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Simulation Winter Conference

作者： H.S. Sarjoughian Dongping Huang G.W. Godding Wenlin Wang D.E. Rivera K.G. Kempf H.D. Mittelmann Arizona Center for Integrative Modeling & Simulation Computer Science & Engineering Department Arizona State University Tempe AZ USA Control Systems Engineering Laboratory Chemical & Materials Engineering Department Arizona State University Tempe AZ USA Decision Technologies Intel Corporation Chandler AZ USA Mathematics & Statistic Dept. Arizona State University Tempe AZ USA

Simulation modeling combined with decision control can offer important benefits for analysis, design, and operation of semiconductor supply-chain network systems. Detailed simulation of physical processes provides information for its controller to account for (expected) stochasticity present in the manufacturing processes. In turn, the controller can provide (near) optimal decisions for the operation of the processes and thus handle uncertainty in customer demands. In this paper, we describe an environment that synthesizes discrete-event system specification (DEVS) with model predictive control (MPC) paradigms using a knowledge interchange broker (KIB). This environment uses the KIB to compose discrete event simulation and model predictive control models. This approach to composability affords flexibility for studying semiconductor supply-chain manufacturing at varying levels of detail. We describe a hybrid DEVS/MPC environments via a knowledge interchange broker. We conclude with a comparison of this work with another that employs the Simulink/MATLAB environment.

关键词： Discrete event simulation Predictive models Predictive control Virtual manufacturing Semiconductor device manufacture Mathematical model Analytical models Manufacturing processes Optimal control Uncertainty

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Wireless-control strategy for parallel operation of distributed generation inverters

Wireless-control strategy for parallel operation of distribu...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： J.M. Guerrero J. Matas L.G. de Vicuna N. Berbel J. Sosa Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Spain Sustainable Distributed Generation Systems and Renewable Energy Group Escola Universitària d'Enginyeria Tècnica Industrial de Barcelona Barcelona Spain Department of Electronic Engineering Universitat Poliltècnica de Catalunya Spain Laboratorio de Instrumentación Científica Universidad de Los Andes Merida Venezuela

In this paper, a method for the parallel operation of inverters in an ac-distributed system is proposed. The paper explores the control of active and reactive power flow through the analysis of the output impedance of the inverters and its impact on the power sharing. As a result, adaptive virtual output impedance is proposed in order to achieve a proper reactive power sharing regardless of the line impedance unbalances. A soft-start operation is also included, avoiding the initial current peak, which results in a seamless hot-swap operation. Active power sharing is achieved by adjusting the frequency in load transient situations only, thanks to which the proposed method obtains constant steady-state frequency and amplitude. As opposed to the conventional droop method, the transient response can be modified by acting on the main control parameters. Linear and nonlinear loads can be properly shared due to the addition of a current harmonic loop in the control strategy. Experimental results are presented from a two 6-kVA parallel-connected inverters system, showing the feasibility of the proposed approach.

关键词： Distributed control Inverters Voltage control Power harmonic filters Impedance Frequency Power engineering and energy Reactive power control Reactive power Communication system control

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Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT

Virtual attractive-repulsive potentials for cooperative cont...

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American control Conference (ACC)

作者： B.Q. Nguyen Yao-Ling Chuang D. Tung Chung Hsieh Zhipu Jin Ling Shi D. Marthaler A. Bertozzi R.M. Murray Department of Electrical Engineering Vision Laboratory University of California Los Angeles Los Angeles CA USA Department of Physics Duke University Durham NC USA Department of Computer Science Vision Laboratory University of California Los Angeles Los Angeles CA USA Department of Electrical Engineering California Institute of Technology Pasadena CA USA Control and Dynamical Systems California Institute of Technology Pasadena CA USA Department of Mathematics Vision Laboratory University of California Los Angeles Los Angeles CA USA

We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech multi vehicle wireless testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.

关键词： Vehicle dynamics Motion control Biological system modeling Testing Open loop systems Motion planning Robot kinematics Remotely operated vehicles Equations Propulsion

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Transport of Mars-Crossing Asteroids from the Quasi-Hilda Region

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Physical Review Letters 2005年第23期94卷 231102-231102页

作者： Michael Dellnitz Oliver Junge Martin W. Lo Jerrold E. Marsden Kathrin Padberg Robert Preis Shane D. Ross Bianca Thiere Faculty of Computer Science Electrical Engineering and Mathematics University of Paderborn D-33095 Paderborn Germany Navigation and Mission Design Jet Propulsion Laboratory California Institute of Technology M/S 301-140L 4800 Oak Grove Drive Pasadena California 91109 USA Control and Dynamical Systems California Institute of Technology MC 107-81 Pasadena California 91125 USA Department of Aerospace and Mechanical Engineering University of Southern California Los Angeles California 90089 USA

We employ set oriented methods in combination with graph partitioning algorithms to identify key dynamical regions in the Sun-Jupiter-particle three-body system. Transport rates from a region near the 3∶2 Hilda resonance into the realm of orbits crossing Mars’ orbit are computed. In contrast to common numerical approaches, our technique does not depend on single long term simulations of the underlying model. Thus, our statistical results are particularly reliable since they are not affected by a dynamical behavior which is almost nonergodic (i.e., dominated by strongly almost invariant sets).

关键词： Astrophysics

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STABILIZATION OF CHAOS WITH FPIC: APPLICATION TO ZAD-STRATEGY BUCK CONVERTERS

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IFAC Proceedings Volumes 2005年第1期38卷 1183-1188页

作者： Fabiola Angulo Enric Fossas Carlos Ocampo Gerard Olivar Department of Electrical Electronic and Computer Science Universidad Nacional de Colombia. Cra. 27 No. 64-60 Manizales Colombia Institute of Industrial and Control Engineering Technical University of Catalonia Avda. Diagonal 647 pl 11 08027 Barcelona Spain Department of Systems Engineering Automatics and Industrial Informatics (ESAII) Technical University of Catalonia Rambla Sant Nebridi 10 planta 1 Ed TR-11 08222 Terrasa Spain Department of Applied Mathematics 4 Technical University of Catalonia Avda. Vctor Balaguer s/n E-08800 Vilanova i la Geltru Spain

In this paper a new design for controlling dynamical systems has been applied to buck converters driven with a PWM centered pulse and (Zero Average Dynamics) ZAD-strategy. Chaotic operation has been stabilized with the so-called Fixed Point Induced control (FPIC) technique. Also, the same converter with delay whose 1-periodic orbit is always unstable, has been stabilized. Simulations are compared with the TDAS stabilization technique. Once a 1-periodic orbit has been stabilized, the dynamics shows the same characteristics and advantages of the ZAD design, such as robustness, fixed switching frequency (with zero average on the sliding surface) and a low output error.

关键词： Chaos control Theory Converters Nonlinear control Stabilization methods

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Task Characterisation and Cross-Platform Programming Through System Identification

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International Journal of Advanced Robotic systems 2005年第4期2卷

作者： Theocharis Kyriacou Ulrich Nehmzow Roberto Iglesias Steve Billings Department of Computer Science University of Essex United Kingdom Department of Electronics and Computer Science University of Santiago de Compostela Spain Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, it is subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour, based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design *** iterative refinement could be reduced, we argue, if a more profound theoretical understanding of robot-environment interaction existed. In this paper, we therefore present a modelling method that generates a faithful model of a robot's interaction with its environment, based on data logged while observing a physical robot's behaviour. Because this modelling method — nonlinear modelling using polynomials — is commonly used in the engineering discipline of system identification, we refer to it here as “robot identification”.We show in this paper that using robot identification to obtain a computer model of robot-environment interaction offers several distinct advantages:*** compact representations (one-line programs) of the robot control program are *** model can be analysed, for example through sensitivity analysis, leading to a better understanding of the essential parameters underlying the robot's behaviour, *** generated, compact robot code can be used for cross-platform robot programming, allowing fast transfer of robot code from one type of robot to *** demonstrate these points through experiments with a Magellan Pro and a Nomad 200 mobile robot.

关键词： mobile robotics task identification cross-platform programming NARMAX modelling

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An interdisciplinary, interdepartmental control systems laboratory

IEEE Control Systems Magazine

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IEEE control systems Magazine 2005年第1期25卷 50-55页

作者： Alleyne, Andrew G. Block, Daniel J. Meyn, Sean P. Perkins, William R. Spong, Mark W. Dept. of Mech./Industr. Engineering University of Illinois 1308 West Main St. Urbana IL 61801 United States Coll. of Eng. Control Systems Lab. University of Illinois 1308 West Main Street Urbana il 61801 United States Dept. of Elec./Computer Engineering University of Illinois 1308 West Main Street Urbana IL 61801 United States Department of General Engineering University of Illinois 1308 West Main Street Urbana IL 61801 United States

The existing U.S. Paradigm of individual departmental laboratories is increasingly difficult to justify due to the interdisciplinary nature of modern control engineering, the high cost and rapid obsolescence of technology, and the demands on faculty time. The College of engineering control systems Laboratory (COECSL) at the University of Illinois advocates a shift from departmental labs to college labs for pedagogical, as well as financial, reasons. This approach is proving to be an effective approach to undergraduate control systems education.

关键词： control system synthesis

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Recursive backstepping stabilization of a wheeled mobile robot

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International Journal of Advanced Robotic systems 2004年第1期1卷 287-294页

作者： Mnif, Faical Sultan Qaboos University Department of Electrical and Computer Engineering Oman Intelligent Control Design and Optimization of Complex Systems Research Unit Tunisia

This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

关键词： Mobile robots

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Image fusion and wavelet analysis for 3-D reconstruction using 2-D images obtained under different illumination conditions

Image fusion and wavelet analysis for 3-D reconstruction usi...

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2004 International Conference on Image Processing, ICIP 2004

作者： Heger, T. Pandit, M. Meisner, R. University of Kaiserslautern Department of Electrical and Computer Engineering Institute of Control Systems and Signal Theory 67653 Kaiserslautern Germany

ISBN: (纸本)0780385543

Capturing 3-d information using several 2-d images of topological 3-d objects obtained by acquiring the images under varying illumination conditions is a technique which can be employed in manufacturing systems. The paper deals with the tasks of acquiring the images from objects with hybrid reflecting behaviour and algorithms for extracting the 3-d information and gives results obtained for a grinding tool inspection system. © 2004 IEEE.

关键词： Image reconstruction

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Image segmentation of topographical obects employing illumination parameter variations and correlation for quality control applications

Image segmentation of topographical obects employing illumin...

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2004 International Conference on Signal Processing and Communications, SPCOM

作者： Heger, T. Pandit, M. University of Kaiserslautern Department of Electrical and Computer Engineering Institute of Control Systems and Signal Theory 67653 Kaiserslautern Germany

ISBN: (纸本)0780386744

3-d topography of objects is often obtained only on a qualitative basis by a sequential reconstruction process using segmented images obtained under different illumination conditions. The approach we present in this paper is based on the direct segmentation and topography analysis of a topographic scene using a sequence of images obtained by varying the illumination parameters in a pre-selected format. Thereby a correlation of the grey level variations of the individual pixels with the variations of the illumination parameters is employed to achieve superior segmentation and topographical information. An advantage is that the pipeline of separate operations viz. image fusion, segmentation topographical analysis is reduced to just one direct operation. The method has been successfully applied to determine the topography of grinding surfaces in machining in manufacturing processes. © 2004 IEEE.

关键词： Image segmentation

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