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SICE Annual Conference

作者： T. Kai H. Kimura Department of Complexity Science and Engineering Graduate School of Frontier Sciences University of Tokyo Bunkyo Tokyo Japan Biological Control Systems Laboratory RIKEN Bio-Mimetic Control Research Center Nagoya Japan

This paper deals with affine constraints and nonholonomic systems. We first derive nonholonomic dynamic systems with affine constraints under assumption of complete nonintegrability. We next show that the system is strongly locally accessible at any zero-velocity point and small-time locally controllable at any equilibrium under Sussmann's condition. Moreover a necessary condition of locally asymptotic stabilizability at any equilibrium is derived. Finally, we show a physical example for verification of our theory.

关键词： Constraint theory biological control systems Mobile robots Orbital robotics Boats Rivers control systems Laboratories systems engineering and theory control theory

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Future Directions in Sensors

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AIP Conference Proceedings 2004年第1期700卷 1611-1619页

作者： Vittal Rao John Barnes Bita Ghaffari R. Bruce Thompson 1Control Networks & Computational Intelligence Electrical and Communication Systems Division Engineering Directorate National Science Foundation Arlington VA 2Nondestructive Evaluation Branch Materials and Manufacturing Directorate Air Force Research Laboratory Wright‐Patterson Air Force Base Dayton OH 3Physical and Environmental Sciences Department Research and Advanced Engineering Ford Motor Company Dearborn MI 4Center for Nondestructive Evaluation Iowa State University Ames IA

There is a growing interest in applications of embedded and integrated sensors to ensure the reliability of structural components. The results of a panel discussion to elucidate future directions and key issues are presented. Views of three organizations, with different missions and objectives, on needs and opportunities are first presented, followed by a summary of general audience discussion. Emphasis is placed on identifying the commonalities and differences in those needs and opportunities.

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Teaching Semiphysical Modeling to chemical engineering Students Using a Brine-Water Mixing Tank Experiment 13

Teaching Semiphysical Modeling to Chemical Engineering Stude...

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13th IFAC Symposium on System Identification, SYSID 2003

作者： Rivera, D.E. Control Systems Engineering Laboratory Department of Chemical and Materials Engineering Arizona State University TempeAZ85287 United States

The chemical engineering program at Arizona State offers an integrated series of core courses that teach students how conservation and accounting principles can be applied to describe engineering phenomena across disciplines. A brine-water mixing tank experiment was introduced in the third course in the series (ECE 394C: Understanding engineering systems Via Conservation) as a capstone modeling project for the recitation portion of the course. The experiment provides students with »hands-on» experience on a real-life system incorporating process, electrical, and mechanical components, as well as real-time data acquisition and control. A major feature of the brine-water tank project is that students apply a comprehensive system identification procedure relying on semiphysical (a.k.a. »grey box») models to complement their understanding of first-principles modeling. This paper describes the brine-water tank experiment, presents the formulation of the semiphysical parameter estimation problem, and describes the comprehensive procedure that students undertake to go from process data to validated plant models. © 2003 International Federation of Automatic control.

关键词： Students

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Teaching Semiphysical Modeling to chemical engineering Students Using a Brine-Water Mixing Tank Experiment

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IFAC Proceedings Volumes 2003年第16期36卷 1567-1572页

作者： D.E. Rivera Control Systems Engineering Laboratory Department of Chemical and Materials Engineering Arizona State University Tempe Arizona 85287

The chemical engineering program at Arizona State offers an integrated series of core courses that teach students how conservation and accounting principles can be applied to describe engineering phenomena across disciplines. A brine-water mixing tank experiment was introduced in the third course in the series (ECE 394C: Understanding engineering systems Via Conservation) as a capstone modeling project for the recitation portion of the course. The experiment provides students with "hands-on" experience on a real-life system incorporating process, electrical, and mechanical components, as well as real-time data acquisition and control. A major feature of the brine-water tank project is that students apply a comprehensive system identification procedure relying on semiphysical (a.k.a. "grey box") models to complement their understanding of first-principles modeling. This paper describes the brine-water tank experiment, presents the formulation of the semiphysical parameter estimation problem, and describes the comprehensive procedure that students undertake to go from process data to validated plant models.

关键词： system identification education semiphysical modeling

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An Internet-Mediated Process control laboratory

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IEEE control systems 2003年第1期23卷 11-18页

作者： Joseph, J. Department of Chemical Engineering University of South Florida Tampa FL 33620 United States Process Control Systems Laboratory Department of Chemical Engineering Washington University St. Louis MO 63130 United States

Two laboratory-scale experiments have been developed that can be executed safely over the Internet. They provide practical experience for students of process control. Remote access is within a client-server paradigm. Servers connected to the processes through the usual data acquisition hardware address issues regarding safety, security, data validation, and session management. A unique feature of the lab is the ability for the student to design, test, and verify control strategies in real time over the Internet. Necessary interlocks and cutoffs ensure safe remote operation of the units. Studies have shown that network speeds are not a significant concern for these systems due to slow process dynamics. The availability of Internet-mediated laboratory modules on an anytime/anywhere basis will enable a larger fraction of the class to get valuable laboratory experience. These experiments have also been used in an Internet-wired classroom for interactive demonstrations during lecture.

关键词： Internet Process control Laboratories Water heating Educational institutions control systems Hardware Nonlinear control systems Safety Testing

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"Plant-Friendly" system identification: a challenge for the process industries

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IFAC Proceedings Volumes 2003年第16期36卷 891-896页

作者： Daniel E. Rivera Hyunjin Lee Martin W. Braun Hans D. Mittelmann Control Systems Engineering Laboratory Department of Chemical and Materials Engineering Department of Mathematics and Statistics Arizona State University Tempe Arizona 85287

The term "plant-friendly" system identification has been used within the chemical process control research community in reference to the broad-based goal of accomplishing informative identification testing while meeting the demands of industrial practice. While many different identification topics (such as control-relevant identification, closed-loop identification and optimal input design) can be said to contribute to plant-friendliness in identification, the problem has some unique character of its own. This paper describes some of the issues that motivate plant-friendly identification and presents an overview of some approaches that have been proposed in this topic. The problem of identification test monitoring is presented as a novel means for accomplishing plant-friendly identification.

关键词： plant-friendly system identification chemical process control identification test monitoring

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"plant-Friendly" system identification: A challenge for the process industries 13

"plant-Friendly" system identification: A challenge for the ...

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13th IFAC Symposium on System Identification, SYSID 2003

作者： Rivera, Daniel E. Lee, Hyunjin Braun, Martin W. Mittelmann, Hans D. Control Systems Engineering Laboratory Department of Chemical and Materials Engineering United States Department of Mathematics and Statistics Arizona State University TempeAZ85287 United States Taxas Instruments Inc. 13570 N. Central Express-way DallasTX75265 United States

The term »plant-friendly» system identification has been used within the chemical process control research community in reference to the broad-based goal of accomplishing informative identification testing while meeting the demands of industrial practice. While many different identification topics (such as control-relevant identification, closed-loop identification and optimal input design) can be said to contribute to plant-friendliness in identification, the problem has some unique character of its own. This paper describes some of the issues that motivate plant-friendly identification and presents an overview of some approaches that have been proposed in this topic. The problem of identification test monitoring is presented as a novel means for accomplishing plant-friendly identification. © 2003 International Federation of Automatic control.

关键词： Religious buildings

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On dynamic whole body manipulation

On dynamic whole body manipulation

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： F. Asano Y. Saitoh K. Watanabe Zhi-Wei Luo M. Yamakita Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Center Japan Department of BiWSystem Engineering Faculty of Engineering Yamagata University Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Japan

Dextrous manipulation of objects by a robot arm is one of the central problems in robotics research. This paper first studies basic modeling and dynamic control problems of whole body manipulation systems by the assumption of using sensitive skin. As an example, we treat a 2-link planar whole arm manipulation system with a circle object. We first formulate the system dynamics with sliding contact and rolling friction constrains between the robot link and the object. We then develop a model-based tracking control algorithm for the robot to manipulate the center of mass of the object. Further, modeling in the presence of dynamic friction is considered. The validity of the proposed method is investigated by numerical simulations.

关键词： Manipulator dynamics control systems Robot sensing systems Friction Humans Service robots Power engineering and energy Adaptive systems Sliding mode control Skin

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Passive impedance control with time-varying impedance center

Passive impedance control with time-varying impedance center

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： Y. Kishi Zhi Wei Luo F. Asano S. Hosoe Department of Electronic-Mechanical Engineering School of Engineering University of Nagoya Japan Environment Adaptive Robotic Systems Laboratory Bic-mimetic Control Research Center Japan Motor Systems Control Theory Laboratory Bio-mimetic Control Research Center Riken Department of Electronic-Mechanical EngineeringSchool of Engineering University of Nagoya Japan

Humans can perform skillful tasks adaptively and safely while interacting with uncertain dynamic environment. With respect to the adaptation ability, it was pointed out that impedance control could play a center role in the human motor control mechanism. Related with safety, it was reported in robotics that the arm's passivity as seen from its environment or manipulated object is very important. In this paper, we study the passivity of impedance control with time varying impedance center. We propose a novel energy-based control method to adjust the impedance center so that the robot arm can realize passive impedance. We verify the effectiveness of our approach by computer simulations.

关键词： Impedance Human robot interaction control systems Adaptive systems Programmable control Adaptive control Motor drives Safety Computer simulation Force control

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Improved results on robust stability of multivariable interval control systems

Improved results on robust stability of multivariable interv...

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American control Conference (ACC)

作者： Zhizhen Wang Long Wang Wensheng Yu Guoping Liu Laboratory of Complex Systems and Intelligence Sciences Institute of Automation Chinese Academy of Sciences Beijing China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing China School of Mechanical Materials Manufacturing Engineering and Management University of Nottingham UK

For interval polynomial matrices, we identify the minimal testing set, whose stability can guarantee that of the whole uncertain set. Our results improve the conclusions given by Kamal and Dahleh.

ISBN: (纸本)0780378962

For interval polynomial matrices, we identify the minimal testing set, whose stability can guarantee that of the whole uncertain set. Our results improve the conclusions given by Kamal and Dahleh.

关键词： Robust stability control systems Polynomials Automatic control Robust control Manufacturing automation Uncertainty Laboratories Intelligent manufacturing systems engineering management

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