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MODELING AND control OF ELEVATORS BY STATECHARTS

Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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MOVEMENT -Modular Versatile Mobility Enhancement System

MOVEMENT -Modular Versatile Mobility Enhancement System

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IEEE International Conference on Robotics and automation (ICRA)

作者： Peter Mayer Georg Edelmayer Gert Jan Gelderblom Markus Vincze Peter Einramhof Marnix Nuttin Thomas Fuxreiter Gernot Kronreif Institute integrated study University of Technology Vienna Vienna Austria Institute for Rehabilitation and Research Hoensbroek Netherlands Automation and Control Institute University of Technology Vienna Vienna Austria Department of Mechanical Engineering Katholieke Universiteit Leuven Leuven Belgium Department of Clinical Systems & Simulation Austrian Research Centers GmbH Wien Austria Department of Mechatronik Automation Systems Austrian Research Centers GmbH Seibersdorf Austria

Although powered wheelchairs provide a well established solution for severely impaired persons they do not cover all needs regarding mobility of people with impairment. In the course of the EC funded research project MOVEMENT a novel approach for a highly adaptable and modular mobility enhancement system is targeted to cover additional user needs. A system consisting of a robotic platform and several dockable application modules is developed that additionally provides assistance for the driving process itself to the user or even takes over the complete driving autonomously. The project also includes development of new solutions for navigation of mobile robot systems including a "low-cost" sensor system as well as adaptable HMI components. This paper describes the concept and the first prototyping results.

关键词： Wheelchairs Navigation Mobile robots Robotics and automation Automatic control Robot sensing systems Intelligent robots control systems Sensor systems Prototypes

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Human Intention Extracted from Electromyography Signals for Tracking Motion of Meal Assistance Robot

Human Intention Extracted from Electromyography Signals for ...

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2007 IEEE/ICME International Conference on Complex Medical Engineering-CME2007(CME2007 第二届国际复合医学工程学术大会)

作者： X. Zhang B. Wang X.Y. Wang T. Sugi M. Nakamura Department of Automation East China University of Science and Technology Shanghai 200237 P. R. Ch Department of Electrical and Electronic Engineering Saga University Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan

The objective of the present study is to determine if surface electromyography (EMG) signals can be used for controlling the motion of the meal assistance robot. The power of four EMG channels were calculated and encoded into five commands to track the motion of meal assistance robot. The results indicated that by using EMG signals, the meal assistance robot was able to follow the movement desire of the subjects and help them to eat. This study has shown the possibility of extracting the features of EMG signals that reflect the subject's intent as control signals.

关键词： Humans Electromyography Tracking Robots Electrooculography Rehabilitation robotics Motion control control systems Feature extraction Muscles

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Impact of Non-Poissonian Activity Patterns on Spreading Processes

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Physical Review Letters 2007年第15期98卷 158702-158702页

作者： Alexei Vazquez Balázs Rácz András Lukács Albert-László Barabási The Simons Center for Systems Biology Institute of Advanced Study Einstein Drive Princeton New Jersey 08540 USA Computer and Automation Research Institute Hungarian Academy of Sciences (MTA SZTAKI) Budapest Hungary Department of Physics and Center for Complex Networks Research University of Notre Dame Notre Dame Indiana 46556 USA

Halting a computer or biological virus outbreak requires a detailed understanding of the timing of the interactions between susceptible and infected individuals. While current spreading models assume that users interact uniformly in time, following a Poisson process, a series of recent measurements indicates that the intercontact time distribution is heavy tailed, corresponding to a temporally inhomogeneous bursty contact process. Here we show that the non-Poisson nature of the contact dynamics results in prevalence decay times significantly larger than predicted by the standard Poisson process based models. Our predictions are in agreement with the detailed time resolved prevalence data of computer viruses, which, according to virus bulletins, show a decay time close to a year, in contrast with the 1 day decay predicted by the standard Poisson process based models.

关键词： .Poisson process prevalence spreading activity patterns PRL week time distribution viruses decay times

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Foundation of Notation and Classification of Nonconventional Static and Dynamic Neural Units

Foundation of Notation and Classification of Nonconventional...

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IEEE International Conference on Cognitive Informatics

作者： Ivo Bukovsky Zeng-Guang Hou Jiri Bila Madan M. Gupta Department of Instrumentation and Control Engineering Czech Technical University Czech Republic Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences China Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan Canada

The paper introduces basic types of nonconventional artificial neural units and focuses their notation and classification: namely; the notation and classification of dynamic higher-order nonlinear neural units, time-delay dynamic neural units, and time-delay higher-order nonlinear neural units is introduced. Brief introduction into the simplified parallel of higher-order nonlinear aggregating function of artificial nonconventional neural units and synaptic and somatic operation of biological neurons is made. Based on still simplified mathematical notation, it is proposed that nonlinear aggregating function of neural inputs should be understood as composition of synaptic as well as partial somatic neural operation also for static neural units. Thus it unravels novel, simplified, yet universal insight into understanding more computationally powerful neurons. The classification of nonconventional artificial neural units is founded first according to nonlinearity of aggregating function, second according to the dynamic order, third according to time-delay implementation within neural units.

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Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems

Federated filtering for fault tolerant estimation and sensor...

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Mediterranean Conference on control and automation (MED)

作者： A. Edelmayer M. Miranda Faculty of Engineering Department of Chemical Engineering Laboratory of Unit Operations University de Los Andes Merida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper discusses the application of the idea of federated filtering to the estimation of intrinsically nonlinear distributed systems by examining its impacts on filtering performance by using the Extended Kalman Filter (EKF) as state estimator. Specifically, the performance of the traditional centralized solution is compared with the filtering structure obtained using the federating idea, and their conceptions, and their ability to balance between fault tolerance and estimation accuracy is examined. Our research demonstrates how successfully the EKF for solving nonlinear estimation problems in federated structures can be used, noting that the idea of federation have only been demonstrated for linear problems previously. In addressing the demands of both fault tolerance and estimation accuracy, it is shown that increased filtering accuracy is relied on the proper choice of sharing of the error covariance information between local filters, while sensor fault tolerance is provided by the utilization of an appropriate resetting policy of the filter.

关键词： Fault tolerant systems Sensor systems Redundancy Nonlinear filters Fault tolerance control systems Information filtering Information filters Computer architecture Sensor arrays

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Quantitative Evaluation of Spiral Drawing by Patients with Movement Disorder Based on Polar Coordinate System with Varied Origin

Quantitative Evaluation of Spiral Drawing by Patients with M...

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2007 IEEE/ICME International Conference on Complex Medical Engineering-CME2007(CME2007 第二届国际复合医学工程学术大会)

作者： B. Wang X.Y. Wang J.Z. Zou F. Shima M. Nakamura Department of Automation East China University of Science and Technology Shanghai 200237 P.R.China Department of Automation East China University of Science and Technology Shanghai 200237 P.R.China Department of Functional Neurosurgery Kaizuka Hospital Fukuoka 812-0053 Japan Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan

In this study, quantitative evaluation of spiral drawing by patients with movement disorder was investigated in order to extract characteristics of hand movement disabilities. The hand movement of circular spiral drawing was recorded by a digitized tablet. A method of polar coordinate system with varied origin was proposed for evaluation. A set of characteristic parameters were also defined and calculated. Compare with fixed origin, the variation of radius, origin and degree can be evaluated quantitatively. The proposed method of polar coordinate with varied origin is effective to help clinicians in diagnosing the diseases and inspecting the effectiveness of operation and treatment.

关键词： Spirals Parkinson's disease Hospitals Engineering drawings Motion measurement automation Neurosurgery control engineering Basal ganglia Inspection

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Development of a new adaptation system for a manual wheelchair based on human body function

Development of a new adaptation system for a manual wheelcha...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Makoto Sasaki Takehiro Iwami Goro Obinata Kazuto Miyawaki Kiyomi Matsuo Kazuo Kiguchi Department of Advanced Systems Control Engineering Saga University Saga Saga Japan Department of Mechanical Engineering Akita University Akita Japan Division of Integrated Projects EcoTopia Science Institute University of Nagoya Nagoya Aichi Japan Akita Research & Development Center Akita Research Institute of Advanced Technology Akita Japan

In this paper, we propose a new adaptation system for a manual wheelchair to reduce the load on the upper extremity of the user during wheelchair manipulation and also to increase the efficiency of the wheelchair propulsion. The proposed adaptation system is designed to provide optimal position of the handrim and the desired angular position of seat and backrest of the wheelchair based on the user's body function. Electromyogram signals from the user muscles, heart rate signals, oxygen uptake, amount of applied pressure on the seat and backrest, force/moment applied on the handrim, joint force/moment of the upper extremity and analytical results using the dynamic manipulating force ellipsoid and the driving force contribution figure are used as index parameters for the proposed adaptation system.

关键词： Wheelchairs Humans Propulsion Muscles Extremities Shoulder Heart rate Wrist Spinal cord injury Manuals

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Electric Impedance Assisted Micropipette Aspiration

Electric Impedance Assisted Micropipette Aspiration

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29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2007), vol.14

作者： Katrin Kovanen Mikko Lukkari Sami Purmonen Timo Ylikomi Jouko Viitanen Pasi J. Kallio Institute of Automation and Control Tampere University of Technology Tampere Finland Department of Cell Biology Medical School University of Tampere Tampere Finland Digital Information Systems Technical Research Centre of Finland (VTT) Tampere Finland

Micropipette aspiration is a technique to selectively isolate cells from cell cultures using suction pressure. Cells can selectively be isolated one by one from neighboring cells into the micropipette. This paper presents a novel micropipette aspiration system assisted by an impedance measurement system. Furthermore, a method to reduce the adhesion force at a single cell level for a gentler detachment of the cell from a cultivation surface and surrounding cell connections is proposed.

关键词： Micropipette aspiration Adherent cells Impedance measurement Microinjection Micromanipulation

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