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Improved Fuzzy Autopilot for Track-Keeping

IFAC Proceedings Volumes 1998年第30期31卷 123-128页

作者： Zoran Vukić Edin Omerdić Ljubomir Kuljaca University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia University of Tuzla Faculty of Electrical and Mechanical Engineering Department of Control Engineering in Automation Franjevačka 2 BH-75000 Tuzla Bosnia and Herzegovina

Improved 2-input fuzzy autopilot for ship course control and 3-input fuzzy autopilot for track-keeping are proposed. Nonlinear model of a ship and a steering subsystem is used. The 3-input fuzzy autopilot uses heading signal, yaw rate signal and lateral offset from the nominal track to produce a command rudder angle. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. Obtaining of FAM rules for 3-input fuzzy is described. Dynamical behavior of 2 and 3-input fuzzy autopilot is compared. The influence of wave disturbance, sea current and external disturbance from a passing ship on track-keeping performance was analyzed.

关键词： Disturbance rejection Fuzzy control Nonlinear control systems Ship control

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Adaptive FIR filter use for signal noise cancelling

Adaptive FIR filter use for signal noise cancelling

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IEEE Workshop on Neural Networks for Signal Processing

作者： M. Kolinova A. Prochazka M. Mudrova Department of Computing and Control Engineering Technická 1905 Prague University of Chemical Technology Prague Czech Republic

Noise reduction, together with signal modelling, classification and prediction, forms a basic problem in many engineering, biomedical and econometric systems. The paper summarizes basic adaptive methods based upon the application of artificial neural networks simplified in many cases to an adaptive linear element only. Adaptive noise cancelling algorithms by such finite impulse response (FIR) filters are studied in the first part of the paper both for the case that a reference signal is known and for reference-free structures. Resulting signals are compared with those obtained by noise rejection in the wavelet transform domain either based upon signal decomposition and reconstruction using properly chosen threshold levels for signal modification or incorporating adaptive FIR filtering. Signals preprocessed in this way are then used for their segmentation and classification to verify the effect of signal denoising. Methods presented in the paper are used for simulated signals at first and then applied to the processing of real signals representing physiological signals and technological time series.

关键词： Finite impulse response filter Noise cancellation Signal processing Adaptive filters Noise reduction Predictive models Biomedical engineering Econometrics Artificial neural networks Noise level

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State Estimation of Baker's Yeast Fed-Batch Cultivation by Extended Kalman Filter Using Alternative Models 1

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IFAC Proceedings Volumes 1998年第11期31卷 601-606页

作者： P. Hrnčiřík J. Náhlík V. Havlena Dept. of Computing and Control Engineering Institute of Chemical Technology Prague Czech Republic Trnka Laboratory for Automatic Control Czech Technical University Prague and Honeywell Technology Center Prague Czech Republic

The implementation of a new estimation method with alternative process models for the state estimation of the baker’s yeast fermentation is presented. Some of the implementation issues are discussed using the data ob... 详细信息

关键词： Estimation Extended Kalman Filter Fermentation processes Nonlinear model

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Signal segmentation using time-scale signal analysis

Signal segmentation using time-scale signal analysis

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European Signal Processing Conference (EUSIPCO)

作者： Aleš Procházka Magdaléna Kolinová Jaroslav Stříbrský University of Chemical Technology Department of Computing and Control Engineering Technická 1905 166 28 Prague 6 Czech Republic

Change-point detection is a fundamental problem in many areas of signal segmentation, feature extraction and classification. There are various statistical methods that can be applied to estimate boundaries of signal segments. The paper presents another method based upon the wavelet transform and signal decomposition used to detect signal irregularities. This approach can be very efficient if the initial wavelet function is carefully chosen. Basic methods presented in the paper are verified for simulated sequences at first and then used for biomedical signal segmentation. Resulting algorithms are written in the MATLAB environment.

关键词： Wavelet analysis Time-frequency analysis Signal resolution Discrete wavelet transforms Signal analysis

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Adriatic Sea noise spectrum measurement and polynomial approximation

Adriatic Sea noise spectrum measurement and polynomial appro...

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OCEANS

作者： D. Matika H. Ozbolt Ministry of Defense of the Republic of Croatia Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

Based on the research at the location "Middle Adriatic", the analysis of the noise spectrum of the Adriatic Sea is presented. The applied measurement method and necessary instrumentation, followed by the basic scheme of the measurement channel, are given. A representative Adriatic Sea noise spectrum for the particular location is given, with the sea state as a parameter. A regression analysis is made that led to an appropriate approximation polynomial of the spectrum.

关键词： Sea measurements Noise measurement Polynomials Frequency Low-frequency noise Wind speed control engineering computing Noise level Rain Ice

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Fuzzy logic controller design for a laser scanner system

Fuzzy logic controller design for a laser scanner system

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International Workshop on Advanced Motion control (AMC)

作者： M. Sfakiotakis A.W. Ordys L. Petropoulakis Department of Computing and Electrical Engineering Heriot-Watt University Edinburgh UK Industrial Control Centre University of Strathclyde Glasgow UK

The paper describes the design of a fuzzy logic controller (FLC) to meet required performance specifications in a trajectory following problem involving a laser scanner system. The error and the change of error are used as inputs to the FLC, employing a proportional-derivative structure. A detailed analysis of the design factors is included. The fuzzy logic controller was found to be well suited to the system, yielding results that compared favourably to those obtained by various alternative controllers previously developed for the system.

关键词： Fuzzy logic Optical control control systems Optical design Mirrors Sensor arrays Layout Nonlinear control systems Error correction Optical beams

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Recapitalizing the Navy through optimized manning and improved reliability

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NAVAL ENGINEERS JOURNAL 1998年第6期110卷 61-72页

作者： Anderson, DE Malone, TB Baker, CC Mr. David E. Anderson:is a Navel Engineer with the Naval Sea Systems Command where he is currently assigmd to the HumanSystems Integration branch. Mr Anderson has a Bachelor of Science degree an Environmental Engineering from Flurida Technological University and a Master's in Environmental Engiwering from the University of Central Flurida. He currentEy is an HSI manager for a number oflvay R&D and skig acquisition efforts. Dr. Thomas B. Malone:received a Ph.D. in Experimental Psychology from Fordham University in 1964. He is President of Carlow International Incorporated an organization dedicated to human factors research and development with emphasis an mantime systems. He has directed over 350 programs and projects in his 33 year career and is responsible for overall management of all contract programs within the Corporation. He is a Past President of the Human Factors and E r g m i c s Society (HFES) of which he is a Fellow. He is also a Fellow of the Washington Academy of Sciences He was selected as a member of the N A S Space Sciences Technical Advisuiy Committee on Technoloo Requirements for Human Performance on Long Duration Space Missions in 2989 and 90. He was elected as the First Chair of the Systems Development Technical Group of the HFES. Dr Malone is currently managing eflorts to devehp and auto- mate standardized processes for canducting human systems integration (HSI) in the military weapon systems acquisition process and fov developing automated tools to facilitate fledormance of specific steps in the HSI process. Dr Malone also is currently occupied in applying human engineering to the DD 21 and is serving as the Chair ofthe System ManninglHuman Perfomzance Working IPT under the DD 21 ManninglHSI IPT chaired ty PMS 500M. Mr. Clifford Baker:has over 20 years experience in developing and applying human factors technology to complex systems. He holds a masters degree in psychology with a specialization in human factors engineering and he is a Board Certified Human Factors Engineering Profesional

Reduced manning is the process (and the result) of removing human functions from a system while retaining or improving system operability and effectiveness. Reliability and maintainability characterize a system's operability and effectiveness. Reduced manning impacts system reliability by changing the characteristics of (1) human error associated with system operation and maintenance, (2) time to repair failed components, and (3) mean-time-between-failures (MBTF) in a reduced manning environment. Simply reducing manning without compensating for system dependence on human involvement generally has a negative impact on system maintainability. Methods to address this include (1) human-system integration design of maintenance interfaces and (2) design of operations activities that are closely related to device failures. After demonstrating reliable performance through testing and operation, ship commanders can be assured that fewer people can effectively operate and maintain Navy ships and systems.

关键词： Naval vessels

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A Method of PID controller Autotuning

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IFAC Proceedings Volumes 1997年第6期30卷 597-602页

作者： Nedjeljko Perić Ivan Petrović Ivan Branica University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 10000 Zagreb Croatia

A method of PID controller autotuning based on relay feedback control is described. Special attention is paid to the process structure and parameters estimation in the phase of reaching the desired operating point. This may increase the method's robustness and also speed up the tuning procedure. The algorithm's validity is illustrated by some simulation results and an experimental result on a laboratory pilot plant. Il est decrit la mèthode du régulateur d'autoadaptation PID basée au système asservi à relais. L'attention particulierè est consacrée à l'estimation de la structure et des paramètres du procès à la phase dans laquelle on met le proces dans le point de fonetionnement dont on augmente la robustesse et la vitesse de l'autoadaptation. Nous avons presenté certains résultats de la simulation à l'ordinateur ainsi qu'à l'installation pilote qui attestent la validité des algorithmes élaborés.

关键词： Autotuners Describing functions Limit cycles PID controllers Relay control

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Fuzzy Autopilot for Ships Experiencing Shallow Water Effect in Manoeuvering

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IFAC Proceedings Volumes 1997年第22期30卷 99-104页

作者： Zoran Vukić Edin Omerdić Ljubomir Kuljača University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

A fuzzy autopilot for ship path control is proposed. Nonlinear model of a ship and a steering subsystem is used. The autopilot uses heading signal and yaw rate signal to produce a command rudder angle. The autopilot does not use lateral offset from the nominal track. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. The influence of the shallow water effect during larger maneuver is analyzed.

关键词： Disturbance rejection Fuzzy control Nonlinear control systems Ship control

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Neural networks and seasonal time-series prediction

Neural networks and seasonal time-series prediction

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Fifth International Conference on Artificial Neural Networks (Conf. Publ. No. 440)

作者： A. Prochazka Department of Computing and Control Engineering Prague Institute of Chemical Technology Prague Czech Republic

Seasonal time series with dominant frequency components are very common in various information and control systems, biomedicine and environmental engineering. Methods for their analysis, modelling and prediction include both linear and nonlinear structures using autoregressive models, adaptive systems and neural networks. The paper presents basic algorithms for preprocessing of such signals including their filtering and subsampling at first to enable the following efficient signal approximation, modelling and prediction. The main part of the paper presents the comparison of linear autoregressive models and neural networks with different transfer functions including wavelets as well. Resulting methods presented in the paper are applied for processing of real values representing the river Elbe flow at a selected measuring station to study their modelling and prediction. The paper compares results obtained both by classical and adaptive methods using system history and appropriate learning methods for model optimization.

关键词： Neural networks

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