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Toward HAZOP 4.0 Approach for Managing the Complexities of the Hazard and Operability of an Industrial Polymerization Reactor

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IFAC-PapersOnLine 2020年第2期53卷 13593-13600页

作者： R. Mokhtarname A.A. Safavi L. Urbas F. Salimi M.M. Zerafat N. Harasi Advanced Control Laboratory School of Electrical and Computer Engineering Shiraz University Shiraz Iran Mechanical Science and Eng. Dep. Technische Universität Dresden Dresden Germany ADEPP Academy France Nano-chemical Eng. Dep. Shiraz University Shiraz Iran

Conventional HAZOP is a collaborative and multidisciplinary activity to identify the hazards associated to operability of the chemical processes. Then the consequences and required safeguards of each potential deviation or failure are assessed qualitatively one by one. It is performed with the assumption of "one failure at the time" for the process parameters. Furthermore, process complexities such as multiple failures, domino effects, time and amplitude dep.ndent deviations etc. are avoided to keep the HAZOP brainstorming sessions systematic and effective. Therefore, the quality and outcomes of HAZOP study are relatively subjective and dep.nd on the experience and competency of the HAZOP team. This simplified approach cannot fully cover the hazard identification and risk assessment of the complex processes such as polymerization. Furthermore, the incident investigations show that almost all major accidents have occurred due to multiple failures or domino effects. This paper aims at developing a practical methodology in the context of "Industry 4.0" and particularly illustrate how dynamic simulation liberates the HAZOP team from the simplification assumptions such as one failure at the time or neglecting the domino effects during the lifecycle of the complex processes. An industrial styrene bulk free radical polymerization process has been chosen as the case study to dep.ct the applicability of the proposed method. In continuation of this research, the dynamic simulation integrated with Artificial Intelligence (AI) algorithms and Multivariable Process Monitoring (MPM) together with virtual collaboration tools will be invoked towards a more practical and effective HAZOP 4.0 platform. Such a platform can be the foundation of the further Process Safety Management (PSM) elements such as "Operating manuals", "Training and Competency management", "Condition monitoring and predictive maintenance", "Management of Change", "Pre-Start-up Safety Review", etc.

关键词： Dynamic HAZOP Dynamic Simulation Polymerization Plant Process Complexity HAZOP 4.0

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Improved AFM scanning methodology with adaptation to the target shape

Improved AFM scanning methodology with adaptation to the tar...

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2005 IEEE International Conference on Robotics and Automation

作者： Muñóz, Luis Miguel Casals, Alícia Amat, Josep Puig-Vidal, Manel Samitier, Josep Dep. Automatic Control- UPC Center of Bioengineering of Catalonia Pau Gargallo n. 5 08028 Barcelona Spain Institute of Robotics UPC-CSIC Center of Bioengineering of Catalonia Pau Gargallo n. 5 08028 Barcelona Spain CBEN Lab. Center of Bioengineering of Catalonia Barcelona Science Park C/ Martí Franques 1

ISBN: (纸本)078038914X

This paper presents a manipulation and measurement aid for tasks carried out in micro-nano environments operating with scanning AFM. In teleoperated manipulation or measurement over a given point of the target, where a slow and precise movement is necessary, the developed system increases the accuracy in this point producing a space deformation. In automatic scanning, the adjusted selection of the target, through assisted image segmentation, enables to reduce the working time. ©2005 IEEE.

关键词： Redundant manipulators

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Learning Based Model Predictive control for Quadcopters with Dual Gaussian Process

arXiv

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arXiv 2021年

作者： Liu, Yuhan Tóth, Roland The Harbin Institute of Technology Department of Control Science and Engineering Harbin China The Eindhoven University of Tech. Dep. of Electrical Eng. Control Systems Group Eindhoven Netherlands The Institute for Computer Science and Control Budapest Hungary

An important issue in quadcopter control is that an accurate dynamic model of the system is nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based estimation is an effective tool to learn unknown dynamics from input/output data. However, conventional GP-based control methods often ignore the computational cost associated with accumulating data during the operation of the system and how to handle forgetting in continuous adaption. In this paper, we present a novel Dual Gaussian Process (DGP) based model predictive control strategy that improves the performance of a quadcopter during trajectory tracking. The bio-inspired DGP structure is a combination of a long-term GP and a short-term GP, where the long-term GP is used to keep the learned knowledge in memory and the short-term GP is employed to rapidly compensate unknown dynamics during online operation. Furthermore, a novel recursive online update strategy for the short-term GP is proposed to successively improve the learnt model during online operation in an efficient way. Numerical simulations are used to demonstrate the effectiveness of the proposed strategy. © 2021, CC BY-NC-SA.

关键词： Model predictive control

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Interactive Learning Module for control interaction understanding

Interactive Learning Module for control interaction understa...

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European control Conference (ECC)

作者： J.L. Guzmán K.J. Åström T. Hägglund S. Dormido M. Berenguel Y. Piguet Department of Computer Science University of Almeria Almeria Spain Department of Automatic Control Lund University Lund Sweden Dep. Informàtica y Automàtica ETSI Informàtica UNED Madrid Spain Calerga Sàri Lausanne Switzerland

This paper describes an interactive tool focused on teaching and learning basic concepts on multivariable control systems. Most industrial processes are represented by multivariable systems and thus the teaching and learning of basic concepts on multivariable control is a key factor in control engineering education. In this sense, the interactive tool presented in this paper is aimed to introduce basic ideas on multivariable control systems mainly focused on interaction and pairing concepts.

关键词： Process control Graphics control systems Education Equations Transfer functions MIMO

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Extensibility of the matter element system and its applications

Advances in Modelling and Analysis A

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Advances in Modelling and Analysis A 2003年第1-2期40卷 23-38页

作者： Gouwei, Yang Xianpu, Zhou Xuyan, Tu Dept. of Mathematics Teachers' College Qindao University Qingdao 266071 China School of Automatic Engineering Boatou Univ. of Iron/Steel Technol. 014010 China Dep. of Computer Science University of Science and Technology Beijing 100083 China

Much more extensibility of matter element systems i.e. the accumulation , combination and separability of system things, characteristics, values, relationships, structures, component elements and systems is given and some reasoning based on the extensibility is offered. The extensibility and reasoning are abundant basis for us to solve system problems, especially to solve contradictory problem. Especially the reasoning based on the extensibility is an useful model of innovation design for products and artificial living agents.

关键词： Systems analysis

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Neuromorphic Sensors with Visible Light Communications 4

Neuromorphic Sensors with Visible Light Communications

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4th West Asian Symposium on Optical and Millimeter-Wave Wireless Communications, WASOWC 2022

作者： Hulea, Mircea Uleru, George-Iulian Younus, Othman Isam Rajbhandari, Sujan Ghassemlooy, Zabih Fac. of Automatic Control and Computer Engineering Gheorghe Asachi Technical University of Iasi Iasi Iasi Romania Optical Communications Research Group Northumbria University Dep. of Physics and Electrical Eng. Newcastle upon Tyne United Kingdom Dsp Centre of Excellence Bangor University Bangor United Kingdom Optical Communications Research Group Northumbria University Newcastle upon Tyne United Kingdom

ISBN: (纸本)9781665409131

Spiking neural networks (SNN) can control single-joint robotic arms' precise rotation and force when shape memory alloy (SMA) actuators are used. SNN receives feedback from neuromorphic sensors for controlling anthropomorphic fingers, which typically respond to the flexion angle and the force applied to the fingertips. The robotic fingers and hands are in relative motion with the robot's body, which typically includes the main unit for the limb's motion control. An elegant method to implement the connection between the main control unit and the neuromorphic sensors on limbs is to use visible light communication technology. This work presents a system that uses the recently introduced optical axons to connect the neuromorphic force sensors placed on fingers and the main electronic SNN that controls the finger's motion. The SNN behaviour is evaluated comparatively with and without optical axons when the hand moves relatively to the neural control unit (NCU), which regulates the finger's force. The expected results show that despite small oscillations of the finger force during steady-state, the robotic hand can hold on to an object while moving in the vicinity of NCU. © 2022 IEEE.

关键词： Robotic arms

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Workspace deformation based teleoperation for the increase of movement precision

Workspace deformation based teleoperation for the increase o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals L. Munoz J. Amat Dep. Automatic Control and Computer Engineering Robotics Institute UPC-Universitat Politicnica de Catalunya Spain Robotics Institute. (IRI) UPC / CSIC UPC-Universitat Politècnica de Catalunya Spain

Teleoperation makes possible the execution of many tasks, that otherwise are not feasible when a human operator can not access to the working area due to dangerousness or environmental conditions, and it is not possible as well, to program the task so as to be performed autonomously, due to its complexity. Nevertheless, manipulation tasks require certain ability from the human operator due to the difficulties that produce the need to operate through control devices that does not fit with the structure of the slave arms. With the aim of increasing the precision capabilities provided by such control interfaces, a vision based procedure designed to deform the space around the working point has been developed. The vision system operates from the detection of the relevant scene elements. This space deformation produces automatically a progressive increase in precision when the robot arm approaches the relevant detected elements.

关键词： Robot kinematics Humans Orbital robotics automatic control Service robots Medical robotics Intelligent robots Arm Robotics and automation Force feedback

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Consistent Event-Triggered Consensus on Complete Graphs

Consistent Event-Triggered Consensus on Complete Graphs

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IEEE Conference on Decision and control

作者： Duarte J. Antunes David Meister Toru Namerikawa Frank Allgöwer W.P.M.H. Heemels Dep. of Mechanical Eng. Eindhoven Control Systems Technology Group University of Technology the Netherlands Institute for Systems Theory and Automatic Control University of Stuttgart Germany School of Integrated Design Engineering Graduate School of Science and Technology Keio University Japan

This paper starts by considering an optimal control formulation of the consensus problem on complete graphs with a cost capturing disagreement and agents modeled by integrators. An optimal control policy for this problem is shown to be the well-known consensus algorithm by which each agent resets its state to the average of its and other agents' state values received at every time step. The framework is extended to the case where agents can only exchange information periodically, with a period larger than one. Then an event-triggered control strategy is proposed that results in a better cost than that of the optimal periodic one with the same average transmission rate, that is, it is consistent. According to this strategy, each agent distributedly transmits its state if the error between its current state and a common consensus estimate based on previously transmitted agents' data exceeds a threshold. Simulation results are presented to illustrate the proposed strategy.

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On real-time control tasks schedulability

On real-time control tasks schedulability

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European control Conference (ECC)

作者： P. Marti R. Villa J.M. Fuertes G. Fohle Dep. of Automatic Control Universitat Politècnica de Catalunya Barcelona SPAIN Dept. of Computer Engineering Mälardalen Högskola PO Box 883 SE-721 23 Västerås Sweden

In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. Revising real-time scheduling properties, we analyse which are the main timing problems that current scheduling algorithms may introduce in the execution of control loops. Next, we categorise those timing problems, that is, jitters on task-instances executions, in a control context. Afterwards, we show, by simulations, different types of control system performance degradation that these jitters may cause. Finally, we propose possible solutions that solves this degradation, based on irregular sampling discrete-time system models with varying time delays.

关键词： Jitter Real-time systems control systems Degradation Delays Processor scheduling

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Switching rates to save resources in distributed computer control systems

Switching rates to save resources in distributed computer co...

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作者： Mauro, Max Almeida, Luis Fuertes, Josep M. LTR-DCX Centro Universitário do Leste de Minas Gerais Av. Tancredo Neves 3500Coronel Fabriciano 35170-056 Minas Gerais Brazil LSE-IEETA/DET Universidade de Aveiro Campus de Santiago 3810-193 Aveiro Portugal Automatic Control and Computer Engineering Dep. Technical University of Catalonia Pau Gargallo 5 08028 Barcelona Spain

ISBN: (纸本)9783902661043

Recent work has shown that switching on-line between controllers using different rates might be beneficial, for example to cope with scheduling or network-induced jitter. In this paper we extend this approach to achieve a different purpose, i.e., to reduce the resource utilization of a closed-loop controller, namely CPU and network bandwidth, while maintaining its control performance. The proposed approach, named dual-rate, uses two controllers tuned for two sampling rates, a higher nominal rate determined by the usual rules and a substantially lower rate that is used whenever the system is operating close to stationarity. This approach is applied to a simulated steer-by-wire automotive application based on Truetime. It is shown that the dual-rate approach allows saving substantial CPU and network bandwidth while maintaining a control performance near the one achieved with the nominal controller alone. The released resources can be used to execute other tasks, transmit other messages or simply facilitate error recovery with temporal *** © 2006 IFAC.

关键词： controllers

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