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Uninterrupted production of metal coils by making successive joints with roll bonding technique

Materials Transactions 2009年第8期50卷 2124-2126页

作者： Huang, Chin-Chuan Chiang, Mao-Hsiung Jeffrey Kuo, C.-F. Chen, Yih-Nan Yeh, An-Chou Graduate Institute of Automation and Control National Taiwan University of Science and Technology Keelung Rd. Taipei 106 Taiwan Department of Engineering Science and Ocean Engineering National Taiwan University Roosevelt Road Taipei 10617 Taiwan Department of Mechanical Engineering Tatung University 40 Zhongshan North Road 3rd Section Taipei 104 Taiwan Metal Industries Research and Development Centre 1001 Kaonan Highway Kaohsiung 81160 Taiwan

The aim is to develop an uninterrupted processing route to manufacture metal coils, so that the efficiency of production, as well as the quality of the product and the cost-efficiency can be improved. The traditional method of joining two metal sheets is by welding;however the welding process itself can easily introduce additional processing steps and pile up the cost of production. In the past, joining two metal sheets with identical composition by the rolling process has not been easy. The present study induces dissimilarity between two sheets, i.e. pre-heat treatment for one plate to result grain growth. Experimental results indicate that such introduction of dissimilarity between two metal parts can significantly improve the roll bonding process, not only making the joint much stronger than the traditional welding technique, this newly developed method can enhance the efficiency of the production of metal coils in industries. © 2009 The Japan institute of Metals doi:10.2320/matertrans.M2009153.

关键词： Processing

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Team AnnieWAY's autonomous system for the DARPA Urban Challenge 2007

Team AnnieWAY's autonomous system for the DARPA Urban Challe...

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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Yaw control via combined braking and steering

Yaw control via combined braking and steering

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European control Conference (ECC)

作者： B. Vanek B. Kulcsár P. Falcone G. Balas Computer and Automation Research Institute of the Hungarian Academy of Sciences Delft Center for System and Control Department of Signals and Systems Chalmers University of Technology Department of Aerospace Engineering and Mechanics University of Minnesota

Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. control is provided via a cascade connection of scheduled inverse tyre characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tyre characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.

关键词： Tires Force Mathematical model Wheels Vehicles Equations Nonlinear dynamical systems

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Possible improvement of the operation of vehicles driven by omnidirectional wheels

Possible improvement of the operation of vehicles driven by ...

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International Symposium on Computational Intelligence and Intelligent Informatics, ISCIII

作者： József K. Tar János F. Bitó István Gergely László Nádai Budapest Tech Institute of Intelligent Engineering Systems Budapest Hungary Computer & Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

Special Automatic Guided Vehicles (AGVs) equipped with at least three omnidirectional wheels may be very useful tools in industrial applications because -in contrast to the Ackerman engines- their position and orientation with respect to the plane of operation can simultaneously be prescribed. So they have the ability for smart and precise navigation in a crowded environment. In the present constructions each wheel can move in arbitrary direction but cannot exert contact force in arbitrary direction in the plane since normally only the big wheels have driving system. The small ones can roll like the wheels of the roller-skates. It will be shown via numerical simulations that this solution requires considerable power consumption since in the turning/rotating phase of the motion the wheels have to work ldquoagainst each otherrdquo. To improve this situation a simple solution is outlined that could make it possible to realize coordinated driving of the small wheels, too. Via simulations it is pointed out that simultaneous driving of the big and small wheels could considerably reduce the power consumption of such devices that is a significant factor if the vehicles have to carry their power sources of limited capacity, too. In the simulations the effects of imprecise model parameters are compensated by simple adaptive fixed point transformations developed at Budapest Tech.

关键词： Vehicle driving Wheels Knowledge engineering Humans Computational intelligence Competitive intelligence Informatics Process design Internet Decision making

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Decoupling-based reconfigurable control of linear systems after actuator faults 10

Decoupling-based reconfigurable control of linear systems af...

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2009 10th European control Conference, ECC 2009

作者： Richter, J.H. Weiland, S. Heemels, W.P.M.H. Lunze, J. Institute of Automation and Computer Control Ruhr-Universität Bochum Universitätsstrasse 150 Bochum44801 Germany Electrical Engineering TU Eindhoven P.O. Box 513 Eindhoven5600MB Netherlands Mechanical Engineering TU Eindhoven P.O. Box 513 Eindhoven5600MB Netherlands

ISBN: (纸本)9783952417393

In this paper, we provide the complete solution to the reconfigurable control problem after actuator faults in linear dynamical systems by means of disturbance decoupling approaches. The recovery of the closed-loop internal stability and the exact and approximate recovery of nominal tracking and performance are our main reconfiguration goals. We state necessary and sufficient conditions for the solvability of these problems. The approximate approach broadens the scope of potential applications. A thermofluid process is used to illustrate the exact and approximate methods. © 2009 EUCA.

关键词： Actuators

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Nonlinear Characteristics of Rub-impact Rotor-bearing System with Slowly Varying Mass

Nonlinear Characteristics of Rub-impact Rotor-bearing System...

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2009 International Conference on Measuring Technology and Mechatronics automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

作者： Yuanhu DU Yuegang LUO Bangchun WEN Zhaohui REN Research Institute of Mechanism Electron and Control Engineering Dalian Nationalities University Dal School of Mechanical Engineering and Automation Northeastern University Shenyang 110004 China

A nonlinear dynamic model of rub-impact rotor bearing system with slowly varying mass was set up. The periodic solution of system was analyzed by continuation shooting algorithm for periodic solution of nonlinear non autonomous system, and the stability of system periodic motion and unsteady law are discussed by Floquet theory. There exist periodic, quasi-periodic and chaotic motions in the response of the rub-impact rotor-bearing system with slowly varying mass. The unstable form of it is saddie-node bifurcation. There are periodic-doubling bifurcation and saddle-node bifurcation at different rotate speed. In the region of double critical rotate speed, the main motion of the system is quasiperiodic motion. The conclusions provide theoretic basis reference for the fault diagnosis of the rotor-bearing system.

关键词： rotor-bearing system slowly varying mass rubimpact nonlinear characteristics

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Linear Parameter Varying control of the supercavitating vehicle

Linear Parameter Varying control of the supercavitating vehi...

引用

European control Conference (ECC)

作者： Bálint Vanek Gary J. Balas Roger E.A. Arndt Computer and Automation Research Institute Hungarian Academy of Sciences Department of Aerospace Engineering and Mechanics University of Minnesota Department of Civil Engineering University of Minnesota

A systematic approach to parameter-dependent control synthesis of a candidate High-Speed Supercavitation Vehicle (HSSV) is presented. The aim of the control design is to provide robust reference tracking properties across a large flight envelope, while directly accounting for the interaction of liquid and gas phases with the vehicle. A Linear Parameter Varying (LPV) controller is synthesized for the angle rate tracking problem in the presence of model uncertainty. The control design takes advantage of the coupling in the governing equations. Several LPV controllers synthesized for smaller overlapping regions of the parameter space are blended together, providing a single controller for the full flight envelope. Time-domain simulations implemented on high-fidelity simulations, provide insight into the performance and robustness of the proposed scheme.

关键词： Vehicles Mathematical model Vehicle dynamics Planing Equations Cavity resonators control design

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An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach

An automated method to calibrate industrial robot joint offs...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

作者： Liu, Yong Xi, Ning Zhang, George Li, Xiongzi Chen, Heping Zhang, Chi Jeffery, Michael J. Fuhlbrigge, Thomas A. Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Nanjing University of Science and Technology Nanjing China Shenyang Institute of Automation Chinese Academy of Science Shenyang China Department of Electrical and Computer Engineering United States Department of Computer Science and Engineering Michigan State University East Lansing MI 48824 United States ABB Corporate Research Center ABB Inc. Windsor CT 06095 United States

ISBN: (纸本)9781424438044

This paper describes an industrial robot joint offset calibration method called the virtual line-based single-point constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 μm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved. © 2009 IEEE.

关键词： Industrial robots

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STARP: A novel routing protocol for multi-hop dynamic spectrum access networks

STARP: A novel routing protocol for multi-hop dynamic spectr...

引用

1st ACM Workshop on Mobile Internet Through Cellular Networks, MICNET'09, Co-located with the Mobile Computing and Networking Conference, MobiCom'09

作者： Jian, Chen Hewu, Li Jianping, Wu Rui, Zhang Department of Computer Science and Technology Tsinghua University 100084 China Information Networks Engineering Research Center Tsinghua University 100084 China Institute of Command Automation PLA Univ. of Sci. and Tech. 210007 China Engineering Institution of Engineering Corps. PLA Univ. of Sci. and Tech. 210007 China

ISBN: (纸本)9781605587530

The technology of Dynamic Spectrum Access (DSA) can utilize unused licensed bands not being used by licensed users to improve the capacity and throughput of multi-hop wireless networks working on the ISM bands. However, DSA also brings us a new challenge: how to network the radios in multi-hop DSA networks to improve network performance, such as throughput and end-to-end delay? To address this issue, we propose a STability-Aware Routing Protocol (STARP) for multi-hop DSA networks. STARP can find the most stable path among multi paths to the destination for upper layer protocol. STARP evaluates path stability by utilizing a novel routing metric, which takes into account spectrum switching frequency, spectrum usage, and path length together. Simulation results of NS-2 show STARP is efficient and robust. In addition, STARP can achieve good improvement of TCP performance and shorten end-to-end packet delay significantly. Copyright 2009 ACM.

关键词： Routing protocols

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Distributed state and unknown input estimation for freeway traffic flow models

Distributed state and unknown input estimation for freeway t...

引用

European control Conference (ECC)

作者： T. Luspay B. Kulcsár T. Tettamanti I. Varga J. Bokor HAS Computer and Automation Research Institute Budapest Hungary Faculty of Mechanical Technical University of Delft Delft Nederland Department of Control and Transport Automation Budapest University of Technology and Economics Budapest Hungary

The paper presents a joint state and unmeasured input estimation technique for a special class of nonlinear second order macroscopic traffic model. The freeway traffic system is transformed into a quasi and affine approximate Lin- ear Parameter Varying (LPV) form. Observer design technique is formulated using off-line optimization problem subjected to Linear Matrix Inequality (LMI) conditions, considering uncertain scheduling parameters. Furthermore, locally designed state estimators are interconnected to cover multiple freeway sections. The elaborated method is validated using real traffic measurements.

关键词： Traffic control Mathematical model State estimation Equations Optimization Steady-state

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