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15th International Symposium on Artificial Life and Robotics, AROB '10

作者： Wang, Bei Sugi, Takenao Wang, Xingyu Shirakawa, Shuichiro Nakamura, Masatoshi Department of Automation East China University of Science and Techonology Shanghai China Department of Electrical and Electronic Engineering Saga University Saga Japan National Centre of Neurology and Psychiatry Tokyo Japan Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9784990288044

Short nap is a good relaxation way when people feel sleepy and tired during the day time. An automatic light sleep level estimation technique was presented for short nap sleep evaluation. Parameters were extracted from the polysommnographic sleep record. Sleep stages of open eyes awake, close eyes awake, and stage 1 were determined automatically based on the conditional probability. The conditional probability indicated the possibility of occurrence of sleep stages during short nap. The light sleep level was estimated based on the continuous change of conditional probability of awake. The developed technique can be usable for comfortable short nap sleep control. © 2010 ISAROB.

关键词： Probability

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Considering predicted road conditions in vehicle control design using H∞ method

Considering predicted road conditions in vehicle control des...

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作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902661722

The paper focuses on the design of a velocity control system which takes into consideration the knowledge of the predicted inclinations of the road along the track of the vehicle. By using this velocity control it is possible to reduce the operations of the actuators, i.e. the powertrain and the brake system. The longitudinal dynamics of the vehicle is formulated in a simplifed control-oriented model, which contains the longitudinal control force and disturbances such as aerodynamic force, rolling resistance and road slope. If the inclination of the road surface is assumed to be known, it is considered in the calculation of the velocity tracking or the reference velocity. The design of the velocity tracking system is based on the H∞ control theory. In order to take into consideration the efects of dynamic disturbances and sensor noises weighting functions of quality performances in the controlled system are designed. The operation of the method is demonstrated through simulation examples in Matlab/Simulink and CarSim environments. © 2010 IFAC.

关键词： Robust control

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Mass action realizations of reaction kinetic system models on various time scales

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Journal of Physics: Conference Series 2011年第1期268卷

作者： K M Hangos G Szederkényi Process Control Research Group Computer and Automation Reseach Institute Kende u. 13-17 H-1111 Budapest Hungary Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 Veszprém Hungary

Complex chemical reaction networks often exhibit different dynamic behaviour on different time scales. A combined approach is proposed in this work for determining physically meaningful mass action realizations of complex chemical reaction networks that describe its dynamic behaviour on different time scales. This is achieved by appropriately reducing the detailed overall mass action kinetic scheme using quasi steady state assumptions fit to the particular time scale, and then searching for an optimal realization using mixed integer linear programing. Furthermore, the relationship between the properties (reversibility, deficiency, stability) of the obtained realizations of the same system on different time scales are also investigated and related to the same properties of the detailed overall model. It is shown that the reduced models obtained by quasi steady state assumptions may show exotic nonlinear behaviour, such as oscillations, when the original detailed is globally asymptotically stable. The proposed methods are illustrated by using a simple Michaelis-Menten type reaction kinetic example. The simplified versions of the well known Brusselator model have also been investigated and presented as a case study.

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THD reduction with grid synchronized inverter’s power injection of renewable sources

THD reduction with grid synchronized inverter’s power injec...

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International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： Péter Görbe Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary Process Control Research Group Computer and Automation Research Institute Budapest Hungary

A control method for small domestic power plants using renewable energy is described in this paper. This method is not only capable of optimizing the working point of the plant but also implements active power factor correction and lowers the extant harmonic distortion in the line. The novel element in the proposed complex controller structure is the upper harmonic controller that minimizes the amplitudes of the 3rd, 5th 7th, 9th, and the 11th upper harmonic component in the output voltage. The proposed controller has been investigated by simulation in Matlab environment, and as a result, substantial improvement of the output voltage and current waveform could be achieved. Robustness of the method against nonlinear loads has also been tested.

关键词： Power factor correction Costs Power generation Voltage control Harmonic distortion Robustness Nonlinear distortion Solar power generation Power supplies Inverters

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Vehicle modeling for integrated control design

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Periodica Polytechnica Transportation Engineering 2010年第1期38卷 45-51页

作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation BME Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17 H-1111 Budapest Hungary

This paper comprises the control-oriented modeling of an integrated vehicle system including powertrain, brake, active suspension and steering components. As the first step, the models of a vehicle are formalized. In the powertrain model the nonlinearities of an engine with thermodynamical and fluid mechanical features are considered. In the model of suspension the dynamics of sprung mass (body) and unsprung masses (e.g., wheels) are considered. In the brake system the necessary hydraulic pressure required for the desired brake power is determined. The pressure fluctuation arising from the skewness of brake disc during the rotation is distributed. The mechanical construction of electronic steering system is also dealt with. The model of the vehicle handles the effects of road and wind disturbances. Matlab/Simulink, CarSim and GT-Suite GT-Power are used during the simulations. Matlab/Simulink is a perfect tool for control design and a fast analysis of the operation of the controlled system. CarSim is a widely used vehicle dynamic simulator used wide-spread;GT-Power is a complex powertrain modeling program. Both are used for validating Matlab models. © Periodica Polytechnica 2010.

关键词： Simulink

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control design for road-friendly suspension systems using an optimal weighting of LQ theorem

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Periodica Polytechnica Transportation Engineering 2010年第2期38卷 61-66页

The paper comprises the control design of a road-friendly suspension system and the optimal choice of linear quadratic (LQ) weighting. By designing the influence of the dynamic loads of wheels it is possible to reduce the loads and stresses of roads and increase their lifespan. In the vehicle model the dynamics of the sprung and unsprung masses with their suspension system is considered. For road-friendly control design it is necessary to guarantee the reduction of the dynamic load of wheels. Besides, it is also important to guarantee passenger comfort and road stability of the vehicle. Considering these performances an active suspension system based on the LQ control theory is designed. Taking into consideration the effects of the variations in the weighting values of quality performances the properties of controlled system are analyzed in terms of road-friendliness and traveling comfort. The used LQ theorem and optimal weighting method are practicable for both active and semi-active suspension systems. © 2010 Periodica Polytechnica.

关键词： Dynamic loads

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Dynamic modeling and model analysis of a large industrial synchronous generator

Dynamic modeling and model analysis of a large industrial sy...

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International Conference on Applied Electronics, AE

作者： Attila Fodor Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A simple dynamic model of an industrial size synchronous generator operating in a nuclear power plant is developed in this paper based on first engineering principles. The constructed state-space model consists of a nonlinear state equation and a bi-linear output equation. It has been shown that the model is locally asymptotically stable with parameters obtained from the literature for a similar generator. The effect of load disturbances on the partially controlled generator has been analyzed by simulation using a traditional PI controller. It has been found that the controlled system is stable and can follow the set-point changes in the effective power well. The disturbance rejection of the controller is also satisfactory.

关键词： Mathematical model Equations Synchronous generators Torque Windings Rotors

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Retraction notice to “Direct adaptive control based on gradient estimation and industrial application” [control Eng. Pract. 17 (2009) 1065–1075]

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control Engineering Practice 2011年第5期19卷 522-522页

作者： Zhong Zhao Ning Xu M. Nakamura Y. Ikegami Department of Automation P.O. Box 81 Beijing University of Chemical Technology Beisanhuan East Road 15 Chaoyang District Beijing 100029 China Beijing Research Institute of Chemical Technology SINOPEC Corp Beijing 100023 China Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi 1 Saga 840-8502 Japan Institute of Ocean Energy Saga University Honjomachi 1 Saga 840-8502 Japan

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Sensor data fusion using fuzzy control for VOR-based vision tracking system

Sensor data fusion using fuzzy control for VOR-based vision ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hyun-il Kwon Jaehong Park Wonsang Hwang Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision tracking system to achieve high recognition performance under dynamic circumstances, using a fuzzy logic controller. The main concept of the proposed system is based on the vestibulo-ocular reflex (VOR) and the opto-kinetic reflex (OKR) of the human eye. To realize the VOR concept, MEMS inertial sensors and encoders are used for robot motion detection. This concept turns the camera towards a selected target, counteracting the robot motion. Based on the OKR concept, the targeting errors are periodically compensated, using vision information. The fuzzy logic controller uses sensor data fusion to detect slip or collision occurrences. To calculate a heading angle of the camera accurately, the output of the fuzzy logic controller and the vision information from the camera are combined, using an extended Kalman filter. The proposed vision tracking system is implemented in a mobile robot and evaluated experimentally. The experimental results are obtained as the tracking and the recognition success rate using a mobile robot. The developed system achieved the excellent tracking and recognition performance during slip or collision occurrences under dynamic circumstances.

关键词： Cameras Mobile robots Robot vision systems Machine vision Fuzzy logic

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