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IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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Adaptive fuzzy observer and robust controller for a 2-DOF robot arm

Adaptive fuzzy observer and robust controller for a 2-DOF ro...

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IEEE International Conference on Fuzzy systems

作者： S. Bindiganavile Nagesh Zs. Lendek A. A. Khalate R. Babuska Delft University of Technology Delft Netherlands Department of Automation Technical University of Cluj Napoca Cluj-Napoca Romania Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Recently, adaptive fuzzy observers have been introduced that are capable of estimating uncertainties along with the states of a nonlinear system represented by an uncertain Takagi-Sugeno (TS) model. In this paper, we use such an adaptive observer to estimate the uncertainties in the state matrices of a two-degrees-of-freedom robot arm model. The TS model of the robot arm is constructed using the sector nonlinearity approach. The estimates are used in updating the model, and the updated model is used to design a controller for the robot arm. We analyze the improvement in the achievable controller performance when using the adaptive observer.

关键词： Uncertainty Adaptation models Observers Robots Estimation error Robustness Damping

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Semantic Runtime Interface Description Based on Engineering Knowledge

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IFAC Proceedings Volumes 2012年第6期45卷 805-810页

作者： Petr Novák Martin Melik-Merkumians Michael Steinegger Thomas Moser Radek Ŝindelář Alois Zoitl Christian Doppler Laboratory for Software Engineering Integration for Flexible Automation Systems Vienna University of Technology AT-1040 Vienna Austria Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague 121 35 Prague Czech Republic Automation and Control Institute Vienna University of Technology AT-1040 Vienna Austria

Design and integration of industrial automation systems require cooperation of different engineering disciplines and various engineering tools during both design and run time. The scope of this paper is to bridge the gap between design-time description and runtime integration in a semi-automated way. Furthermore, we address the problem of integrating legacy systems with no access to original engineering data. It is assumed that an interface between a real industrial system and software automation tools is OPC Unified Architecture (UA) and we propose to derive the plant knowledge from the OPC UA tag list. Since it is not possible to solve this task in general, we require the tag list to adopt the naming convention of IEC 81346, which is widespread in large-scale systems. This tag list is parsed and the engineering knowledge is derived and stored in the Engineering Knowledge Base. Consequently, the plant knowledge is mapped to knowledge related to software automation tools, such as simulators. The proposed methodology is evaluated on a real-life example dealing with a laboratory tank model.

关键词： automation Integration Knowledge-based systems Data acquisition OPC UA IEC 81346 Computer Simulation Software tools

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Wireless communication for control of manipulation systems

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Archives of control Sciences 2012年第1期22卷 29-41页

作者： Belda, Květoslav Rychnovský, Václav Píša, Pavel Department of Adaptive Systems Institute of Information Theory and Automation Academy Sciences of the Czech Republic Public non-university research institution Pod Vodárenskou věží 4 182 08 Prague 8 Czech Republic Control Engineering Department Faculty of Electrical Engineering Czech Technical University in Prague Karlovo nám. 13 121 35 Prague 2 Czech Republic

The paper deals with a novel application of the wireless data communication for a continual control of the distributed manipulation systems. The solution is intended for industrial robotic plants. A considered way of the wireless communication is based on ZigBee protocol. The protocol is tested for a real time bidirectional data communication within a manipulation system. The system consists of several moving manipulation units, several stationary auxiliary units and one control computer. The computer provides the cooperation of all units in the system in relation to the user requirements. The system is controlled by a simple feedback multi-level control realized in MATLAB - Simulink environment. The paper is focused on the realization of the boards of power electronics, transmitters, optical positional sensors, optical gates and their networking in accordance with ZigBee protocol definition. The behavior of the ZigBee is illustrated by several records from real experiments. Copyright © Silesian University of Technology, 2012.

关键词： Zigbee

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Stability analysis and observer design for string-connected TS systems

Stability analysis and observer design for string-connected ...

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作者： Lendek, Zs. Babuška, R. De Schutter, B. Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft Netherlands Department of Automation Technical University of Cluj-Napoca Memorandumului 28 400114 Cluj-Napoca Romania

ISBN: (纸本)9783902661937

Distributed systems consist of interconnected, lower-dimensional subsystems. For such systems, distributed analysis and design present several advantages, such as modularity, easier analysis, and reduced computational complexity. Applications include distributed process control, traffic and communication networks, irrigation systems, hydropower valleys, etc. A special case of distributed systems is when the subsystems are connected in a string. By exploiting such a structure, in this paper, we propose conditions for the distributed stability analysis of Takagi-Sugeno fuzzy systems connected in a string. These conditions are extended to observer design. Sufficient LMI conditions, which are easy to solve are also provided. The approach is illustrated on a simulation example. © 2011 IFAC.

关键词： Fuzzy systems

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Bidding behavior and equilibrium on competitive keyword advertising markets

Bidding behavior and equilibrium on competitive keyword adve...

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21st Workshop on Information Technologies and systems, WITS 2011

作者： Yuan, Yong Zeng, Daniel Li, Linjing Bao, Ning State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Management Information Systems University of Arizona AZ United States School of Technical Physics Xidian University Xi'an China

Online advertisers bidding in keyword auctions through Web search engines are experiencing fierce competition. Based on a model of advertisers' rational competitive preference, we propose a novel solution concept called the Upper Bound Nash Equilibrium(UBNE) targeting at modeling the competitive bidding dynamics. UBNE yields the best outcome for search engines, and provides a rational explanation of the bid inflation dynamics on keyword markets.

关键词： Search engines

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An anti-slip predictive controller for a V-PRA vehicle

An anti-slip predictive controller for a V-PRA vehicle

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作者： Cochior, Carmen De Keyser, Robin Lazar, Corneliu Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

ISBN: (纸本)9783902661937

In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller. © 2011 IFAC.

关键词： Vehicles

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Predictive control of the multivariable time delay processes in an isotope separation column

Predictive control of the multivariable time delay processes...

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6th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2011

作者： Pop, C.I. Dulf, E.H. De Keyser, R. Ionescu, C. Muresan, B. Festila, Cl. Technical University of Cluj-Napoca Department of Automatic Control 26-28 Gh. Baritiu Str. 400027 Cluj-Napoca Romania Ghent University Department of Electrical Energy Systems and Automation Technologiepark 913 9052 Gent Belgium

ISBN: (纸本)9781424491094

The secondary processes in a pilot plant carbon isotope cryogenic separation column are multivariable time delay processes. In general, for these types of processes, Smith Predictor control schemes are frequently used, however they exhibit poor robustness due to the explicit use of the process model in the compensation loop and require additional control techniques to enhance robustness against modeling uncertainties. An alternative solution used in this paper is a predictive controller, with intrinsic time delay compensation. The simulations presented show that the predictive controller is also robust to significant time delay estimation errors, without further need to design additional filters for increasing robustness. © 2011 IEEE.

关键词： Pilot plants

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Alternative methods of power supply for autonomous intelligent wireless sensors

Alternative methods of power supply for autonomous intellige...

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International Carpathian control Conference (ICCC)

作者： Miroslav Mahdal Renata Wagnerová Robert Frischer Department of Control Systems and Instrumentation VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy VSB-Technical University of Ostrava Ostrava Czech Republic

An intelligent wireless smart sensors leak into many branches in technical diagnostics recently. Need of measurement a record various quantities is still rising. Main focus is aimed to energy saving houses, to large complex with many air conditioning units, to industry, where is need of simple action intervention on many places. Problem coming up, when the building has no sufficient cable infrastructure. Additional costs in many cases discourage from installation of modern smart sensors and action elements and an efficiency of current process can be decreased. The modern intelligent smart sensors working over the 802.15.4 protocol solves these disadvantages. Energy harvesting method perfectly fit for powering these autonomous smart sensors. Main advantage of this approach is lack of any wires. Data transmission is ensured wirelessly in non licensing band 2.4GHz and modern DC-DC converter take over power supply delivery. This converter is able to accept minimum input voltage in order of tens mV. Integration of these technologies is fully autonomous wireless smart sensors working in discontinuous operation without necessity to change or charge supply batteries. To working properly, only few degrees of thermal gradient is sufficient.

关键词： Wireless sensor networks Wireless communication Intelligent sensors Temperature measurement Temperature sensors Energy harvesting

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Predictive control of the multivariable time delay processes in an isotope separation column

Predictive control of the multivariable time delay processes...

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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： C. I. Pop E. H. Dulf R. De Keyser C. Ionescu B. Muresan Cl. Festila Department of Automatic Control Technical University of Cluj Napoca Cluj-Napoca Romania Department of Electrical energy Systems and Automation Ghent University Ghent Belgium

关键词： Carbon Delay effects Process control Isotopes Transfer functions Robustness Predictive models

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