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European Conference on Solid-State Circuits (ESSCIRC)

作者： Andras Mozsary Angel Rodriguez-Vazquez Jen-feng Chung Tamas Roska Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Anafocus Seville Spain Electrical and Control Engineering Department National Chiao Tung University Hsinchu Taiwan

Time-to-digital converter (TDC) integrated circuit is introduced in this paper. It is based on chain of delay elements composing a regular scalable structure. The scheme is analogous to the sound direction sensitivity nerve system found in barn owl. The circuit occupies small silicon area, and its direct mapping from time to position-code makes conversion rates up to 500Msps possible. Specialty of the circuit is the structural and functional symmetry. Therefore the role of start and stop signals are interchangeable. In other words negative delay is acceptable: the circuit has no dead time problems. These are benefits of the biology model of the auditory scene representation in the bird's brain. The prototype chip is implemented in 0.35μm CMOS having less than 30ps single-shot resolution in the measurements.

关键词： Circuits Silicon Delay effects Computational biology Biological system modeling Brain modeling Semiconductor device modeling Layout Prototypes Signal resolution

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An exact tracking error dynamics passive output feedback controller for a Buck-Boost-converter driven DC motor

An exact tracking error dynamics passive output feedback con...

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International Congress Power Electronics (CIEP)

作者： Jesus Linares-Flores Hebertt Sira-Ramirez Johann Reger Ramon Silva-Ortigoza Sección de Mecatrónica CINVESTAV México D.F. México Institute of Automation and Control (EIT 8.1) Universität der Bundeswehr München Neubiberg Germany Institute of Automation and Control (EIT 8.1) Faculty of Electrical Engineering and Information Technology Universitat der Bundeswehr Munchen Neubiberg Germany

This article deals with the trajectory tracking problem for the angular velocity of a DC-motor shaft using a buck-boost-converter as the switch regulated electronic drive. The main result of our proposed control scheme is that a linear time-varying controller results from the consideration of the exact tracking error dynamics and static passive output feedback controller design. The measuring of the angular velocity is not really necessary and the control law is synthesized using only a linear time-varying combination of the converter current and voltage variables. The voltage reference trajectory for the converter is generated exploiting a partial differential flatness property of the combined system. The reference trajectories of the average control and the input current are calculated via stored energy considerations and planning for the initial and final stationary regimes. The discrete switching control realization of the designed continuous feedback control law is accomplished by means of a traditional PWM-modulation scheme. Experimental results are provided

关键词： Error correction Output feedback DC motors Linear feedback control systems Electric variables control Trajectory Angular velocity Switches Pulse width modulation Shafts

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Static controller for ventilation of highway tunnels

Static controller for ventilation of highway tunnels

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作者： Ferkl, Lukáš Meinsma, Gjerrit Sládek, Oto Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Praha 6 Czech Republic Department of Applied Mathematics Faculteit EWI University of Twente P.O. Box 217 7500 AE Enschede Netherlands Kybertec Ltd. Tovární 1112 537 01 Chrudim Czech Republic Center for Applied Cybernetics Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic

A control scheme for highway tunnels is proposed based on a static model of the highway tunnel. The controller is designed to keep the exhaust levels inside the tunnel below given limits. The controller is derived in two stages. First, a controller for an isolated ventilation section is found. Then a controller for a complex tunnel is obtained and the control is optimized by means of linear programming. The control is then simulated on a dynamical model of a highway tunnel.

关键词： controllers

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Delay-dependent stability of 2D state-delayed linear systems

Delay-dependent stability of 2D state-delayed linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： W. Paszke J. Lam K. Galkowski Shengyuan Xu E. Rogers A. Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Department of Mechanical Engineering University of Hong Kong Hong Kong China Department of Automation Nanjing University of Science and Technology of PLA Nanjing China Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK

This paper addresses the problem of stability for two-dimensional systems with delays in the state. To solve this problem, the Lyapunov second method is used. The resulting condition is written in terms of linear matrix inequalities and it is dependent on the size of delays. This fact allows us to reduce the conservatism in the stability analysis of two-dimensional systems with state delays. A simulation example is given to illustrate the theoretical developments

关键词： Stability Linear systems Delay systems Symmetric matrices control systems Linear matrix inequalities Delay lines Automatic control control engineering computing Mechanical engineering

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Tunnel ventilation simulation of the city ring in Prague

Tunnel ventilation simulation of the city ring in Prague

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作者： Ferkl, Lukáš Sládek, Oto Pořízek, Jan Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technicka 2 166 27 Praha 6 Czech Republic Kybertec S.r.o Tovární 1112 537 01 Chrudim Czech Republic Satra S.r.o Sokolska 32 120 00 Praha 2 Czech Republic Center for Applied Cybernetics Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodarenskou věží 4 182 08 Praha 8 Czech Republic

A detailed simulation has been proposed and implemented for a complex road tunnel to be constructed in Prague, Czech Republic. The work brings new approach to functional and spatial decomposition of traffic, ventilation and exhaust tunnel subsystems allowing a simulation of dynamics. The discretization method provides a highly realistic and detailed behavior of the tunnel system. In addition, simulation of emergency situations is available. The simulation has been implemented in MATLAB.

关键词： Discrete event simulation

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Development of intelligent setting system for fracture based on x-ray image

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Journal of Physics: Conference Series 2006年第1期48卷 1137-1141页

作者： Zheng, W. Zhang, Y. Liu, J. Yu, G. Hebei University College of Electronic and Information Engineering Baoding 071002 China Harbin University of Science and Technology Measurement Control Technology and Communications Engineering College Harbin 150040 China Harbin Institute of Technology School of Electrical Engineering and Automation Harbin 150001 China Harbin Fifth Hospital Department of Orthopedics Harbin 150040 China

In order to achieve micro-wound, intelligence and high efficiency for fracture setting, intelligent setting system for fracture is proposed in accordance with biomechanics and fracture therapy theory. In the comprehensive medical system based on C-shape-arm X-machine, image processing and analysis is the core, programmable logical controller and stepping motor are important driving parts controlling mechanical parts. Six degree of freedom dynamics sensor ensures to control accurately force and moment. On the foundation of analyzing X-ray image peculiarities, method of processing and analysis is put forward, combining time domain with frequency domain. After mining domain knowledge in depth, setting actions is quantized into three non-continuous steps and is parameterized into two angles and one distance aiming at femoral-neck fracture. Objective features are extracted by virtue of three power polymerization curved surface fitting. Master-slave reference frame is advanced to solve a question that basic standard for parameters calculation is difficult to be determined. At the same time, four-groupsixteen-frame algorithm is put forward to solve a problem that the load value is unable to be calculated and applied precisely in the process of treatment of delayed union and non-union of fracture. Clinic experience proved that the system can help orthopedist to correctly and reliably complete fracture setting. And the system has many advantages such as micro-wound, low medical cost and low infection ratio, in comparison with traditional operation setting and manipulator setting. © 2006 IOP Publishing Ltd.

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Structure-Constrained Obstacles Recognition for Power Transmission Line Inspection Robot

Structure-Constrained Obstacles Recognition for Power Transm...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Siyao Fu Weiming Li Yunchu Zhang Zize Liang Zengguang Hou Min Tan Wenbo Ye Bo Lian Qi Zuo Key laboratory of complex systems and intelligence science Institute of Automation Chinese Academy and Sciences Beijing China National laboratory of pattern recognition Institute of Automation Chinese Academy and Sciences Beijing China Faculty of Information and Electrical Engineering Shandong University of Architecture and Engineering Jinan China Zunyi Power Supply Bureau Guizhou Power Grid Corporation Zunyi China Department of Automation North-China University of Technology Beijing China

Inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. However, in most instances, detecting the obstacles from the complex background is a hard task. For this purpose, a novel and fast visual obstacle recognition algorithm is designed based on the structure of the 220 KV power transmission line. Basic principle and architecture of the algorithm are given. By this approach, three typical obstacles on the power transmission line such as insulator strings, counterweights and suspension clamps can be recognized with high accuracy. Experiments in the real power transmission line show its effectiveness. This method can contribute to the process of the mobile robot negotiating obstacles

关键词： Power transmission lines Inspection Mobile robots Robotics and automation Sensor arrays Robot sensing systems Intelligent robots Insulation Power system reliability Laboratories

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A genetic algorithm for the optimization of cable routing

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Systems and Computers in Japan 2006年第7期37卷 61-71页

作者： Ma, Xuan Iida, Kazuhiro Xie, Mengchun Nishino, Junji Odaka, Tomohiro Ogura, Hisakazu Graduate School of Engineering University of Fukui Fukui City 910-8507 Japan Wakayama National College of Technology Gobo City 644-0023 Japan Faculty of Automation and Information Engineering Xi an University of Technology B Techno College Department of Electrical and Computer Engineering Wakayama National College of Technology Information Processing Society of Japan China Mechanical Design Society Department of Systems Engineering University of Electro-Communications Japan Society for Fuzzy Theory and Intelligent Informatics Japanese Academy of Facial Studies Japan Society of Kansei Engineering Graduate Program of Nuclear Power and Energy Safety Engineering Graduate School of Engineering Fukui University IEEE CS ACM IPSJ IEICE JSMBET Department of Human and Artificial Intelligent Systems JSAI Japan SOFT IEEE

In this paper the authors propose a structural method for a genetic algorithm (GA) for the optimization problem of cable routing in which cables have to be laid optimally. When there are no limits on the layout routes, the optimal routes for the individual cables can be found using the Dijkstra method in a finite discrete graph. However, when there are limits on the capacity in the layout routes, optimization cannot be performed using the Dijkstra method. The proposed GA is a two-level hierarchical GA that uses chromosome coding involving two levels. The routes for each cable and the combinations of cable routes are defined respectively, and layout route selection is optimized overall through genetic operations involving these levels. Block crossover and block mutation are used as genetic operations in the first level. In addition, a method to take advantage of lethal genes, which do not satisfy the constraints and are generated in the second level is used. Computer simulations confirm that the two-level hierarchical GA with these genetic operations functions effectively for the optimization problem of cable routing. © 2006 Wiley Periodicals, Inc.

关键词： Electric cable laying

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A survey of robotic competitions

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International Journal of Advanced Robotic Systems 2005年第2期2卷 144-160页

作者： Balogh, Richard Slovak University of Technology Faculty of Electrical Engineering and Information Technology Department of Automation and Control Bratislava Slovakia

The different categories of robotic competitions organized all over the world are discussed. In climbing contests category, the task is to design a robot, which is going to climb a flat vertical wall while avoiding obstacles in the path. In the fire fighting category, the objective of the contest is to build an autonomous mobile robot that can navigate through a square maze that represents a model house in order to find a lit candle representing fire in the house and extinguishes the fire in the shortest time. Furthermore, robot olympiad has been organized since 1999, by the International Robot Olympic Committee, which includes contests such as robot line tracing, legged robot obstacle race, FIRA Robot Soccer, RoboDancing, and RoboBasketball.

关键词： Mobile robots

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A frequency domain design technique for robust decentralized controllers

A frequency domain design technique for robust decentralized...

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作者： Kozáková, Alena Veselý, Vojtech Department of Automatic Control Systems Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)008045108X

The paper proposes a new frequency domain approach to the design of robust decentralized controllers (DC) for continuous-time systems described by a set of transfer function matrices. To guarantee the nominal stability and the prespecified nominal performance, the recently developed DC design technique (Kozáková and Veselý, 2003) has been applied, adapted so as to guarantee the robust M-Δ structure based stability conditions modified for the closed-loop system under decentralized controller as well. Unlike the standard robust approaches to the DC, this technique allows the inclusion of the nominal interactions into the nominal model;thus the conservativeness of the robust stability conditions is relaxed. Copyright © 2005 IFAC.

关键词： Continuous time systems

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