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IEEE International Conference on Robotics and Automation (ICRA)

作者： Eui-jung Jung Ho Yul Lee Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Shin'ichi Yuta School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent Systems Research Institute Ubiquitous Functions Research Group AIST Japan Department of Control and Instrumentation Engineering Korea University South Korea Institute of Engineering Mechanics and Systems University of Tsukuba Japan

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

关键词： Navigation Mobile robots Wheels Kinematics computer science Position measurement Roads Robotics and automation USA Councils Motion planning

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Nonlinear Modelling and control of an Autonomous Underwater Vehicle

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IFAC Proceedings Volumes 2008年第1期41卷 1-6页

作者： Wasif Naeem Robert Sutton Intelligent Systems and Control Group School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH UK (Tel: 44 2890 974066) Marine and Industrial Dynamic Analysis Research Group School of Engineering The University of Plymouth Plymouth PL4 8AA UK

This paper highlights nonlinear modelling and control of the Hammerhead AUV. To model the AUV, a multi-layer perceptron neural network structure has been chosen. Data from actual trials is utilised for training and validating the neural network model. A genetic algorithm (GA) based nonlinear model predictive control (MPC) algorithm is also implemented to the identified model and results are shown for two waypoint following scenarios involving step changes in reference heading. It is demonstrated that the neural network is able to model the system well and the GA-based nonlinear MPC autopilot is quite capable of dealing with nonlinear nonconventional models.

关键词： Modelling neural networks model predictive control genetic algorithms autonomous underwater vehicles

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A Neuro-Fuzzy controller for Rotary Cement Kilns

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IFAC Proceedings Volumes 2008年第2期41卷 13259-13264页

作者： Maryam Fallahpour Alireza Fatehi Babak N. Araabi Morteza Azizi Control & Intelligent Processing Center of Excellence School of Electrical & Computer Eng. University of Tehran Tehran Iran Advanced Process Automation & Control (APAC) Research Group Electrical Engineering Faculty K. N. Toosi University of Technology Tehran Iran Saveh Cement Co. Saveh Iran

In this paper, we design a neurofuzzy controller to control several variables of a rotary cement kilns. The variables are back-end temperature, pre-heater temperature, oxygen content and CO2 gas content of the kiln. The fuzzy control system, as an advanced control option for the kilns, is intended to minimize the operator interaction in the control process. The proposed fuzzy controller uses a neural network to optimize TSK-type fuzzy controller. Since there is no generally applicable analytical model for cement kilns, we use the real data derived from Saveh cement factory for the plant identification. A model, which is very similar to the real plant, is identified then; and the identified model is used for control design and simulations. Extensive simulation studies justify the effectiveness and applicability of the proposed control scheme in intelligent control of cement plant.

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Modeling of asynchronous discrete-event systems as networks of input-output automata

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IFAC Proceedings Volumes 2008年第2期41卷 544-549页

作者： Sebastian Drüppel Jan Lunze Martin Fritz Robert Bosch GmbH Corporate Sector Research and Advance Engineering Mechatronic Engineering Group D-70442 Stuttgart Germany (Tel:+49-711-811-49402 Ruhr-University Bochum Institute of Automation and Computer Control D-44780 Bochum Germany Robert Bosch GmbH Automotive Aftermarket D-73207 Plochingen Germany

A new approach for component-oriented modeling of asynchronous discrete-event systems is presented where input-output (I/O) automata are used for representing the components. Coupling signals are introduced to describe the interactions among the components. The resulting network of I/O-automata has a direct correspondence to the block diagram. By using the parallel composition rule known from standard automata modeling as an example, it is shown that the new model is applicable for at least the same class of asynchronous discrete-event systems as the known modeling formalisms.

关键词： Discrete-event system component-oriented modeling coupling signals standard automaton input/output automaton

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engineering education societies becoming global

Engineering education societies becoming global

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2008 ASEE Annual Conference and Exposition

作者： Morell, Lueny Borri, Claudio Rajala, Sarah Ramakrishna, Seeran Quadrado, Jose Carlos Petrie, Maria M. Larrondo Fraser, Duncan Laporte, Bruno Garboan, Adriana Fouger, Xavier Hoyer, Hans Hewlett-Packard Department of Chemical Engineering University of Puerto Rico Mayagüez Puerto Rico Universita' di Firenze Department of Computational Mechanics of Structures University of Florence Italy SEFI IFEES Within Socrates II Mississippi State University Department of Electrical and Computer Engineering Mississippi State University National University of Singapore Instituto Superior de Engenharia de Lisboa Portugal ISEL Research and Project Center on Electrical Machines Control and Applications Florida Atlantic University Academic and International Affairs for the College of Engineering and Computer Science Florida Atlantic University International Federation of Engineering Education Societies Latin American and Caribbean Consortium of Engineering Institutions University of Cape Town Academic Development Faculty of Engineering and the Built Environment UCT World Bank Human Development Development Group World Bank Institute Politechnica University of Bucharest Politehnica University of Bucharest Faculty of Electronics and Telecommunications Dassault Systemes Dassault Systemes Global Learning Leads the PLM Academy American Society for Engineering Education International Programs and Strategy ASEE

Globalization is making both developed and developing countries think about effective and efficient strategies that will advance their economies and social development. Throughout the history of civilization, engineering has played a critical role in economic development. Engineers are key not only in solving local problems but also in knowledge creation and knowledge transfer. Thus, it is imperative that technical know-how be supplemented with professional skills to develop an 'adaptive leader' who is capable of addressing the multiple challenges of an ever changing world. The key-question posed by the 21st century global economy to engineering educators and stake-holders is this: "How can education in science and technology help to reduce poverty, boost socio-economic development, and take the right decisions for sustainable and environmental compatible development?" To answer these questions, a global approach is needed: and this can only be accomplished by a "team" which has its roots in all regions of the world, i.e. which is enabled to think globally and then act locally. There's a need to establish effective engineering education processes of high quality around the world to assure a global supply of well-prepared engineering graduates. This paper describes the reasons for the creation in October 2006 of IFEES - the International Federation of engineering Education Societies. It will describe the vision, mission, and key strategies of IFEES. It will also describe some of the initiatives currently underway and how the various engineering education stakeholders can leverage and benefit from engaging with IFEES, thus strengthening the organizational capacity of engineering education societies throughout the world. The paper will share plans to help members learn from each other's best practices and even failures and how those organizations that have been in existence for quite some time (ASEE was founded in the late 19th century) can contribute to the institutio

关键词： engineering education

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Future of the smith predictor based regulators comparing to youla parametrization

Future of the smith predictor based regulators comparing to ...

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2007 Mediterranean Conference on control and Automation, MED

作者： Keviczky, L. Bányász, Cs. Computer and Automation Research Institute Control Engineering Research Group Hungarian Academy of Sciences Kende u 13-17 H-1111 Budapest Hungary

ISBN: (纸本)142441282X

The paper is a short tutorial like discussion on the applicability and the future of the classical Smith predictor. This evaluation shows that the Smith predictor is a subclass of the Youla parametrization based generic two-degree of freedom controllers. The application of the modern, new approach is suggested having much wider design possibilities. ©2007 IEEE.

关键词： Degrees of freedom (mechanics)

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Investigating H2 optimality of two-degree of freedom control systems

Investigating H2 optimality of two-degree of freedom control...

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2007 Mediterranean Conference on control and Automation, MED

作者： Keviczky, L. Bányász, Cs. Computer and Automation Research Institute Control Engineering Research Group Hungarian Academy of Sciences Kende u 13-17 H-1111 Budapest Hungary

The control error in a generic two-degree of freedom (TDOF) control system has three major parts: design-, realizability- and modeling-loss. The paper investigates the optimality of the second term in this decompositi... 详细信息

ISBN: (纸本)142441282X

关键词： Degrees of freedom (mechanics)

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Hscr;2 dynamic output feedback scheduled controllers for linear time-varying poly topic systems: A convex LMI approach

Hscr;2 dynamic output feedback scheduled controllers for lin...

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46th IEEE Conference on Decision and control 2007, CDC

作者： Montagner, Vinícius F. Borges, Renato A. Peres, Pedro L. D. Electrical and Computer Engineering Department University of New Mexico School of Electrical and Computer Engineering University of Campinas CP 6101 13081-970 Campinas SP Brazil Power Electronics and Control Research Group Federal University of Santa Maria 97105-900 Santa Maria RS Brazil

ISBN: (纸本)1424414989

This paper provides a convex condition to design dynamic output feedback scheduled controllers which ensure the closed-loop stability and minimize an upper bound to the H2 norm for linear systems whose matrices are affected by arbitrarily time-varying parameters belonging to a polytope. Differently from the conditions for the design of robust H2 dynamic controllers, which are nonconvex, the proposed design is entirely based on a convex linear matrix inequality optimization procedure. Moreover, in this paper, all the system matrices are affected by the vector of time-varying parameters which can vary arbitrarily fast inside the polytope. By means of variable elimination and also by exploiting the positivity of the parameters, it is shown that the design problem can be expressed as a convex optimization problem subject to a finite number of linear matrix inequality constraints formulated only in terms of the vertices of the polytope, avoiding the use of exhaustive gridding in the parameter space to compute a family of controllers. Numerical examples, including an application to the control of a model of a helicopter subject to abrupt failures of actuator, illustrate the efficiency of the proposed approach. © 2007 IEEE.

关键词： Feedback control

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Future of the Smith predictor based regulators comparing to Youla Parametrization

Future of the Smith predictor based regulators comparing to ...

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Mediterranean Conference on control and Automation (MED)

作者： L. Keviczky Cs. Banyasz Computer and Automation Research Institute and Control Engineering Research Group Hungarian Academy of Sciences (ATOMKI) Hungary

关键词： Regulators Delay effects Optimized production technology control systems Automation control engineering History Signal processing Predictive models Open loop systems

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Investigating H2 optimality of two-degree of freedom control systems

Investigating H2 optimality of two-degree of freedom control...

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Mediterranean Conference on control and Automation (MED)

作者： L. Keviczky Cs. Banyasz Computer and Automation Research Institute and Control Engineering Research Group Hungarian Academy of Sciences (ATOMKI) Hungary

The control error in a generic two-degree of freedom (TDOF) control system has three major parts: design, realizability, and modeling loss. The paper investigates the optimality of the second term in this decompositio... 详细信息

关键词： Hydrogen Optimal control control systems Error correction Mathematical model control system synthesis Automatic control Transfer functions Regulators Degradation

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