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American control Conference (ACC)

作者： F. Wenck J.H. Richter Department of Process Automation Technische Universität Hamburg Hamburg Germany Institute of Automation and Computer Control Ruhr Universität Bochum Bochum Germany

In this work the normality property of specification languages for discrete-event systems under partial observation is investigated in a modular context for large-scale systems-modelling. This is related to work on controllability done previously in a similar context by R. Wenck and J. H. Richter (2004). The problem of preserving normality under master-slave (biased synchronous composition, BSC) and strict composition (strict product composition, SPC) operations is defined, and sufficient conditions for preserving normality under application of these operators are provided.

关键词： Master-slave Discrete event systems Supervisory control controllability Computational complexity Specification languages Large-scale systems automation Sufficient conditions Manufacturing

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Applying the SEEP method in the design of a real-time embedded control system for a motorized wheelchair

Applying the SEEP method in the design of a real-time embedd...

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International Conference on Emerging Technologies and Factory automation (ETFA)

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

This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details regarding embedded system modeling and its transition to the programming level are presented. Moreover, it describes the embedded system generation and provides data obtained from the hardware synthesis and the application execution. Moreover, it discusses how projects can be optimized according to requirements priorities. It finishes by highlighting the main advantage of SEEP in comparison to other existing methodologies for embedded systems design

关键词： Design methodology Real time systems control systems Wheelchairs Embedded system Hardware Embedded software Object oriented modeling Application software Process design

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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Performance characterization of IP network-based control methodologies for DC motor applications. Part I

Performance characterization of IP network-based control met...

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Annual Conference of Industrial Electronics Society

作者： T. Richards M.-Y. Chow Advanced Diagnosis Automation and Control Lab Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Using a communication network, such as an IP network, in the control loop is increasingly becoming the norm. This process of network-based control (NBC) has a potentially profound impact in areas such as: teleoperation, healthcare, military applications, and manufacturing. However, limitations arise as the communication network introduces delay that often degrades or destabilizes the control system. Four methods have been investigated that alleviate the IP network delays to provide stable real-time control. This paper presents the four methodologies, while the companion paper presents a case study on a DC motor with a networked proportional-integral (PI) speed controller with various network delays and noise levels. The four methodologies are gain scheduling middleware (GSM), optimal stochastic methodology, queuing methodology, and robust control methodology. Simulation results show that NBC combined with these techniques can successfully maintain system stability, allowing control of real-time applications.

关键词： DC motors Communication system control Communication networks IP networks Niobium compounds Process control Medical services Manufacturing processes Degradation control systems

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Adaptive Backstepping Sliding Mode control with Gaussian Networks for a Class of Nonlinear Systems with Mismatched Uncertainties

Adaptive Backstepping Sliding Mode Control with Gaussian Net...

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IEEE Conference on Decision and control

作者： Lei Ma K. Schilling C. Schmid Department of Computer Science VII Universität WÜrzburg Wurzburg Germany Institute of Automation and Computer Control Ruhr Universität Bochum Bochum Germany

This paper is concerned with the adaptive slidingmode control of a class of nonlinear systems in nonlinear parametric-pure-feedback form with mismatched uncertainties. Backstepping design procedure is applied, which leads to a new adaptive sliding-mode control. Gaussian radial-basis-function networks are used to approximate the unknown system dynamics. A new growing scheme of the Gaussian networks is proposed. The networks start with a loose structure in order to reduce the computational effort. More nodes are added to the networks progressively in order to improve the transient behaviour. With ideal sliding mode, asymptotic stability is reached. The performance of the control scheme is illustrated by simulation studies.

关键词： Programmable control Adaptive control Backstepping Sliding mode control Nonlinear systems Uncertainty Nonlinear control systems control systems Nonlinear dynamical systems computer networks

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Auto-tuning PID controller of Internet congestion control system

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2005年第SUPPL.期35卷 67-70页

作者： Yang, Hongyong Zhang, Fuzeng Lin, Xiangze Zong, Guangdeng Department of Computer Science and Technology Yantai Normal College Yantai 264025 China Department of Automatic Control Engineering Southeast University Nanjing 210096 China Institute of Automation Qufu Normal University Qufu 273165 China

Internet congestion control system is considered as a closed-loop feedback system with time-delay. A proportional-integral-differential (PID) controller is then established as active queue management (AQM) scheme to adjust the congestion marked possibility at the links in Internet, whose parameters is auto-tuned by applying the minimization of an integral criterion for adapting the change of the network system. The simulations show that the new AQM scheme can control the size of the queue in the buffer to an expected length and has the robustness for the loading perturbation and the parameter change in the network.

关键词： Congestion control (communication)

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Comparison of real-time network traffic estimator models in gain scheduler middleware by unmanned ground vehicle network-based controller

Comparison of real-time network traffic estimator models in ...

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Annual Conference of Industrial Electronics Society

作者： Z. Li R. Vanijjirattikhan M.-Y. Chow Y. Viniotis Advanced Diagnosis Automation and Control (ADAC) Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

We propose a gain scheduler middleware (GSM) module, for use in IP network-based control applications. The network traffic estimator (NTE) module of GSM must provide good estimation of the real-time network delay in order for the overall IP network-based control to provide satisfactory results. In this paper, we demonstrate the advantages of the NTE module vs. non-delay estimation control. Five delay estimation models are introduced and compared by using three typical network delay datasets. A network-based control of an unmanned ground vehicle (UGV) path-tracking problem is used to illustrate the performance of the NTE model. Simulation results show that the generalized exponential model outperforms the other models on the three criteria, including the UGV tracking error, travelling time and the computation time of the estimation model.

关键词： Communication system traffic control Traffic control Intelligent networks Middleware Land vehicles Communication system control control systems Automatic control Delay estimation GSM

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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2005 American control Conference, ACC

作者： Vanek, Bálint Péni, Tamás Bokor, József Balas, Gary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 1111 Budapest XI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 15 Akerman Hall 110 Union St. SE Minneapolis MN 55455

ISBN: (纸本)0780390989

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive control (MPC) outer loop controller specifies the command signals for the ∞ locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed. © 2005 AACC.

关键词： Predictive control systems

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Two-Dimensional Frequency Analysis of Structured Uncertainty for Multiple Array Paper Machine Cross-Directional Processes

Two-Dimensional Frequency Analysis of Structured Uncertainty...

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IEEE Conference on Decision and control

作者： Junqiang Fan G.A. Dumont Honeywell Automation and Control Solutions North Vancouver BC Canada Department of Electrical and Computer Engineering University of British Columbia Vancouver BC Canada

This paper provides a two-dimensional frequency analysis technique for robust controllers of large-scale multiple array paper machine cross-directional (CD) processes with structured model uncertainty. For such spatially-distributed dynamical systems, the process model and its realistic structured uncertainty are assumed to be linear, spatially-invariant, and time-invariant. These large-scale MIMO systems are rectangular circulant matrix blocks that can be conveniently transformed into a family of small dimension transfer functions in the two-dimensional frequency domain. This significantly simplifies the controller design and gives a better physical insight about the realistic structured uncertainty problem. Given a linear feedback controller, we can easily derive the robust stability condition for the closed-loop CD system in the two-dimensional frequency domain.

关键词： Frequency Uncertainty Paper making machines Actuators Sensor arrays Electrical equipment industry Industrial control Robust control Large-scale systems Transfer functions

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Novel contour extraction algorithm for a moving target based on image fusion

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2005年第8期16卷 973-977页

作者： Zhao, Peng Cao, Jun Pu, Zhao-Bang Zhang, Tian-Wen Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150001 China Mechanic and Electronic Institute Northeast Forestry University Harbin 150040 China Department of Computer Science and Engineering Harbin Institute of Technology Harbin 150001 China

A contour extraction algorithm for a moving target is proposed. This algorithm consists of three steps. Firstly, motion segmentation is applied respectively to infrared and visible image sequences to get an initial contour of a moving target. Secondly, a dynamic contour is applied to make the initial contour converge to the target's contour. Finally, two novel image fusions are applied. The first fusion minimizes L2 norm's square of the difference of control point vectors in two modal images without image registration. The second fusion is realized by the modified differential coupling with image registration. Contrasting detection experiments indicate the second fusion is better. Meanwhile, a fast iteration algorithm of dynamic contour based on the Newmark method is devised. A contrasting experiment indicates its iteration time for stable convergence decreases by 21.01% compared with the Wilson-θ method.

关键词： Object recognition

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