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European control Conference (ECC)

作者： Alexandros Soumelidis Péter Gáspár Péter Bauer Béla Lantos Zoltán Prohászka Hungarian Academy of Sciences Computer and Automation Research Institute Budapest Hungary Department of Control and Transport Automation Budapest University of Technology and Economics Budapest Hungary Budapesti Muszaki es Gazdasagtudomanyi Egyetem Budapest HU Department of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary

This paper describes the design and realization of a mini quadrotor UAV (Unmanned Aerial Vehicle) that has been initiated in the Systems and control Laboratory at the computer and automation Research institute of the Hungarian Academy of Science in collaboration with control departments of the Budapest University of Technology and Economics. The mini quadrotor UAV is intended to use in several areas such as camera-based air-surveillance, traffic control, environmental measurements, etc. The paper focuses upon the embedded microcomputer-based implementation of the mini UAV, describes the elements of the implementation, the tools realized for mathematical model building, as well as obtains a brief outline of the control design.

关键词： Helicopters Vehicles Trajectory Sensors Microcomputers control design

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The model-free learning adaptive control for DC motor rotate speed systems

The model-free learning adaptive control for DC motor rotate...

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26th Chinese control Conference, CCC 2007

作者： Cao, Rongmin Hou, Zhongsheng Huang, Jian Department of Computer and Automation Beijing Institute of Machinery Industry Beijing 100085 China Advanced Control Systems Laboratory Beijing Jiaotong University Beijing 100044 China

ISBN: (纸本)7900719229

The model-free learning adaptive control (MFLAC) approach of a class of SISO nonlinear discrete-time systems based on linearization of tight format is applied to DC motor rotate speed systems . The design of controller is model-free, based directly on pseudo-partial-derivatives (PPD) derived on-line from the input and output information of the motor motion system using novel parameter estimation algorithms. Hardware system is implemented by Data Acquisition (DAQ) to control DC motor. Conjuncted general PC to DAQ and controlled DAQ to produce Pulse-Width Modulation(PWM) wave which drive the IGBT circuit to control DC *** effectiveness and the robustness are demonstrated for the DC motor nonlinear systems which are known to be difficult to model and control by simulation and real-time application experiment examples.

关键词： Adaptive control systems

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Formal description of an IEC 61499 runtime environment with real-time constraints

Formal description of an IEC 61499 runtime environment with ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Hermann Rofner Valeriy Vyatkin Bernard Favre-Bulle Automation and Control Institute (ACIN) University of Technology Vienna Austria University of Technology Vienna Austria Department of Electrical and Computer Engineering University of Auckland New Zealand

This paper investigates on the introduction of the runtime behavior and real-time constraints into the verification process of IEC 61499 based automation systems. In detail, the event propagation policies as well as the necessary execution time for all actions within the automation system need to be described for a complete model of the automation system. The basis of the formal description provides an analytic methodology for the event propagation policy of an IEC 61499 runtime implementation. By use of this methodology within the formal model of the runtime environment, the overall system behavior can be described also in the case of reactive systems properties.

关键词： IEC standards Runtime environment automation Automatic control control systems Programmable control Electrical equipment industry Manufacturing Logic Industrial control

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control Solutions for Hybrid Solar Vehicle Fuel Consumption Minimization

Control Solutions for Hybrid Solar Vehicle Fuel Consumption ...

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IEEE Symposium on Intelligent Vehicle

作者： Zsuzsa Preitl Peter Bauer Balazs Kulcsar Gianfranco Rizzo Jozsef Bokor Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Mechanical Engineering University of Salerno Fisciano Italy

Hybrid electric vehicles (HEVs) gain more and more attention, as they represent a more environmental friendly alternative to conventional vehicles. If combined with photovoltaic panels, they can lead to further reduction of emissions. The paper focuses on a solution for minimizing the fuel consumption in a series hybrid solar vehicle (HSV). After briefly introducing the model, first a global optimum in fuel consumption is presented using dynamic programming, as a reference value. As a real-time control strategy, model predictive control (MPC) is considered. A fuel consumption equivalent quantity is defined which is used for calculating the fuel needed to bring the battery state of charge to a starting value (set in this case for 0.7 in relative units). For different values of the MPC tuning parameters simulations are performed using the urban section of the New European Drive Cycle. Conclusions based on the simulations are presented.

关键词： Solar powered vehicles Fuels Batteries Hybrid electric vehicles Photovoltaic systems Solar power generation Brushless DC motors Predictive models Predictive control Mathematical model

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Hybrid mobile robot navigational strategy for efficient data collection in sparsely deployed sensor networks

Hybrid mobile robot navigational strategy for efficient data...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Marcelo B. Soares Mario F. M. Campos Dimas A. Dutra Victor C. da S. Campos Guilherme A. S. Pereira Department of Computer Science Federal University of Minas Gerais Brazil Department of Control and Automation Engineering Federal University of Minas Gerais Brazil Department of Electrical Engineering Federal University of Minas Gerais Brazil

We propose and implement a hybrid navigational strategy for mobile robots for data collection tasks in sparsely deployed sensor networks. Our approach presents an alternative to the routing algorithms used in wireless sensor networks which focus on the minimization of energy consumption of each node which is mainly due to data transmission. The method has two layers: i) Reactive Layer in which the data collected from a sensor node is modelled as a potential function whose gradient attracts the robot and ii) Planning Layer, that dictates the action the robot must take to collect sensor data. Results from both simulation and real world experiments showing the performance of the proposed methodology are shown, compared and discussed.

关键词： Mobile robots Navigation Wireless sensor networks Robot sensing systems Sensor systems Routing Temperature sensors Data communication Mobile agents Vehicles

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A Far-Range Off-line Camera Calibration Method for Stereo Lane Detection Systems

A Far-Range Off-line Camera Calibration Method for Stereo La...

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IEEE Instrumentation and Measurement Technology Conference

作者： Andras Bodis-Szomoru Tamas Daboczi Zoltan Fazekas Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungary

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated. Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision. Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods.

关键词： Cameras Calibration Remotely operated vehicles Sensor systems Mobile robots Navigation Lenses Vehicle detection Parameter estimation Position measurement

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NEURAL-ADAPTIVE control BASED ON ADALINE NEURONS WITH APPLICATION TO A POWER SYSTEM

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IFAC Proceedings Volumes 2007年第18期40卷 457-464页

作者： Ioan Filip Octavian Prostean Florin Dragan Cristian Vasar Department of Control System Engineering “Politehnica” University from Timisoara Faculty of Automation and Computer Science 300223 Timisoara Romania Phone: (+40) 0256-403238 E-Mail: ioan.filip@aut.upt.ro

A neural-adaptive control solution is exposed in this paper. The control strategy is based on the linear adaptive neuron, which is called ADALINE. Unlike other neural control solutions, based on perceptrons neurons characterized by a long time learning process and a difficult on-line tuning of weights, this approach uses a fast algorithm, which adapts on-line the neuron's weights. Therefore the non-linear character of control law is induced by the permanent changes of neuron weights, which are variable parameters of controller. A set of study cases is done, with application to the excitation control of a synchronous generator.

关键词： adaptive control neural networks ADALINE modelling simulation synchronous generator

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SHORT TERM ELECTRIC LOAD FORECAST WITH ARTIFICIAL NEURAL NETWORKS

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IFAC Proceedings Volumes 2007年第18期40卷 443-449页

作者： Vasar Cristian Szeidert Iosif Filip Ioan Prostean Gabriela Department of Control System Engineering “Politehnica” University from Timisoara Faculty of Automation and Computer Science 300223 Timisoara Romania Phone: (+40) 256-403237 E-Mail: cristian.vasar@aut.upt.ro

This paper presents issues regarding short term electric load forecasting using feedforward and Elman recurrent neural networks. The study cases were developed using measured data representing electrical energy consume from Banat area. There were considered 35 different types of structure for both feedforward and recurrent network cases. For each type of neural network structure were performed many trainings and best solution was selected. The issue of forecasting the load on short term is essential in the effective energetic consume management in an open market environment.

关键词： neural networks prediction problems load forecasting feedforward networks simulation

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A Fuzzy Membership Function Design Methodology Based on Histogram and ROC Curve Analyses for Broken Rotor Bar Detection

A Fuzzy Membership Function Design Methodology Based on Hist...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Bulent Ayhan Mo-Yuen Chow H. Joel Trussell Signal Processing and Control Group Intelligent Automation Inc. Rockville MD USA Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The innovation of this work is the introduction of a novel fuzzy membership function design methodology, which incorporates the issue of the trade-off between the hit and false alarm rates into the design process. The method is applied to two-class broken rotor bar detection problem in squirrel-cage induction motors. The methodology is called H-ROC since it uses a weighted cost function based on ROC (receiver operating characteristics) curve analysis and histogram analysis.

关键词： Design methodology Histograms Rotors Induction motors Fault detection Diagnostic expert systems Process design Frequency Fuzzy systems Cost function

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATLAB Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATLAB Pneumatic systems control systems Level control Costs

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