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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Kristin Danielsson Johan Richardsson Bengt Lennartson Martin Fabian Control and Automation Laboratory Chalmers University of Technology Goteborg Sweden Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation Goteborg Sweden

Formal synthesis and verification of control programs in manufacturing applications are currently undeveloped areas. Today, new control programs are most often debugged on the shop floor, and when formal methods are used, the result is often a control function that is impossible to interpret by the operators. We present a method for synthesis of the control function of a PLC program. By combining supervisory control theory with a hierarchical program structure, in which the control function is separated from the rest of the PLC program, the generated control function combines the benefits of a traditional supervisor, e.g. non-blocking, optimality and flexibility, with simplicity and clearness. The traditional coding is replaced by information reuse and configuration of program components, instantiated from a software library

关键词： Automatic control Assembly control system synthesis Manufacturing systems Job shop scheduling Manufacturing automation computer aided manufacturing Programmable control Supervisory control Optimal control

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Measuring the Performance of Iterative Learning control systems

Measuring the Performance of Iterative Learning Control Syst...

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IEEE International Symposium on Intelligent control (ISIC)

作者： J.D. Ratcliffe P. Lewin E. Rogers J.J. Hatonen T. Harte D.H. Owens School of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Systems Engineering Laboratory University of Oulu Finland

Iterative learning control has the potential to significantly improve the tracking performance of repeating trajectory control systems. However, until now little attempt has been made to measure this performance quantitatively. A new iterative learning control performance index PI N is introduced which allows direct, quantitative, performance comparison of different algorithms, or alternatively a single algorithm which has variable tuning parameters. In particular, PI N can be used as a tool for selecting and adjusting algorithm tuning parameters. Application of the new performance index is demonstrated with both simulation studies and practical implementation on a gantry robot

关键词： control systems Performance analysis Adaptive control Trajectory Iterative algorithms Three-term control systems engineering and theory Modeling Convergence Stability analysis

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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2005 American control Conference, ACC

作者： Vanek, Bálint Péni, Tamás Bokor, József Balas, Gary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 1111 Budapest XI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 15 Akerman Hall 110 Union St. SE Minneapolis MN 55455

ISBN: (纸本)0780390989

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive control (MPC) outer loop controller specifies the command signals for the ∞ locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed. © 2005 AACC.

关键词： Predictive control systems

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HIERARCHICAL MODELLING IN BIOLOGY: SYSTEMATIC BUILDING OF LIMB MODELS

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IFAC Proceedings Volumes 2005年第1期38卷 49-54页

作者： Cs. Fazekas Gy. Kozmann K.M. Hangos Department of Information Systems University of Veszprém Veszprém Hungary Department of Biomedical Engineering Research Institute for Technical Physics and Materials Sciences Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation signals. The levels, the sub-models on each level and their interconnections are developed and described following a systematic modelling procedure. The computational properties (degree of freedom and differential index) of the developed model have been analyzed and a sub-model has been transformed to meet the index-one requirement for solving the resulting differential algebraic equation (DAE) model by standard methods implemented in MATLAB. The model is extensively verified against engineering expectations using parameter values found in the literature, and a good agreement was found. Parameter sensitivity analysis has also been performed.

关键词： Biomedical system model hierarchical system muscle tendon aponeurosis pennation sarcomere

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Weighted support vector machine for classification with uneven training class sizes

Weighted support vector machine for classification with unev...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Yi-Min Huang Shu-Xin Du Computer and Information Engineering Academy Zhejiang Gongshang University China National Key Laboratory of Industrial Control Technology Institute of Intelligent Systems and Decision Making

In the standard support vector machines for classification, training sets with uneven class sizes results in classification biases towards the class with the large training size. That is to say, the larger the training sample size for one class is, the smaller its corresponding classification error rate is, while the smaller the sample size, the larger the classification error rate. The main causes lie in that the penalty of misclassification for each training sample is considered equally. Weighted support vector machines for classification are proposed in this paper where penalty of misclassification for each training sample is different. By setting the equal penalty for the training samples belonging to same class, and setting the ratio of penalties for different classes to the inverse ratio of the training class sizes, the obtained weighted support vector machines compensate for the undesirable effects caused by the uneven training class size, and the classification accuracy for the class with small training size is improved. Experimental simulations on breast cancer diagnosis show the effectiveness of the proposed methods.

关键词： Support vector machines Support vector machine classification Industrial training Error analysis Machine learning Object detection Fault diagnosis Industrial control Intelligent systems Machine intelligence

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Motion compression applied to guidance of a mobile teleoperator

Motion compression applied to guidance of a mobile teleopera...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： P. Robler F. Beutler U.D. Hanebeck N. Nitzsche Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universitat Karlsruhe Karlsruhe Germany Institute of Automatic Control Engineering Technische Universität München Munich Germany

Telepresence aims at giving a human user the impression of being present in a remote environment. However, the user is actually situated in a user environment and his motion is tracked. A mobile teleoperator in the remote environment replicates this motion. The user can thus control the mobile teleoperator's locomotion by walking. A stereo-camera system mounted on the mobile teleoperator constantly records live camera images and transfers them to the user environment, where they are presented to the user on a head-mounted display. This paper presents a long distance experiment, in which a mobile teleoperator was controlled over a standard Internet connection by natural locomotion. Without further processing of the user's motion data, however, only exploration of a remote environment of the same size or smaller than the user environment is possible. As this is not desirable, we use motion compression, an optimal nonlinear transformation of the user's path. This algorithm allows controlling free motion in an arbitrarily large target environment from a limited user environment.

关键词： Teleoperators

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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American control Conference (ACC)

作者： B. Vanek T. Peni J. Bokor G. Balas Department of AeroSpace Engineering and Mechanics University of Minnesota Minneapolis MN USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

An unmanned aerial vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a model predictive control (MPC) outer loop controller specifies the command signals for the 7-h locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.

关键词： Trajectory Unmanned aerial vehicles Communication system control Aerodynamics Aircraft Vehicle dynamics Predictive models Predictive control Aerospace control Polynomials

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Iterative MOESP Type Algorithm for Discrete Time Variant System Identification

Iterative MOESP Type Algorithm for Discrete Time Variant Sys...

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IEEE International Symposium on Intelligent control (ISIC)

作者： A.D.R. Tamariz C.P. Bottura G. Barreto Nucleus of Research and Development in Computer Science University Candido Mendes Rio de Janeiro Brazil UNICAMP School of Electrical and Computer Engineering Control and Intelligent Systems Laboratory State University of Campinas Sao Paulo Brazil

With the main objective to develop an iterative state-space identification algorithm for linear multivariable discrete time-variant systems, in this study we propose and implement a computational procedure we call MOESP-VAR that is based in subspace methods of the type "multivariable output-error state space" (MOESP). In addition the algorithm is tested with criterion and experimentation that we also propose

关键词： Iterative algorithms System identification Time varying systems Vectors Iterative methods Reactive power Testing State-space methods control engineering Nonlinear systems

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A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems Intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods Intelligent sensors Laboratories computer science

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Fault Diagnosis of Hybrid systems

Fault Diagnosis of Hybrid Systems

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IEEE International Symposium on Intelligent control (ISIC)

作者： G.K. Fourlas K.J. Kyriakopoulos N.J. Krikelis Department of Informatics and Computer Technology Technological Educational Institute (TEI) of Lamia Lamia Greece Control Systems Laboratory Mechanical Engineering Department National and Technical University of Athens Athens Greece

Fault diagnosis is a challenging task in the control of hybrid systems. In this work we present a methodology for detection and isolation of faults to hybrid control systems using a diagnoser. For this purpose a general framework is proposed. We discuss the notion of diagnosability of hybrid systems in the framework of hybrid input output automata (HIOA), imposing the conditions for a hybrid system to be diagnosable. The diagnoser is designed using hybrid structure hypothesis tests. The states of the hybrid system model reflect the normal and the failed status of the system components. This approach is applicable to a wide range of real systems since hybrid systems involve both continuous and discrete dynamics

关键词： Fault diagnosis control systems Automatic control Power system dynamics Fault detection Automata Testing Power system reliability Power system management Hybrid power systems

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