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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability computer science State-space methods Robotics and automation Software engineering Systems engineering and theory Metals industry Iterative algorithms Electrical equipment industry

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Adaptive PID controller with On-Line Identification

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IFAC Proceedings Volumes 2000年第4期33卷 437-442页

作者： Jiří Macháček Vladimír Bobál University of Pardubice Faculty of Chemical Technology Department of Process Control and Computer Techniques nám. Ćs. legií 565 532 10 Pardubice Czech Republic fax: (+42040) 603 7068 Brno University of Technology Faculty of Technology Zlín Department of Automatic Control nám. TGM 275 762 72 Zlin Czech Republic fax: (+42067) 721 1521

A digital adaptive PID controller algorithm, which contained on-line identification, is presented in this paper. It is performed for tree type of discrete model: second order, third order and first order with time delay. The controller parameter design is derived from the ultimate (critical) gain and ultimate period of the system. The main part of the paper consists in the simple algebraic expressions for the ultimate values computation. This procedure can be implemented on all controller design methods, which are based on the knowledge of the ultimate values, such as the well-known Ziegler-Nichols (Z-N) method.

关键词： Adaptive control PID controllers on-line control identification transfer functions simulation computer control system design

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Self-Tuning PID controllers Based on Dynamics Inversion Method

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IFAC Proceedings Volumes 2000年第4期33卷 167-172页

作者： Vladimír Bobál Petr Dostál Jiří Macháček Miluše Vitečková Department of Automatic Control Faculty of Technology Zlin Brno University of Technology nám. TGM 275 762 72 Zlin Czech Republic Phone Fax: +420 67 721 1521 Department of Process Control and Computer Techniques University of Pardubice nám. Čs. Legií 565 532 10 Pardubice Czech Republic Department of Control Systems and Instrumentation Faculty of Mechanical Engineering Technical University of Ostrava 17. Listopadu 15 708 33 Ostrava-Poruba Czech Republic

A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directional forgetting. The recursive parameter estimates of the continuous – time model (differential equation) are used to synthesis the PID controller. controller synthesis is designed on the basis of a dynamics inversion method. This method allows the tuning of standard analog and digital controllers for chosen types of controlled processes without or with time delay. The algorithm is suitable for the automatic setting of analog and digital PID controllers for deterministic processes or the adaptive control of stochastic and nonlinear processes. The analog modification PID controller has been verified by computer simulation.

关键词： continuous – time ARX model recursive least squares inverse dynamics control PID control self-tuning control

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Modelling and Identification with Rational Orthogonal Basis Functions

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IFAC Proceedings Volumes 2000年第15期33卷 445-455页

作者： Paul Van den Hof Bo Wahlberg Peter Heuberger Brett Ninness Jozsef Bokor Tomás Oliveira e Silva Department of Applied Physics Delft University of Technology Lorentzweg 1 2628 CJ Delft The Netherlands S3 - Automatic Control Royal Institute of Technology S-100 44 Stockholm Sweden. Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1502 Budapest Hungary Dept. Electrónica e Telecommunicações University of Aveiro 3810-183 Aveiro Portugal

Decomposing dynamical systems in terms of orthogonal expansions enables the modelling/approximation of a system with a finite length expansion. By flexibly tuning the basis functions to underlying system characteristics, the rate of convergence of these expansions can be drastically increased, leading to highly accurate models (small bias) being represented by few parameters (small variance). Additionally algorithmic and numerical aspects are favourable. A recently developed general theory for basis construction will be presented, that is a generalization of the classical Laguerre theory. The basis functions are applied in problems of identification, approximation, realization, uncertainty modelling, and adaptive filtering, particularly exploiting the property that basis function models are linearly parametrized. Besides powerful algorithms, they also provide useful analysis tools for understanding the underlying identification/approximation algorithms.

关键词： System identification orthogonal basis functions series expansions model reduction parametrization

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A Robot Playing Scrabble Using Visual Feedback

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IFAC Proceedings Volumes 2000年第27期33卷 551-556页

作者： Johan Bengtsson Anders Ahlstrand Klas Nilsson Anders Robertsson Magnus Olsson Anders Heyden Rolf Johansson Department of Automatic Control Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Centre for Mathematical Sciences Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Department of Computer Science Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden Division of Robotics Lund Institute of Technology P.O. Box 118 SE-22I 00 Lund Sweden

Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line prograrnrning (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data.

关键词： Robot vision computer vision Sensor fusion Kinematics Real-time systems

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Design of a neural network observer to control a FED-batch bioprocess

Design of a neural network observer to control a FED-batch b...

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1999 European control Conference, ECC 1999

作者： Boutalis, Y.S. Kosmidou, O.I. Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-67100 Greece

ISBN: (纸本)9783952417355

The present paper deals with the production of Saccharomyces cerevisiae, described by a sixth order nonlinear state space model. The control objective is to ensure the process stability and desirable specifications in the presence of disturbances and lack of reliable state measurements. First, the model of the process and its properties are presented. Next the ability of multi-layer Neural Networks to act as reliable emulators of the system dynamics is tested by simulation results and a training strategy is proposed to improve their performance. Finally, a non-linear adaptive observer is designed by means of artificial neural networks. © 1999 EUCA.

关键词： Neural networks

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Robust CGPC design via simple Youla parameterisation

Robust CGPC design via simple Youla parameterisation

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1999 European control Conference, ECC 1999

作者： Kowalczuk, Z. Suchomski, P. Department of Automatic Control Faculty of Electronics Telecommunication and Computer Science Technical University of Gdańsk Narutowicza 11/12 Gdańsk80-952 Poland

ISBN: (纸本)9783952417355

The main objective of this contribution is a new development of the continuous-time generalised predictive control (CGPC) resulting in a Youla-based CGPC design procedure for both minimumphase and nonminimum-phase uncertain SISO systems. The derived design procedure consists of two steps. In the first step nominal stability and nominal performance of the control system are established by using a fully analytical design methodology, based on a collection of closed-loop prototype characteristics with definite time-domain specifications. In the second step, the primary structure of the CGPC controller is suitably enriched by 'Youla' blocks guaranteeing that the resulting CGPC control system has the required robustness properties, i.e. robust stability and robust performance. © 1999 EUCA.

关键词： Robust control

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Structure and performance evaluation of a replicated banyan network based ATM switch

Structure and performance evaluation of a replicated banyan ...

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IEEE Symposium on computers and Communications (ISCC)

作者： M.A. Youssef M.N. El-Derini H.H. Aly Department of Computer Science and Automatic Control Faculty of Engineering Alexandria University Egypt

Banyan networks are commonly used as interconnection structures in ATM switches. This paper is concerned with the replication technique which was applied to the standard banyan networks. We apply this technique to the plane interconnected parallel network (PIPN) which is a switch introduced previously as a better banyan-based interconnection structure. The normalized throughput of unbuffered and buffered replicated PIPN is analyzed analytically under uniform traffic model. We apply the simulation technique to verify the analytical results under the uniform traffic model and to study the performance of different heterogeneous traffic models. The performance is shown to increase significantly when the replicated PIPN is used which supports the idea of using this switch as a new high-performance ATM switch.

关键词： Asynchronous transfer mode Throughput Telecommunication traffic Traffic control Optical switches Bandwidth Very large scale integration computer science automatic control Analytical models

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Vision system with depth obtaining capabilities

Vision system with depth obtaining capabilities

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International Conference on Computational Intelligence and Multimedia Applications

作者： M.L. Heras J. Amat Department of Automatic Control and Computer Engineering Universitat Politecnica de Catalunya Barcelona Spain

Obtaining of 3D information from image sequences or stereoscopic images is a key problem, not completely solved, and any improvement in its resolution would bring to light a huge quantity of real life applications. The main difficulties lie in the matching of different elements of every image, the so-called correspondence problem. According to the trend of analysing singular points of the scene, we opt for a system based on the labelling and matching of contours and corners of the scene. Those points have some properties that make the method usable for most kinds of images. In order to obtain the contour information, a new algorithm is developed which is hardware implementable, able to autoadapt its parameters to external characteristics (such as as focus, illumination, contrast, etc.), and provides high reliability to the depth obtaining system. A specialised hardware is designed for contour obtaining and labelling with a fast and highly efficient pipeline architecture that gives the system a fast response time.

关键词： Machine vision Layout Labeling Hardware Image sequences Image resolution Optimized production technology Focusing Lighting Pipelines

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