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International Workshop on Advanced Motion Control (AMC)

作者： K. Macek I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Croatia

One of the basic issues in the navigation of autonomous mobile robots is the obstacle avoidance task that is commonly achieved using a reactive control paradigm where a local mapping from perceived states to actions is acquired. A control strategy with learning capabilities in an unknown environment can be obtained using reinforcement learning where the learning agent is given only sparse reward information. This credit assignment problem includes both temporal and structural aspects. While the temporal credit assignment problem is solved using core elements of the reinforcement learning agent, solution of the structural credit assignment problem requires an appropriate internal state space representation of the environment. In this paper, a discrete coding of the input space using a neural network structure is presented as opposed to the commonly used continuous internal representation. This enables a faster and more efficient convergence of the reinforcement learning process.

关键词： Learning Mobile robots Control engineering computing Automatic control Neural networks Fuzzy logic Path planning Robotics and automation Navigation State-space methods

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ATM available bit rate congestion control with on-line network model identification

ATM available bit rate congestion control with on-line netwo...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： D. Brscic I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In this paper, the design of available bit rate (ABR) congestion control in ATM (asynchronous transfer mode) networks is considered. The goals of congestion control are high link utilization, low cell loss, and low network delay. Various algorithms for congestion control can be found in the literature. Most of them are based on a network model, which is assumed to be known. In this paper a recursive least square (RLS) algorithm for on-line identification of the network model is implemented and combined with a generalized predictive controller (GPC) and with an I-controller based on the Smith predictor. Simulations were carried out to prove the effectiveness of the proposed algorithms.

关键词： Bit rate Asynchronous transfer mode Traffic control Automatic control Communication system traffic control Control design Bandwidth Switches Process control Control engineering computing

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Experimental investigations of the rubber-asphalt sliding pair dynamics

Experimental investigations of the rubber-asphalt sliding pa...

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作者： Božić, Ante Petrović, Ivan Perić, Nedjeljko Matuško, Jadranko Poclain-Hydraulics Industrie Direction Technique B.P.N. 106 60411 Verberie Cedex France University of Zagreb Faculty of Electrical Engineering and Computing Department for Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

ISBN: (纸本)0791836290

A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models might be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface. Copyright © 2002 by ASME.

关键词： Tribology

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Toolkit for PID dominant pole design

Toolkit for PID dominant pole design

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： I. Branica I. Petrovic N. Peric Systemcorn Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This work presents dominant pole design (DPD) methodology, one MATLAB implementation of DPD and its usage. DPD for PI and PID controllers is derived, and on this basis MATLAB toolkit for three-pole method (3PM) has been developed. The least squares procedure for finding functional dependence of PID controller parameters on process parameters is described. This least squares procedure has been applied to the first order process with dead time (FODT) obtained functional dependence, expressed through tuning formulas, is presented. Performance of PID controller tuned with 3PM tuning formulas is compared to the performance of PID controller tuned with integral criteria derived tuning formulas. Observed characteristics of DPD method are given at the end of the paper.

关键词： Three-term control Control systems Design methodology MATLAB Equations Automatic control Least squares methods Process control Industrial control State feedback

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Milestone report coordinating committee on computer control 15th

Milestone report coordinating committee on computer control

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Verbruggen, Henk B. Park, Jaehyun Halang, Wolfgang Irwin, George Zalewski, Janusz Faculty of Information Technology and Systems Delft University of Technology Delft Netherlands Department of Automation Engineering Inha University Incheon Korea Republic of Faculty of Electrical Engineering Fern Universität Hagen Germany Intelligent Control and Systems Group School of Electrical and Electronic Engineering Queen's University Belfast United Kingdom Department of Electrical and Computing Engineering University of Central Florida Orlando United States

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Overshoot controlled servo system synthesis using bode plot and its application to PM brushless DC motor drive

Overshoot controlled servo system synthesis using bode plot ...

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International Workshop on Advanced Motion Control (AMC)

作者： P. Crnosija Z. Ban R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

The design of current and speed controllers remains to a large extent a mystery to many engineers in the motor drives field. An attempt is made in this paper to simplify the design of the current and speed controllers using Bode plots. This paper outlines the theoretical background behind the techniques of symmetric optimum and dominant time constant compensation methods. The techniques are compared and contrasted using the overshoot and phase margin criteria. An application of these techniques to controller design for permanent magnet brushless DC motor (PMBDCM) drive system is made and verified with simulation. In order to apply these techniques to PMBDCM drive for the design of the current and speed controllers, the model of the motor drive is given for the benefit of the reader. The current and speed controller synthesis of a PMBDCM drive is achieved with the presented technique. Simulation results demonstrate for reference (current or speed) changes, symmetric optimum and dominant time compensation methods perform similarly. But for a load torque disturbance, the adverse effect on the speed is compensated faster only with the symmetric optimum method.

关键词： Control system synthesis Servomechanisms Automatic control Brushless DC motors Frequency domain analysis Motor drives Control systems DC motors Network synthesis Electric variables control

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MILESTONE REPORT COORDINATING COMMITTEE ON COMPUTER CONTROL

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IFAC Proceedings Volumes 2002年第1期35卷 217-225页

作者： Henk B. Verbruggen Jaehyun Park Wolfgang Halang George Irwin Janusz Zalewski Faculty of Information Technology and systems Delft University of Technology Delft the Netherlands Department of Automation Engineering Inha University Inchon Korea Faculty of Electrical Engineering Fern Universität Hagen Germany Intelligent Control and Systems Group School of Electrical and Electronic Engineering Queen's University Belfast UK Department of Electrical and Computing Engineering University of Central Florida Orlando USA

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A software engineering approach to constraint programming systems

A software engineering approach to constraint programming sy...

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Asia-Pacific Conference on Software engineering

作者： K.B.K. Ng Chiu Wo Choi M. Henz Advanced Application Technologies Honeywell Automation and Control Solutions ACS Laboratory USA Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong China School of Computing National University of Singapore Singapore

Constraint programming (CP) systems are useful for solving real-life combinatorial problems, such as scheduling, planning, rostering and routing problems. The design of modern CP systems has evolved from a monolithic to an open design in order to meet the increasing demand for application-specific customization. It is widely accepted that a CP system needs to balance various design factors such as efficiency versus customizability and flexibility versus maintenance. This paper captures our experience with using different software engineering approaches in the development of constraint programming systems. These approaches allow us to systematically investigate the different factors that affect the performance of a CP system. In particular we review the application of reuse techniques, such as toolkits, framework and patterns, to the design and implementation of a finite-domain CP system.

关键词： Software engineering Knowledge based systems Software systems Application software Engines Computer industry Software algorithms Information systems System software Software quality

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DISTRIBUTED VIRTUAL MANUFACTURING FOR DEVELOPMENT OF MODULAR MACHINE SYSTEMS

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Journal of Advanced Manufacturing Systems 2002年第2期1卷 141-158页

作者： PETTER OLOFSGÅRD AMOS NG PHILIP MOORE JUNSHENG PU CHI BUI WONG LEO DE VIN Centre for Intelligent Automation Department of Engineering Science Hogskolevägen University of Skövde S-541 28 Skövde Sweden Tel: 0046-500-44-85-19 Fax: +46-500-448598. Mechatronics Research Group Faculty of Computing Sciences and Engineering De Montfort University Leicester LE1 9BH UK

To support all phases of an agile modular manufacturing machine life cycle with CAE and Virtual Manufacturing tools, a number of different engineering applications (e.g. specialist software based tools) are typically used for design, simulation, analysis, programming, control and monitoring of a machine. These applications mainly exist today as small applications islands where each of them manages their own data. When a manufacturing machine is designed, simulated, programmed, analyzed, tested, or operated, the information, connected to that specific machine, used and generated by each application island is stored separately by each application. These application islands often use different storage technologies. Each one of the applications has an information structure to separate the information connected to each machine; however, they do not necessarily use the same information structure. Another issue concerning these applications is the functionality that is implemented in them to manage information; namely, processes such as store, retrieve, search, permissions, etc. The functionality for one process is the same in all applications that has the process implemented. But the implementation of the process functionality may differ, due to misinterpretation of the functionality specification and regular implementation bugs, which could lead to problem with integrity and consistency of the data. Applications that make use of newer information technologies, such as databases and software development tools can simplify the implementation of the functionality but each application still has to implement their own version of the functionality. This paper presents a research investigation focused on the development of a distributed integration platform that supports the whole life cycle of agile modular machine systems, which includes the design, simulation, programming, analysis, machine operation and re-configuration. The environment supports distributed management and s

关键词： VIR-ENG virtual manufacturing distributed object computing object-oriented database management systems modular manufacturing integration infrastructure integration platform concurrent engineering agility

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JOINT: An object oriented message passing interface for parallel programming in java 9th

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9th International Conference on High-Performance computing and Networking, HPCN Europe 2001

作者： Yero, Eduardo J. H. Henriques, Marco A. A. Garcïa, Javier R. Leyva, Alina C. Department of Computer Engineering and Industrial Automation School of Electrical and Computer Engineering State University of Campinas Sao Paulo Brazil Faculty of Mathematics and Computing Sciences University of Havana Cuba

ISBN: (纸本)3540422935

Message-passing programming interfaces are widely used when programming parallel applications. Systems such as PVM and MPI have been successful at providing the basic capabilities needed to implement parallel applications efficiently. With the advent of Java, efforts have been conducted to define a message-passing interface to be used by applications written in that language. However, current proposals have been designed to stay as close to PVM and MPI as possible, and thus fail to exploit the capabilities offered by the Java platform. This paper introduces JOINT, a message-passing programming interface for parallel applications written in Java. JOINT is designed to be simple, intuitive and to smoothly integrate with the Java environment. The paper also presents a real parallel example implemented using JOINT to illustrate the facilities given by the interface. JOINT is already implemented as part of two different distributed parallel systems: JoiN and mJoiN. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Message passing

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