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15th World Congress of the International Federation of Automatic control, 2002

作者： Szigeti, F. Bokor, J. Edelmayer, A. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.P. 11 La Hechicera Venezuela

ISBN: (纸本)9783902661746

This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the properties of input (or fault) observability in linear systems. The extension of the results to nonlinear systems as well as the mathematical conditions of the calculation of the inverse system, which provides the inverse in finite algorithmic steps, are given. The applicability of the inversion process to fault reconstruction in nonlinear systems is demonstrated. Copyright © 2002 IFAC.

关键词： Fault detection

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Three improvements on KNN-NPR for traffic flow forecasting

Three improvements on KNN-NPR for traffic flow forecasting

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International Conference on Intelligent Transportation

作者： Xiaoyan Gong Feiyue Wang Intelligent Control and Systems Engineering Center Institute of Automation Chinese Academy and Sciences Beijing China Institute of Automation Chinese Academy and Sciences Beijing China Advanced research in Complex Systems Department of Systems and Industrial Engineering of University of Arizona Tucson Tucson AZ USA

research has shown nonparametric regression to hold high potential to accurately forecast short-term traffic flows. However, many fundamental questions remain regarding the ability of KNN-NPR(K nearest neighbor nonparametric regression) to meet real-time system requirements and adequate accuracy requirements. So this paper puts forward three improvements which are: effective traffic state vector selection method based on self-association analysis and association analysis; improved variable K search method based on "dense degree"; and advanced data structures based on a dynamic cluster method and hash-function transformation. A field test fully proves that with three improvements, KNN-NPR can adequately meet real-time system requirements and accuracy requirements.

关键词： Traffic control Real time systems Intelligent transportation systems Accuracy Automatic testing Integrated circuit testing Senior members Filtering algorithms Parametric statistics Databases

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Model-based nonlinear control of a low-power gas turbine 15th

Model-based nonlinear control of a low-power gas turbine

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15th World Congress of the International Federation of Automatic control, 2002

作者： Ailer, P. Szederkényi, G. Hangos, K.M. Department of Aircraft and Ships Budapest University of Technology and Economics Stoczek u. 6. BudapestH-1111 Hungary Systems and Control Laboratory Computer and Automation Research Institute P.O. Box 63 BudapestH-1518 Hungary

ISBN: (纸本)9783902661746

A simple nonlinear controller for a low-power gas turbine based on direct passivation is proposed in this paper. It uses a nonlinear state space model of the gas turbine in input-affine form based on first engineering principles. It is found by standard nonlinear analysis that the developed model is reachable and observable in the whole application domain and stable in a small neighborhood of an operating point. Accordingly, the control aim is to guarantee the asymptotic stability of every operating points in the whole application domain and to provide suitable disturbance rejection. The proposed nonlinear controller is based on a prescribed quadratic Lyapunov-function and it is able to solve the protection of the gas turbine. The robustness of the closed-loop system with respect to the time-varying parameters is also investigated. Copyright © 2002 IFAC.

关键词： Gas turbines

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Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture

Intelligent interface and control of an exoskeletal robot fo...

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IEEE International Conference on Robotics and automation (ICRA)

作者： K. Kiguchi K. Iwami M. Yasuda H. Kurata K. Watanabe T. Fukuda Department of Advanced Systems Control Eng Saga University Saga Saga Japan Center of Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

We have been developing exoskeletal robots in order to support the motion of physically weak persons such as elderly persons or handicapped persons. In our previous research, the 2-DOF exoskeletal robots for shoulder motion support and its control method have been developed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose intelligent interface, which realizes the fuzzy-neuro controller adjustment in accordance with the human subject's arm posture, in order to effectively control the 2-DOF exoskeletal robot for shoulder motion support. The intelligent interface is realized by applying a neural network. The effectiveness of the proposed intelligent interface of the exoskeletal robot has been evaluated by experiment.

关键词： Intelligent robots Intelligent control Motion control Humans Electromyography Muscles Shoulder Senior citizens Intelligent networks Neural networks

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Intelligent interface of an exoskeletal robot for human elbow motion support considering subject's arm posture

Intelligent interface of an exoskeletal robot for human elbo...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K. Kiguchi S. Kariya T. Tanaka N. Hatao K. Watanabe T. Fukuda Department of Advanced Systems Control Engineering Saga University Saga Saga Japan Center of Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

We develop exoskeletal robots for the motion support of physically weak persons. In this study, the human elbow motion is assisted by the exoskeletal robot system, since the elbow motion is one of the simplest and the most important motion of human beings in everyday life activities. The angular position and impedance of the exoskeletal robot system are controlled by multiple fuzzy-neuro controllers. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion are used as input information of the controller. Since the activation level of working muscles tends to vary with the human subject's arm posture, an intelligent interface that cancels out the effect of posture changes of the human subject's arm is proposed in this paper. The experimental results show the effectiveness of the proposed intelligent interface.

关键词： Intelligent robots Humans Elbow control systems Surface impedance Robot control Skin Electromyography Signal generators Wrist

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Adaptive PI control method for positioning control using linear slider feedforward control approach

Adaptive PI control method for positioning control using lin...

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IEEE Conference on control Technology and Applications (CCTA)

作者： K. Sato H. Honda A. Hayakawa K. Watanabe Department of Advanced Systems Control Engineering Graduate School of Saga University Saga Japan Research Laboratory Motor Drives Research Section Yaskawa Electric Corporation Kitakyushu Japan

In this paper, we present a feedforward control system using adaptive PI strategy for a positioning mechanism with stand. Due to the rapid motion of a moving table, the vibration phenomena in a stand may be induced by the reaction force of a motion of a moving table. However in previous research, the dynamics of the stand does not consider. Besides, in such a system, rapid and accurate positioning of a moving table is required for the high productivity and quality. To cope with this problem, we present the dynamic model of the positioning mechanism with stand using linear slider, apply a feedforward control method with adaptive PI control strategy to the system and show the effectiveness of our method, compared to the conventional research.

关键词： Programmable control Adaptive control Pi control control systems Adaptive systems Vibration control Productivity Manufacturing control engineering Laboratories

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INPUT RECONSTRUCTION BY MEANS OF SYSTEM INVERSION: APPLICATION TO FAULT DETECTION AND ISOLATION

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IFAC Proceedings Volumes 2002年第1期35卷 13-18页

作者： F. Szigeti J. Bokor A. Edelmayer Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.p. 11 La Hechicera Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Kende u. 13–17 H-1111 Hungary

关键词： Fault detection and isolation Input observability Input reconstruction Inverse system Linear and non-linear systems

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Modeling and analysis ofhand movement for improving motorfunction 15th

Modeling and analysis ofhand movement for improving motorfun...

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15th World Congress of the International Federation of Automatic control, 2002

作者： Sugi, Takenao Nakamura, Masatoshi Ide, Junko Shibasaki, Hiroshi Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University Honjomachi Saga840-8502 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga840-8502 Japan Department of Commerce Seinan Gakuin University Fukuoka814-8511 Japan Departments of Neurology and Human Brain Research Center Kyoto University Graduate School of Medicine Kyoto606-8507 Japan

ISBN: (纸本)9783902661746

Skillful motor control of human is achieved by the appropriate motor commands generating from the central nerve system. Internal model in the cerebellum may have great contribution for realizing accurate motor control. In this paper, the model for human motor control on manual tracking to moving visual target was constructed based on the experimental data of the visual tracking test for three groups;normal healthy adults, patients with cerebellar ataxia and patients with Parkinson disease. Relationship between the model parameters and movement disorders were investigated. Furthermore, the compensation method for improving the motor function of patients were also considered. Copyright © 2002 IFAC.

关键词： Disease control

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MODEL-BASED NONLINEAR control OF A LOW-POWER GAS TURBINE

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IFAC Proceedings Volumes 2002年第1期35卷 375-380页

作者： P. Ailer G. Szederkényi K.M. Hangos Department of Aircraft and Ships Budapest University of Technology and Economics H-1111 Budapest Stoczek u. 6. Hungary Systems and Control Laboratory Computer and Automation Research Institute H-1518 Budapest P.O. Box 63 Hungary

关键词： Nonlinear models Nonlinear control systems Transportation systems Vehicles Gas turbines

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Energy-optimal gait analysis of quadruped robots

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Artificial Life and Robotics 2002年第3期6卷 120-125页

作者： Kiguchi, Kazuo Kusumoto, Yukihiro Watanabe, Keigo Izumi, Kiyotaka Fukuda, Toshio Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Interior Design Research Institute Fukuoka Indistrial Technology Center Fukuoka Japan Department of Micro System Engineering Graduate School of Engineering Nagoya University Nagoya Japan

It is important for walking robots such as quadruped robots to have an efficient gait. Since animals and insects are the basic models for most walking robots, their walking patterns are good examples. In this study, the walking energy consumption of a quadruped robot is analyzed and compared with natural animal gaits. Genetic algorithms have been applied to obtain the energy-optimal gait when the quadruped robot is walking with a set velocity. In this method, an individual in a population represents the walking pattern of the quadruped robot. The gait (individual) which consumes the least energy is considered to be the best gait (individual) in this study. The energy-optimal gait is analyzed at several walking velocities, since the amount of walking energy consumption changes if the walking velocity of the robot is changed. The results of this study can be used to decide what type of gait should be generated for a quadruped robot as its walking velocity changes.

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