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Digital signal processing and parallel processing in the real-time simulation of a flexible manipulator system

MECHANICAL SYSTEMS AND SIGNAL PROCESSING 1996年第6期10卷 729-745页

作者： Tokhi, MO Hossain, MA Azad, AKM Department of Automatic Control and Systems Engineering University of Sheffield Sheffield U.K. Department of Computer Science University of Dhaka Dhaka-1000 Bangladesh

This paper presents an investigation into the utilisation of digital signal processing and parallel processing techniques for the real-time simulation of a flexible manipulator system. A finite dimensional simulation of the system is developed using a finite difference approximation to the governing dynamic equation of the manipulator. The proposed algorithm allows dynamic modification of the boundary conditions and the inclusion of a distributed actuator and sensor term in the system dynamic equation. The algorithm developed is implemented on a number of uni-processor and multi-processor, homogeneous and heterogeneous parallel architectures. The partitioning and mapping of the algorithm on the homogeneous and heterogeneous architectures is also explored. A comparison of the results of these implementations is made and discussed to establish merits of design and real-time processing requirements in the control of flexible manipulator systems. (C) 1996 Academic Press Limited

关键词： Digital signal processing

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The Development Framework: work in progress towards a real-time control system design environment

The Development Framework: work in progress towards a real-t...

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IEE Colloquium on Advances in computer-Aided control System Design (Digest No: 1996/061)

作者： M.S. Hajji J.M. Bass A.R. Browne P. Schroder P.R. Croll P.J. Fleming Department of Automatic Control and Systems Engineering University of Sheffield UK Department of Computer Science University of Sheffield UK

This paper describes work in progress on two extensions to the environment of a Development Framework for the design of control system software; hybrid system design and design of dependable systems. The Development Framework automatically converts a control engineering specification into a parallel implementation. Hybrid control systems are a combination of real-time control law and discrete-state logic. The Framework can be adapted so that it may handle discrete events such as mode switching. A statechart tool, Statemate [i-Logix95], is used to specify and model discrete-state components. The design phase of the Development Framework supports the integration of the two sets of specification. Initial work to support the design of dependable systems has included the implementation of an interface between the Framework design model and the dependability modelling tool, SURF-2. Stochastic Petri net models of selected fault-tolerant mechanisms are currently supported. The models enable sensitivity analysis and comparison of competing architectures.

关键词： Design automation control systems

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Model-based objects recognition in man-made environments

Model-based objects recognition in man-made environments

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： J. Marti A. Casals Computer Vision and Robotics Group University of Girona Catalonia Spain Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Catalonia Spain

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems engineering and automatic control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm.

关键词： Object recognition Object oriented modeling Remotely operated vehicles Mobile robots Navigation Layout Expert systems Shape Image recognition Data mining

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Parallel Processing for Real-Time control: Algorithms Versus Architectures

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IFAC Proceedings Volumes 1996年第1期29卷 7302-7307页

作者： M.O. Tokhi M.A. Hossain Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street Sheffield S1 3JD UK. Department of Computer Science University of Dhaka Bangladesh

This paper presents an investigation into tne nature ot control algorithms in relation to that of the architectures for real-time applications so that a close match be forged between them. Several algorithms of regular and irregular nature are implemented on a number of architectures possessing different features. Partitioning and mapping of the algorithms, algorithm regularity and hardware and algorithm granularity are addressed in implementing the algorithms on parallel architectures. A comparison of the results of implementations is made to establish merits of the development of parallel architectures for real-time applications. Finally, the potential of heterogeneous architectures in real-time applications has been justified by the development of a three-node architecture and its performance verification in comparison to uni-processor and two-node homogeneous and heterogeneous architectures.

关键词： Heterogeneous architectures homogeneous architectures parallel processing real-time control

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Robust Fault Detection Using Index of Kullback Discrimination Information

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IFAC Proceedings Volumes 1996年第1期29卷 6524-6529页

作者： K. Kumamaru J. Hu K. Inoue T. Söderström Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Fukuoka Japan. Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This paper presents a robust fault detection system (FDS) for dynamic systems with unmodeled dynamics. In the FDS, umnodeled dynamics is first qualified as soft bound, which as well as model parameters are estimated using a robust identification algorithm. Then as a fault detection index, Kullback discrimination information (KDI) is derived into a feasible form and an index of umnodeled dynamics is also introduced. A decision making scheme is thus developed so that fault detection is carried out based on the KDI, the index of umnodeled dynamics and other prior information about the system.

关键词： Fault detection parameter identification stochastic modeling robust estimation uncertainty

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Application of reversible discrete-time cellular neural networks to image copyright labelling

Application of reversible discrete-time cellular neural netw...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： Tao Yang K.R. Crounse L.O. Chua Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA Department of Automatic Control Engineering Shanghai University of Technology Shanghai China

In this paper, we proposed a discrete-time cellular neural network (DTCNN) structure for the labelling of digital images. First, we present the concept and the structure of reversible DTCNN, which can be used to generate 2D binary random image sequences. Then both the original image and the copyright label, which is often another binary image, are used to generate a binary random key image. The key image is then used to scramble the original image. Due to the reversibility of a reversible DTCNN, the same reversible DTCNN is used to recover the copyright label from a labelled image. Due to the high speed of a DTCNN chip, our method can be used to label image sequences, e.g., video sequences, in real time. computer simulation results are presented.

关键词： Cellular neural networks Labeling Image sequences computer networks Multimedia databases Space technology Cellular networks Application software Laboratories Digital images

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Neural modules: networks with constrained architectures for nonlinear function identification

Neural modules: networks with constrained architectures for ...

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International Workshop on Neural Networks for Identification, control, Robotics, and Signal/Image Processing

作者： B. Morcego J.M. Fuertes G. Cembrano Automatic Control and Computer Engineering Department Universitat Politecnica de Catalunya Barcelona Spain Institute of Cybemetics Universitat Politecnica de Catalunya Barcelona Spain

The aim of this work is the design of a class of neural networks for nonlinear function identification: the so-called neural modules. A neural module is a neural network with an internal structure specially designed to be able to learn and mimic the behaviour of a certain class of dynamic systems. Neural networks are abstract models well suited for approximating nonlinear functions. The training cost and the structural complexity of neural networks can be drastically reduced if a-priori knowledge of the function to be learned is internally incorporated in the form of structural constraints. The resulting neural network has less parameters than a conventional one, much faster learning convergence and it can provide meaningful information about the learned nonlinear function. This paper describes the design of a useful set of neural modules for system identification and gives general guidelines for the design of neural modules. The resulting networks are evaluated and their use on general systems identification is pointed out.

关键词： Artificial neural networks Neural networks System identification Guidelines control systems Nonlinear systems Network topology computer architecture automatic control control engineering computing

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Fast and accurate method to measure interharmonics in power systems

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EUROPEAN TRANSACTIONS ON ELECTRICAL POWER 1996年第3期6卷 169-174页

作者： Dai, X Gretsch, R [?]Associate Prof. Dr.-Ing. Xianzhong Dai (1954) received the Dr. degree (Elec. Eng.) from Tsinghua University of China in 1986. In 1988 he joined Southeast University as Associate Professor. In 1991 he became Humboldt Research Fellow and worked for two years at University of Erlangen-Nurnberg/Germany. His research work is focused to real-time control measurement and computer application on reactive power and harmonics compensation in power systems. (Automatic Control Engineering Department Southeast University Nanjing Jiangsu P. R. China)

In order to improve the resolution of spectrum analysis, the traditional method is to take more sampling periods, e. g. 50 sampling periods corresponding to the spectrum interval of I Hz. This method is not suitable to the interharmonic measurement, because most interharmonics vary rather quickly with the time and so the analysis results based on long time sampling may be useless. In this paper the zero-padding technique with short sampling time is used to resolve interharmonics, and the zoom FFT is used to decrease the computation time in order to meet the needs of real-time measurement. The simulating computation shows that the resolution for two adjacent frequency components is usually sufficient to measure harmonics and interharmonics in power systems with acceptable short sampling and computation time. This method is also suited to analyse harmonics and interharmonics when there exists an undesirable asynchronous deviation between the sampling period and the signal period.

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Adaptive synchronization of Chua's oscillators

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INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS 1996年第1期6卷 189-201页

作者： Chua, LO Yang, T Zhong, GQ Wu, CW Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California at Berkeley Berkeley CA 94720 USA Visiting scholar on leave from the Department of Automatic Control Engineering Shanghai University of Technology 149 Yan Chang Road Shanghai 200072 P. R. China. Visiting scholar on leave from Guangzhou Institute of Electronic Technology Academia Sinica Guangzhou 510070 P. R. China.

In this letter, we study the use of adaptive controllers to maintain the synchronization of two Chua's oscillators when the channel and circuit parameters are time-varying. We present both computer simulation resu...

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ROBUST STABILITY OF TIME-VARIANT DISCRETE-TIME-SYSTEMS WITH BOUNDED PARAMETER PERTURBATIONS

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-FUNDAMENTAL THEORY AND APPLICATIONS 1995年第1期42卷 40-45页

作者： PREMARATNE, K MANSOUR, M Department of Electrical and Computer Engineering University of Miami Coral Gables FL USA University of Miami Coral Gables USA Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland

In this paper, global asymptotic stability of linear, time-variant, finite dimensional, zero input difference equations is investigated. We propose a technique that may be utilized to obtain regions of asymptotic stability in the coefficient space that incorporate information regarding the maximum rate of change of system parameters. Use of different matrix norms provide different ''shapes'' for the maximum allowable coefficient perturbations.

关键词： Robust stability TV Asymptotic stability Difference equations Robustness Adaptive signal processing Eigenvalues and eigenfunctions Chromium automatic control Laboratories

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