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Lecture Notes in control and Information Sciences 2012年 418卷 303-326页

作者： Polóni, Tomáš Rohal'-Ilkiv, Boris Alberer, Daniel Del Re, Luigi Johansen, Tor Arne Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781447122203

The increasing demands on quality of power, emissions and overall performance of combustion engines lay new goals for the hardware and the software development of control systems. High-performance embedded controllers open the possibilities for application of numerical methods to solve the problems of modeling and control of combustion engines. Algorithms for estimation of state and parameters are essential components of many advanced control, monitoring and signal processing engine applications. A widely applicable estimator is given by the Extended Kalman Filter (EKF) which defines a finite memory recursive algorithm suited for real-time implementation, where only the last measurement is used to update the state estimate, based on the past history being approximately summarized by the a priori estimate of the state and the error covariance matrix estimate. The proposed EKF uses an augmented air-path state-space model to estimate unmeasurable mass flow quantities. The EKF algorithm based on the augmented state-space model considerably reduces the modeling errors compared to the open loop estimator simulation and compared to the EKF without the augmentation which is demonstrated on a standard production Diesel engine data. The experimental validation of the observed state quantities is performed against the measured pressures and turbocharger speed data. The estimated mass flow quantities are indirectly validated through the air compressor flow that is directly validated against air mass flow sensor data. Two two-sensor setups are considered in this study. In the first experiment the intake manifold pressure and the turbocharger speed is used. The second experiment uses the intake manifold pressure and the exhaust manifold pressure as the measurement information for the EKF. The second experiment gives more precise mass flow estimate in term of less bias on the estimates, but more variance due to the high frequency exhaust manifold pressure variations caused by the

关键词： Mass transfer

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Moving Horizon Observer for vibration dynamics with plant uncertainties in nanopositioning system estimation

Moving Horizon Observer for vibration dynamics with plant un...

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American control Conference (ACC)

作者： Tomáš Polóni Arnfinn Aas Eielsen Boris Rohal'-Ilkiv Tor Arne Johansen Institute of Automation Measurement and Applied Informatics at the Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia Department of Engineering Cybernetics at the Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781457710957

This paper considers the estimation of states and parameters of a Single-Degree-of-Freedom (SDOF) vibration model in nanopositioning system based on a nonlinear Moving Horizon Observer (MHO). The MHO is experimentally tested and verified on measured data. The information about the displacement and speed together with the system parameters and unmodeled force disturbance is estimated through the Sequential Quadratic Programming (SQP) optimization procedure. The MHO provided superior performance in comparison with the benchmark method Extended Kalman Filter (EKF) in terms of faster convergence.

关键词： Vectors Noise Mathematical model Vibrations Covariance matrix Force Equations

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Study of non-stationary temperature fields in printed circuit boards during separation by cutting

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International Journal of Circuits, Systems and Signal Processing 2012年第1期6卷 122-129页

作者： Janacova, D. Charvatova, H. Kolomaznik, K. Vasek, V. Mokrejs, P. Dvorak, Z. Drga, R. Tomas Bata University in Zlín Faculty of Applied Informatics Department of Automation and Control Eigineering Nám. T. G. Masaryka 5555 760 01 Zlín Czech Republic

Nowadays, growth of electronic waste represents serious global problem. Therefore, ways of its recycling are searched. In the paper we deal with the printed circuit boards recycling. We focused on study of a cutting as an alternative method of conductive ways from plastic board separation as one of stages of the printed circuit board recycling procedure. For this purpose we formulated mathematic model of the cutting process and next we used its analytical solution for its modeling by mathematic software Maple. The obtained results confirm energy intensity of the cutting process.

关键词： Printed circuit boards

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Real-time safety circuit based on combined MEMS sensor data for Rehabilitation device

Real-time safety circuit based on combined MEMS sensor data ...

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International Carpathian control Conference (ICCC)

作者： Kamil Židek Alexander Hošovský Vladislav Maxim Department of Mathematics Informatics and Cybernetics Faculty of Manufacturing Technologies a seat in Presov TU Kosice Presov Slovakia Department of Automation Control and Human Machine Interaction Faculty of Mechanical Engineering TU Kosice Kosice Slovakia

The article deals with implementation of MEMS sensors to real-time safety circuit for automated rehabilitation device. It is necessary to acquire information about some dangerous situation during the rehabilitation process as fast as possible. We need a real-time response from sensors, because there is additional time needed to stop a device of several milliseconds. There is designed solution the angle, velocity, acceleration and vibration of each joints of rehabilitation arm are monitored. The Device works independently of the control system, detects critical states, stops rehabilitation process and store critical data. Two accelerometers (analog and digital) and one gyroscope sensor are used in the device. The main information is acquired from combination of MEMS accelerometer values. Gyroscope provides a check data for operation reliability. The designed solution can be used in other automated devices too, where some unpredictable error during the operation can cause a human injury.

关键词： Accelerometers Gyroscopes Real time systems Acceleration Safety Micromechanical devices Testing

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Data dissemination in the wild: A testbed for high-mobility MANETs

Data dissemination in the wild: A testbed for high-mobility ...

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IEEE International Conference on Communications (ICC)

作者： Péter Vingelmann Morten Videbaek Pedersen Janus Heide Qi Zhang Frank H. P. Fitzek Department of Electronic Systems Faculty of Engineering and Science University of Aalborg Denmark Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Hungary Department of Engineering Aarhus University Denmark

This paper investigates the problem of efficient data dissemination in Mobile Ad hoc NETworks (MANETs) with high mobility. A testbed is presented; which provides a high degree of mobility in experiments. The testbed consists of 10 autonomous robots with mobile phones mounted on them. The mobile phones form an IEEE 802.11g ad hoc network to communicate with each other. A dynamic network topology is assumed, where the mobile devices form a cooperative cluster in order to exchange data packets among each other. In our multimedia exchange scenario, the initial state is that one device carries all information, and the goal is to convey that information to all devices. A strategy is proposed that uses UDP broadcast transmissions and random linear network coding to facilitate the efficient exchange of information in the network. An application is introduced that implements this strategy on Nokia phones. The measurement results collected from the testbed are presented, and the performance of the proposed strategy is compared to a reference strategy that is based on TCP unicast connections.

关键词： Robot sensing systems Mobile handsets Receivers Collision avoidance Network coding Performance evaluation

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Efficient and simple noise filtering for stabilization tuning of a novel version of a model reference adaptive controller

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Lecture Notes in control and Information Sciences 2012年 422卷 205-214页

作者： Tar, József K. Rudas, Imre J. Várkonyi, Teréz A. Kozlowski, Krzysztof R. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Bécsi út 96/B H-1034 Budapest Hungary Applied Informatics Doctoral School John von Neumann Faculty of Informatics Óbuda University Bécsi út 96/B Budapest H-1034 Hungary Department of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

ISBN: (纸本)9781447123422

For the adaptive control of imprecisely and partially modeled nonlinear systems a novel class of "Model Reference Adaptive controllers" (MRAC) using "Robust Fixed Point Transformation" (RFPT) was recently proposed. It applies convergent iterative "learning sequence" of a local and bounded region of convergence. To make it competitive with the Lyapunov function based techniques, which normally guarantee global stability, this new approach was complemented with additional parameter tuning keeping the iterative sequence in the vicinity of the solution of the control task. For an "n-th order system" the novel controller also observes the n-th time-derivatives of the controlled coordinates that may make the adaptive tuning sensitive to measurement noises. To reduce this effect a simple noise filtering method is recommended. Extended simulation results are presented for the adaptive control of a pendulum of an indefinite mass center point determined by the presence of dynamic coupling with an internal degree of freedom that is only approximately modeled by the controller. It is neither observable nor directly controllable. It was found that the simple filtering recommended considerably reduced the sensitivity of the novel method proposed and substantiated the expectations that it could be applied in practice. © 2012 Springer London.

关键词： controllers

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Validation heat transfer model by experimental measurement

Validation heat transfer model by experimental measurement

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International Carpathian control Conference

作者： Gerlich, Vladimir Department of Automation and Control Engineering Tomas Bata University in Zlin Faculty of Applied Informatics Zlin Czech Republic

ISBN: (纸本)9781612843599

The main idea of this project is to simulate the thermal construction responses in dependence on changing boundary conditions. In order to predict environmental temperature precisely a model of one room has been developed and implemented in COMSOL Multiphysics. A finite element model was developed in 3D coordinates in order to achieve illustration of an air and an energy movement and to simulate the transient process in the walls in [7]. Notwithstanding, this model was not accurate enough for application in building conditions. Main goal of this paper is in updating current model to get results with sufficient accuracy. Temperature course of the model is analyzed and compared to the experimentally measured temperature data. © 2011 IEEE.

关键词： Multiphysics

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control of energy systems as distributed parameter systems with software support by virtual software environments

Control of energy systems as distributed parameter systems w...

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IEEE Conference on Decision and control

作者： Gabriel Hulkó Boris Rohal-Ilkiv Pavol Noga Slavomír Lipár Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering (IAMAI-FME-STU) and Center for Control of Distributed Parameter Systems Slovak University of Technology in Bratislava Nám Bratislava Slovakia FME-STU Nám. IAMAI Bratislava Slovakia FME-STU Nám IAMAI Bratislava Slovakia

ISBN: (纸本)9781467320658

Thanks to development of information technology, the so-called virtual software environments offer wide possibilities for the estimation of time-space dynamical characteristics of energy systems, including modeling, control and design of distributed parameter systems. Based on these advances, we present a novel approach to control energy systems as lumped-input and distributed-parameter-output systems. An adaptive-predictive controller is deployed to control temperature fields to ensure optimal conditions for the desulphurization process in a coal-burning fluidized bed furnace, demonstrating the potential of the proposed methodology.

关键词： Aerospace electronics Temperature control Software Process control Fuels Distributed parameter systems

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Non-stepwise reference tracking for time delay systems

Non-stepwise reference tracking for time delay systems

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International Carpathian control Conference

作者： Pekař, Libor Prokop, Roman Dostálek, Petr Department of Automation and Control Faculty of Applied Informatics Tomas Bata University Zlín Czech Republic

ISBN: (纸本)9781612843599

This paper is focused on reference tracking and disturbance rejection for linear time-invariant time delay systems. The contribution is motivated by the fact that the task of reference tracking and disturbance rejection for non-stepwise those external inputs in the feedback loop is often ignored in the literature. The presented approach is based on algebraic operations in a special ring RMS and on the divisibility condition in the ring. The general idea for a feedback loop with two controllers is introduced. The methodology is clarified and verified by a simulation example in the Matlab/Simulink environment. © 2011 IEEE.

关键词： Disturbance rejection

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Probabilistic car-like robot path planning from temporal logic specifications

Probabilistic car-like robot path planning from temporal log...

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15th International Conference on System Theory, control and Computing, ICSTCC 2011

作者： Ghita, Narcis Kloetzer, Marius Pastravanu, Octavian Gheorghe Asachi Technical University of Iasi Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Applied Informatics Romania

ISBN: (纸本)9781457711732

An algorithmic framework is developed for automatic deployment of car-like robots based on Linear Temporal Logic (LTL) formulae over a set of regions of interest in the environment. The environment and the regions of interest are a priori known, and the robot has non-negligible size and restricted steering capabilities. The approach relies on constructing a probabilistic finite-state abstraction of the car-like robot and on finding a trajectory (run) in this abstraction such that the probability of satisfying the LTL formula is maximized. The feasibility of our approach is supported by simulations under Matlab environment. © 2011 faculty of Auto control.

关键词： Abstracting

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