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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Ki Dong Lee Bum Hee Lee Myoung Sam Ko Jee Min Hong Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

For a robotic workcell with multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multi-robot interconnection system (MRIS), the authors turn the knowledge of multiple processor system (MPS) or multiple computer system (MCS) to good account. The systems are modelled using the queuing network. Performance evaluation is done through the mean value analysis with their response time and the probability of service failure under different workloads. To verify the significance of the proposed analysis method, a computer simulation is performed. The results together with comments suggest some useful guidelines for selecting an appropriate interconnection method for the MRIS.< >

关键词： Magnetic resonance imaging Robotics and automation Service robots Failure analysis Performance analysis Job production systems Manufacturing industries Computer aided manufacturing Flexible manufacturing systems Automatic control

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An application of force ellipsoid to the optimal load distribution for two cooperating robots

An application of force ellipsoid to the optimal load distri...

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IEEE International Conference on Robotics and automation (ICRA)

作者： M.H. Choi B.H. Lee M.S. Ko Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

The optimal load distribution for two cooperating robots is studied, and a solution approach utilizing a force ellipsoid is presented. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function. The effort exerted by the robots to follow the specified motion is defined to be the joint torque norm square, and the optimal solution minimizing the effort is obtained using the concept of the force ellipsoid and nonlinear optimization theory. Despite the presence of the joint torque constraints, the optimal solution is obtained almost as a closed form which requires small computation time. The proposed solution approach is illustrated and the internal force effect is studied using a numerical example.< >

关键词： Ellipsoids Robotics and automation Torque Performance analysis Manipulators Service robots Orbital robotics Vectors Instruments Fixtures

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A comparative study of neural vs. conventional methods for modeling and prediction

A comparative study of neural vs. conventional methods for m...

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IEEE International Symposium on Intelligent control (ISIC)

作者： J.D. Donne U. Ozguner Drive Control Systems Division AEG Automation Systems Corporation Pittsburgh PA USA Department of Electrical Engineering Ohio State Uinversity Columbus OH USA

Neural network and conventional methods for system modeling and prediction are discussed in a unified way. Both linear and nonlinear examples are used to show that by using a black-box approach, the methods are equivalent with the exception of the parametrization process. A comparison of neural network methods with an extended Kalman filter for the case of a nonlinear system demonstrates that neural methods require very few a priori assumptions about the underlying model structure. It is shown, using a flexible space structure example, that neural networks can more readily handle the problem of underparametrization than conventional techniques. In all cases, the neural implementations provide results that are at least as accurate as the conventional methods, where the figure of merit is the variance of the output error signal.< >

关键词： Predictive models Neural networks Finite impulse response filter Nonhomogeneous media Sun Supercomputers

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Robustness and Identification Issues in Horizon Predictive control With Application to a Binary Distillation Column

Robustness and Identification Issues in Horizon Predictive C...

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American control Conference (ACC)

作者： D.E. Rivera K.S. Jun E. Elisante V.E. Sater B. C. Horn Department of Chemical Bio and Materials Engineering and Control Systems Engineering Laboratory Computer-Integrated Manufacturing Systems Research Center Arizona State University Tempe AZ USA Honeywell Industrial Automation and Control Phoenix AZ USA

This paper analyzes the robustness properties and modeling requirements for model-predictive control via Horizon Predictive control (HPC). The theory of Structured Singular Values is used to determine optimal values for the correction horizon in HPC given user-provided uncertainty intervals and performance weights. Regarding system identification, control-relevant identification principles are used to provide guidelines for input signal design, prefiltered estimation, and uncertainty modeling. These results are tested experimentally using data from a methanol-isopropanol distillation column.

关键词： Robust control Predictive control Distillation equipment Predictive models Uncertainty System identification control system synthesis Guidelines Signal design Testing

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Architecture of a ladder solving processor (LSP) for programmable controllers

Architecture of a ladder solving processor (LSP) for program...

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International Conference on Industrial Electronics, control and Instrumentation

作者： W.H. Kwon J. Kim J. Park Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

The authors propose a dedicated architecture of a ladder solving processor (LSP) for programmable controllers. A mathematical representation of the ladder language is suggested and algorithms for solving this ladder language are presented using abstract notations. The performance of the proposed architecture was demonstrated by an experimental prototype of the LSP. Computer simulations showed that, under reasonable assumptions, the proposed LSP can process the pure logic instruction group at 45.5 MIPS using eight cells. In case of a ladder program, a quarter of which is the box instruction group, the LSP can process at the rate of 0.27 ms/Kstep using a single-cell architecture, and at the rate of 0.18 ms/Kstep using four cells. This speed is much faster than that of the existing programmable controllers.< >

关键词： Automatic control Computer architecture Manufacturing automation Microprocessors Instruments Logic arrays Production facilities Large-scale systems Algorithm design and analysis Logic design

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An approach to robot motion analysis and planning for conveyor tracking

An approach to robot motion analysis and planning for convey...

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IEEE International Conference on Robotics and automation (ICRA)

作者： T.H. Park B.H. Lee Department of Control and Instrumentation Engineering and Automation and Systems Research Institute Seoul National University Seoul South Korea

Robot motion is analyzed and planned for conveyor tracking considering the speed of the conveyor belt and the locations of the part and the robot. The joint torque limit, joint velocity, acceleration, and jerk limits of the robot are taken into account in the motion analysis and planning. To include the robot arm dynamics, the problem is formulated as second order state equations using a parametric function. The conveyor tracking problem is then converted to an optimal tracking problem. The solution that minimizes the specified performance index is obtained using the dynamic programming approach. Numerical examples are presented to demonstrate the significance of the proposed method for conveyor tracking of the robot in a workcell.< >

关键词： Robot motion Motion planning Tracking Belts Torque Acceleration Motion analysis Equations Performance analysis Dynamic programming

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Function point analysis: evaluation of a software cost estimation model

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European Journal of Information systems 1991年第4期1卷 229-237页

作者： Heemstra, F. J. Kusters, R. J. Department of Industrial Engineering and Management Science University of Technology Section Management Information Systems and Automation Research Group Estimation and Control of Software Development Eindhoven The Netherlands

The merits of function point analysis are discussed. Function point analysis was chosen because it is one of the most widely used aids for software cost estimation. In the analysis we use data from a large survey of Dutch organizations, from an experiment on the effectiveness of software cost estimation models and from a field study aimed at the adjustment part of the FPA model. Conclusions show that it is indeed widely used and that it performs reasonably well as a product sizer, but that the adjustment part of the model is less useful.

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Quadratic robust tracking control — A Polynomial Matrix Approach

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International Journal of Robust and Nonlinear control 1991年第4期1卷 215-227页

作者： Kim, Jeong‐Yeol Ko, Myoung‐Sam Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul 151-742 Kwanak-Ku South Korea

A quadratic robust tracking problem is solved using a polynomial matrix approach. Because of the possibly unstable mode of the control sequence we propose a new quadratic cost function of error and control sequences to facilitate the optimization. The optimal controller makes the plant output track the reference sequence robustly and minimizes the proposed quadratic cost function. We also present the parametrized set of suboptimal controllers which yield finite costs so that there exists the central optimal controller in the set when the parameter is set to zero. The usefulness of our proposed cost function is demonstrated by simulation examples. Our design procedure has advantages over two other possible approaches: the LQ state‐space approach and the Wiener–Hopf approach which may be tried to tackle the same problem. Our approach obviates the need to construct a dynamic observer compared to the state‐space approach and it is computationally attractive compared to the Wiener–Hopf approach. Copyright © 1991 John Wiley & Sons, Ltd.

关键词： Polynomial equation Quadratic robust tracking controller

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control of induction motors for both high dynamic performance and high power efficiency

Control of induction motors for both high dynamic performanc...

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International Conference on Industrial Electronics, control and Instrumentation

作者： G.-S. Kim I.-J. Ha M.-S. Ko H.-K. Bae Department of Electronics Central R & D Institute Daewoo Heavy Industries Limited Incheon South Korea Department of Control & Instrumentation Engineering Automation Systems Research Institute Seoul National University Seoul South Korea

An attempt to control induction motors with high dynamic performance and maximal power efficiency by means of decoupling of motor speed (or motor torque) and rotor flux is discussed. For maximal power efficiency, the squared rotor flux is adjusted according to the Fibonacci search method until the measured power input reaches the minimum. Since the motor speed is dynamically decoupled from the rotor flux, this can be done successfully without any degradation of motor speed responses. Furthermore, the performance of the control scheme is robust with respect to variations in rotor resistance because an identification algorithm for rotor resistance is used.< >

关键词： Induction motors Rotors Torque control Stators Tellurium Automatic control Search methods Power measurement Degradation Robust control

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A pattern recognition approach for steady‐state security evaluation of an electrical power system

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European Transactions on Electrical Power 1991年第5期1卷 243-251页

A new pattern recognition approach to steady‐state security evaluation of electrical power systems is presented. Such approach is based upon a combined use of the „nearest‐neighbour” method and of an opportune system model ‐ previously proposed by the authors ‐for the basis of knowledge generation. In the first part of the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the pattern recognition approach proposed is described in some detail, and its ability in order to overcome the computational drawbacks of traditional methods is illustrated. Afterwards, some remarks on the system model utilized are reported. Finally, a numerical experiment with reference to the AEP 14 bus test system is presented, showing very encouraging results. Copyright © 1991 John Wiley & Sons, Ltd.

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