phase line-interactive UPS system with parallel-series active power-line conditioning capability using AC line reactor and two four-leg voltage source converter (VSC) is proposed. The four-leg VSC can use the DC-link voltage effectively by the 3-D SVPWM method. Hence the DC battery voltage can be reduced by 15% in comparison to that of the conventional line-interactive UPS system. The parallel inverter operating as a shunt active filter is a controlled voltage source and controls the three-phase line voltage independently in order to control the source current. It eliminates the neutral line current and the active ripple power of the source side using the dqo transformation so that unity power factor and the sinusoidal source current can be achieved even though both the source and the load voltages have zero sequence components. The series inverter operating as dynamic voltage restorer (DVR) compensates the load voltage and allows it to be balanced and harmonic-free. Both of the series and shunt inverters always act as independently controllable voltage sources, so that the three-phase output voltage can show a seamless transition to the backup mode. The feasibility of the proposed UPS system has been investigated and verified through experimental results.

关键词： Uninterruptible power systems Inductors Voltage control Inverters Converters Power conversion Shunt (electrical) Space vector pulse width modulation Batteries Active filters

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Auto steering control of unmanned container transport (UCT) with vision system and mediated immune algorithm controller

Auto steering control of unmanned container transport (UCT) ...

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Annual Conference of Industrial Electronics Society

作者： Young Jin Lee Sang Ki Kim Kwon Soon Lee Department of Electrical and Instrument Control Korea Aviation Politechnic College Sachon South Korea Department of Electrical Engineering Dong-A University Busan South Korea Division of Electrical Electronics and Computer Science Dong-A University South Korea

ISBN: (纸本)0780387309

In this paper, we proposed an adaptive control method which is named CMIA mediated immune algorithm) controller to control unmanned container transport using in the harbor. It is based on specific immune response of the biological immune system which is the cell-mediated immune response. It is also applied for the autonomous guided vehicle (AGV) system which is manufactured in this paper. The AGV is used for the port automation to carry container manlessly and get uncertainty and nonlinearity because of running in the outdoor. To verify performance of the proposed CMIA controller, some experiments for the control of steering of that AGV are performed. Finally, the experimental results for the control of steering and speed of AGV system illustrate the effectiveness of the proposed control scheme. These results for the proposed method also show that it has better performance than other conventional controller design methods.

关键词： control systems Containers Machine vision Immune system Automatic control Adaptive control Remotely operated vehicles Mobile robots Pulp manufacturing Manufacturing automation

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