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2006 IEEE International Conference on Mechatronics, ICM

作者： Novak, Gregor Roesenert, Charlotte Bader, Markus Deutsch, Tobias Jakubek, Stefan Krywult, Stefan Seyr, Martin Institute of Computer Technology Vienna University of Technology Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic Vienna University of Technology Vienna Austria

ISBN: (纸本)0780397134

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entails new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75x75x150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of real-time communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control. © 2006 IEEE.

关键词： control theory

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Numerical Simulation of the Transient Railway Traction Motor with Frequency control

Numerical Simulation of the Transient Railway Traction Motor...

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IEEE International Conference on automation, Quality and Testing, Robotics, AQTR

作者： Vasile Tulbure Rodica Festila Eva Dulf Tiberiu Colosi Faculty of Automation and Computer Science Department of Automatic Control Technical University of Cluj Napoca Cluj-Napoca Romania

Continuing the papers by Tulbure et al. (2004), are presented some significant results of numerical simulations for railway traction motors, which can be treated as components of electrical locomotives EC-43, by 3.6 MW, with 80t mass. For the starting mode of operation in frequency steps of Deltaf=2.5 Hz, with the slip S c =0.1, are interesting the evolution and interpretation of r.m.s. values of input voltage U 1 [V], stator current I 1 [A], traction force F T [t], developed power P[kW] and speed v[km/h]. It is imposed the maintenance of excitation flux at nominal value Psi=2.73[Wb]

关键词： Numerical simulation Rail transportation Traction motors Frequency control Voltage Data mining Stators Taylor series Calculus automation

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Optimizing the Generation of Object-Oriented Real-Time Embedded Applications Based on the Real-Time Specification for Java 06

Optimizing the Generation of Object-Oriented Real-Time Embed...

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Design, automation and Test in Europe Conference and Exhibition

作者： M.A. Wehrmeister C.E. Pereira L.B. Becker Computer Science Institute UFRGS Brazil Electrial Engineering Department UFRGS Brazil Automation and Control Systems Department UFSC Brazil

ISBN: (纸本)9783981080100

The object-oriented paradigm has become popular over the last years due to its characteristics that help managing the complexity in computer systems design. This feature also attracted the embedded systems community, as today's embedded systems need to cope with several complex functionalities as well as timing, power, and area restrictions. Such scenario has promoted the use of the Java language and its real-time extension (RTSJ) for embedded real-time systems design. Nevertheless, the RTSJ was not primarily designed to be used within the embedded domain. This paper presents an approach to optimize the use of the RTSJ for the development of embedded real-time systems. Firstly, it describes how to design real-time embedded applications using an API based on RTSJ. Secondly, it shows how the generated code is optimized to cope with the tight resources available, without interfering in the mandatory timing predictability of the generated system. Finally it discusses an approach to synthesize the applications on top of affordable FPGAs. The approach used to synthesize the embedded real-time system ensures a bounded timing behavior of the object-oriented aspects of the application, like the polymorphism mechanism and read/write access to object's data fields

关键词： Java Real time systems Application software Embedded system Timing Virtual machining computer science Design engineering Design automation Automatic control

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Measured disturbance estimation for model predictive controller

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Mediterranean Journal of Measurement and control 2006年第3期2卷 144-151页

作者： Kulcsar, Balazs Bokor, J. Department of Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents the Model Predictive controller design process when an unknown input observer provides measured disturbance form unmeasured one. Instead of using an unmeasured disturbance dynamic implemented into the controller, the joint observer-controller uses the estimated measured exogenous disturbance signal. Furthermore the observer can send an alarm sign to the supervisor. The detection and isolation of the unmeasured disturbance is computed by the geometric based strategy called Fundamental Problem in Residual Generation. Better the estimation of the disturbance is, better the rejection of the controller. The measured disturbance could be anticipated. A numerical example explains the effectiveness of the estimation and the usage of the unmeasured disturbance detection. Copyright © 2006 SoftMotor Ltd.

关键词： Predictive control systems

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REAL-TIME, COOPERATIVE ENTERPRISES: REQUIREMENTS AND SOLUTION APPROACHES

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IFAC Proceedings Volumes 2006年第3期39卷 591-596页

作者： L. Monostori J. Váncza T. Kis B. Kádár Zs.J. Viharos Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of Production Informatics Management and Control Budapest University of Technology and Economics Budapest Hungary

In addition of the four main R&D directions, i.e., adaptive manufacturing, digital manufacturing, knowledge-based manufacturing, and networked manufacturing, emphasised by the European initiative Manufuture, two additional requirements, i.e., the real-timeness and cooperativeness of production structures are also outlined in the paper, which are of high and increasing importance. The paper highlights the main results of a national R&D project in Hungary on Digital Enterprises, Production Networks, and the main concept of a new, just started, national research project VITAL: Real-time Cooperative Enterprises.

关键词： Digital Enterprises Production Networks Intelligent Manufacturing Cooperation

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Bayesian decision-theoretic causation analysis for gas explosion

Bayesian decision-theoretic causation analysis for gas explo...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Cai, Linqin Sun, Yining Mei, Tao Zuchang, Ma Department of Automation Chinese Academy of Sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424404665

Frequent mine gas incident in china fully shows there must be many undiscovered essential factors in all previous gas incident investigations. Exploring a new analysis approach is vital to prevent and control mine gas emergency. A Bayesian decision-theoretic causation analysis method was introduced to study the mine gas incident. A typical gas explosion case was explained. The interaction law of human, machine, environment, and management factors causing mine gas incident was discussed. The evolution process of the connotative factors from the uncertain state to the certain state was discovered, and the relationships between the external factors and the internal factors were revealed. © 2006 IEEE.

关键词： Decision trees

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Modeling and analyzing multi-agent task plans for intelligent virtual training system using petri nets

Modeling and analyzing multi-agent task plans for intelligen...

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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Linqin, Cai Tao, Mei Yining, Sun Lei, Sun Zuchang, Ma Department of Automation University of Science and Technology of China Chinese Academy of Sciences Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424403324

Integrated virtual reality with Intelligent Tutoring System, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans are reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, Hierarchy Colored Petri Nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model. ©2006 IEEE.

关键词： Intelligent systems

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Timed Petri Nets Modelling of High-Throughput Screening Process for Fault Study

Timed Petri Nets Modelling of High-Throughput Screening Proc...

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Annual Conference of Industrial Electronics Society

作者： Tao Hong Mo-Yuen Chow Advanced Diagnosis Automation and Control Lab Electrical & Computer Engineering Department North Carolina State University Raleigh NC USA

To perform fault studies (e.g., fault detection, diagnosis, and mitigation) via Internet for a remote automation line, operation time is an important feature/symptom for human supervisors. This paper introduces the application of timed Petri nets (TPN) to model a high-throughput screening (HTS) process, and extends the timed transition based on the dynamics of the automated process. This paper describes the design methodologies of TPN to model the dynamics of the HTS process with and without anomalies. Finally, both healthy and faulty conditions of an automated biological/chemical screening line are simulated in Matlab/Simulink to demonstrate the effectiveness of the proposed TPN modelling

关键词： Petri nets Mathematical model Biological system modeling High temperature superconductors Fault detection Fault diagnosis Internet automation Humans Design methodology

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About the Utility of the Extremum control Systems for Induction Traction Motors

About the Utility of the Extremum Control Systems for Induct...

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IEEE International Conference on automation, Quality and Testing, Robotics, AQTR

作者： Rodica Festila Vasile Tulbure Clement Festila Department of Automatic Control Faculty of Automation and Computer Science Technical University of Cluj Napoca Cluj-Napoca Romania Romanian Railways Romania

The extremum control of the high power induction traction motor is justified by the possibility to operate with minimum electrical power/energy, especially by partial load. The extremum control system is usually overlapped to the speed (or torque) control system and is valid if a steady state, partial load of the operation is established. The authors analyze the problem of various modes of operation under reduced disturbances. Also, the analysis deals with the problem of the limits of the stable behavior of the extremum control system

关键词： control systems Traction motors Induction motors Torque control Inverters Stators Equations Automatic control Steady-state Frequency

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Towards an Approach for the Verification of Downtimeless System Evolution

Towards an Approach for the Verification of Downtimeless Sys...

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International Conference on Emerging Technologies and Factory automation (ETFA)

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

This paper presents ongoing work focused on dynamic reconfiguration of industrial automation systems as a part of their total life cycle. Modification of the control logic has to be enabled at runtime and without any disturbances of related applications. The epsivCEDAC engineering cycle for dynamic system evolution is based on the use of an IEC 61499 reconfiguration application responsible for the dynamic transformation of the program during its execution. The verification of this evolution step takes the central role in this engineering cycle. The paper discusses the general requirements for this kind of verification. Especially the capabilities of the automation system - the used hardware and software - form a major point. The paper describes the basic concepts and ongoing work regarding the verification of downtimeless system evolution.

关键词： IEC standards Automatic control control systems Electrical equipment industry Industrial control Reconfigurable logic Runtime Hardware Manufacturing automation Systems engineering and theory

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