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1999 European control Conference, ECC 1999

作者： Vukic, Z. Velagic, J. University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 ZagrebHR-10000 Croatia University of Sarajevo Faculty of Electrical Engineering Skenderija 70 SarajevoBH-71000 Bosnia and Herzegovina

ISBN: (纸本)9783952417355

In this paper a comparative analysis of Mamdani and Sugeno type fuzzy autopilots for ships is given. Both autopilots have two inputs: the heading signal and the yaw rate signal, and only one output: command rudder angle. Input variable fuzzification, fuzzy associative memory (FAM) rules, and output set defuzzification are described. The control system for the course-keeping composed of the nonlinear ship, the steering gear servo system, fuzzy autopilot and wave disturbance is described. Both autopilots are compared in three different sailing conditions: without wave disturbance, with wave disturbance and with wave disturbance and wave filtering. The notch filter was used for filtering of second-order wave disturbances. The influence of wave disturbance on course-keeping performance was analyzed. Even though the obtained performance in simulations are very similar, authors prefer Sugeno type fuzzy autopilot, due to less strain of the steering gear servo system and faster and more accurate heading obtained. © 1999 EUCA.

关键词： Ships

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control of autonomous robots using fuzzy logic controllers tuned by genetic algorithms

Control of autonomous robots using fuzzy logic controllers t...

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1999 Congress on Evolutionary Computation, CEC 1999

作者： Arsene, C.T.C. Zalzala, A.M.S. Faculty of Control and Computers University Politechnica of Bucharest Romania Department of Computing and Electrical Engineering Heriot-Watt University Edinburgh EH14 4AS United Kingdom

ISBN: (纸本)0780355369

Truly autonomous vehicles will require both projective planning and reactive components in order to perform robustly. Projective components are needed for long term planning and re-planning where explicit reasoning about future states is required. Reactive components allow the system to always have some action available in real time, and themselves can exhibit robust behaviour, but lack the ability to explicitly reason about future states over a long time period. The paper emphasises creating the projective component but also offer a simple solution for reactive component. A genetic algorithm implements the projective component, which designs automatically a fuzzy logic controller by modifying the position of controller membership functions and the commands given to the robot. For the reactive component, a simple solution was adopted so that if the robot sensors detect new obstacles, the robot will try to move to a previous position. © 1999 IEEE.

关键词： Genetic algorithms

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Adaptive control of multiple robots manipulation in dynamical environment

Adaptive control of multiple robots manipulation in dynamica...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.I. Tuneski G.R. Rafajlovski Department Automatic Control Faculty of Electrical Engineering and Computing Faculty of Electrical Engineering and Computing Skopje Macedonia Department Industrial Automatics Faculty of Electrical Engineering and Computing Skopje Macedonia

An adaptive control of multiple compliant manipulation in dynamical environment is synthesized. The control system is designed for: 1) when there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; 2) when the parameters of the system are not precisely known; and 3) when the system parameters do vary in a known regions about their nominal values. The proposed adaptive control law has the inverse dynamics controller structure and is composed of both an identification part and a control part. The simulation results verify the proposed approach to coordinated adaptive control of multiple robot manipulators in constrained motion tasks.

关键词： Adaptive control Robot kinematics Manipulator dynamics Orbital robotics Robotic assembly Uncertainty control system synthesis control systems Service robots Robotics and automation

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Empirical studies of evolving systems

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Empirical Software engineering 1999年第4期4卷 370-380页

作者： Bennett, K. Burd, E. Kemerer, C. Lehman, M.M. Lee, M. Madachy, R. Mair, C. Sjoberg, D. Slaughter, S. Department of Computer Science University of Durham United Kingdom Katz Graduate School of Business University of Pittsburgh United States Department of Computing Imperial College United Kingdom Department of Informatics and Simulation RMCS Cranfield University United Kingdom Litton Guidance and Control Systems USC Center for Software Engineering United States Design Engineering and Computing University of Bournemouth United Kingdom Department of Informatics University of Oslo Norway Graduate School of Industrial Administrations Carnegie Melon University United States

This paper describes the results of the working group investigating the issues of empirical studies for evolving systems. The groups found that there were many issues that were central to successful evolution and this concluded that this is a very important area within software engineering. Finally nine main areas were selected for consideration. For each of these areas the central issues were identified as well as success factors. In some cases success stories were also described and the critical factors accounting for the success analyzed. In some cases it was later found that a number of areas were so tightly coupled that it was important to discuss them together.

关键词： Software engineering

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Friction compensation methods in position and speed control systems

Friction compensation methods in position and speed control ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： D. Stajic N. Peric J. Deur Faculty of Electrical Engineering and Computing Department or Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

Friction appears in the bearings and reduction gear of controlled electrical drives and affects the quality of the position, speed or force control. The servosystem performance can be improved by implementation of acceleration feedback. For the reason that acceleration measurement is often either not possible or practical, the implementation of acceleration estimation by an observer or differentiation of speed is proposed. Another approach to friction influence compensation is based on the disturbance observer. Its advantage is that it can be applied generally to the estimation of various disturbances. This paper deals with these friction compensation methods which are not based on friction model, but on the compensation of friction as a disturbance. The efficiency of these methods in a servodrive with Stribeck friction is compared by computer simulation and experimentally on a servosystem laboratory model.

关键词： Friction Velocity control Force control Servosystems Acceleration Accelerometers Gears Feedback Computer simulation Laboratories

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A genetic programming heuristic for the one-machine total tardiness problem

A genetic programming heuristic for the one-machine total ta...

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1999 Congress on Evolutionary Computation, CEC 1999

作者： Dimopoulos, Christos Zalzala, Ali M.S. University of Sheffield Dept. of Automatic Control and Systems Engineering Mappin Street S1 3JD United Kingdom Heriot-Watt University Department of Computing and Electrical Engineering Edinburgh EH14 4AS United Kingdom

ISBN: (纸本)0780355369

Genetic programming has rarely been applied to manufacturing optimisation problems. In this report we investigate the potential use of genetic programming for the solution of the one-machine total tardiness problem. Combinations of dispatching rules are employed as an indirect way of representing permutations within a modified genetic programming framework. Hybridisation of genetic programming with local search techniques is also introduced, in an attempt to improve the quality of solutions. All the algorithms are tested on a large number of benchmark problems with different levels of tardiness and tightness of due dates. © 1999 IEEE.

关键词： Genetic programming

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control of autonomous robots using fuzzy logic controllers tuned by genetic algorithms

Control of autonomous robots using fuzzy logic controllers t...

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Congress on Evolutionary Computation

作者： C.T.C. Arsene A.M.S. Zalzala Faculty of Control and Computers Romania Department of Computing & Electrical Engineering Heriot-Watt University Edinburgh UK

关键词： Robot control Fuzzy logic Robot sensing systems Robotics and automation Robustness Automatic control Remotely operated vehicles Mobile robots Real time systems Genetic algorithms

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Frequency domain analysis of B-spline interpolation

Frequency domain analysis of B-spline interpolation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Z. Mihajlovic A. Goluban M. Zagar Department of Electronics Microelectronics Computer and Intelligent Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper describes B-spline interpolation and compares it with other reconstruction methods, especially in three-dimensional space. We first consider the B-spline bases in the terms of convolution in signal processing. The presented analysis requires careful usage of continuous and discrete representation of B-spline. Emphasis is given to the important difference between B-spline interpolation and approximation. The difference is shown through frequency domain analysis, so we derive frequency responses of the B-spline interpolation and approximation. We conclude by demonstrating the use of several reconstruction filters and appropriate gradient estimators in volume rendering. Exact reconstruction in volume visualization is very important in many industrial applications, such as material cavity control.

关键词： Frequency domain analysis Spline Interpolation Image reconstruction Convolution Filters Polynomials Data visualization Frequency response Microelectronics

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A genetic programming heuristic for the one-machine total tardiness problem

A genetic programming heuristic for the one-machine total ta...

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Congress on Evolutionary Computation

作者： C. Dimopoulos A.M.S. Zalzala Department of Automatic Control & Systems Engineering University of Sheffield UK Department of Computing & Electrical Engineering Heriot-Watt University Edinburgh UK

关键词： Genetic programming Job shop scheduling Evolutionary computation Scheduling algorithm Automatic control Genetic engineering Systems engineering and theory Manufacturing automation Dispatching Testing

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The B-spline interpolation in visualization

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Journal of computing and Information Technology 1999年第3期7卷 245-253页

作者： Mihajlović, Željka Goluban, Alan Department of Electronics Microelectronics Computer and intelligent Systems Faculty of Electrical Engineering arid Computing University of Zagreb Unska 3 Zagreb10 000 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10 000 Croatia

The volume data is generally in the form of the large array of numbers. In order to render the object hidden in the volumetric data, we need to reconstruct or interpolate data values between the samples. The novelty presented in this paper is B-spline interpolation in the volumetric space. We show that this approach is better than currently used methods. We also present a hybrid approach, analyze this approach in frequency domain and compare it to B-spline interpolation. To enhance the quality during the volume visualization process it is important to enhance the quality of the reconstruction. It is of crucial importance to explore different undesired effects. If better reconstruction is performed the more accurate result of volume visualization process is achieved.

关键词： Volume rendering

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