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Fuzzy Autopilot for Ships Experiencing Shallow Water Effect in Manoeuvering

IFAC Proceedings Volumes 1997年第22期30卷 99-104页

作者： Zoran Vukić Edin Omerdić Ljubomir Kuljača University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

A fuzzy autopilot for ship path control is proposed. Nonlinear model of a ship and a steering subsystem is used. The autopilot uses heading signal and yaw rate signal to produce a command rudder angle. The autopilot does not use lateral offset from the nominal track. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. The influence of the shallow water effect during larger maneuver is analyzed.

关键词： Disturbance rejection Fuzzy control Nonlinear control systems Ship control

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Dynamic Positioning of Floating Vessels Postoptimal Analysis

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IFAC Proceedings Volumes 1997年第22期30卷 183-186页

作者： S. Mandžuka Z. Vukić Control Engineering Department Brodarski institute d.o.o. Av. V. Holjevca 20 10000 Zagreb CROATIA Department of Control and Computer Engineering in Automation University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb CROATIA

A procedure for the postoptimal analysis of dynamic positioning control system of floating vessels is proposed. The control system design is based on the optimal constrained covariance control (OC 3 ). Using the OC 3 technique, the disadvantages of the classical LQG optimal control technique are avoided. The presented numerical example illustrates the properties of the new approach.

关键词： Positioning system LQG control Optimization problems

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Orthogonal fuzzy model of the solder paste printing stage of surface mount technology

Orthogonal fuzzy model of the solder paste printing stage of...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： A. Lotfi M. Howarth P.D. Thomas Manufacturing Automation Research Group Department of Mechanical and Manufacturing Engineering Nottingham Trent University Nottingham UK Real Time Machine Control Research Group Department of Computing Nottingham Trent University Nottingham UK

The novel idea of an orthogonal fuzzy rule-based system is introduced in this paper. It is shown that in a fuzzy rule-based system where rules are orthogonal, each rule induces its maximum effect on the final decision. Using 18 orthogonal fuzzy rules, a model for the solder paste printing stage of SMT is created. The predicted percentage of deposit volume from the orthogonal and non-orthogonal models are compared with actual values. The orthogonal model shows less error in 85% of the data points.

关键词： Printing Surface-mount technology Fuzzy systems Knowledge based systems Input variables Manufacturing automation Fuzzy set theory Bismuth Machine control Computer aided manufacturing

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Predictive gain scheduling autopilot for ships

Predictive gain scheduling autopilot for ships

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Mediterranean Electrotechnical Conference (MELECON)

作者： Z. Vukic L. Kuljaca D. Milinovic Department of Control Engineering and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

The paper presents results of research with the new predictive autopilot structure (PIP+D) with gain scheduling. The autopilot is tested and compared with conventional PID autopilot for a mariner class ship. The autopilot parameters are changed with the speed of the ship using the gain scheduling technique. Results obtained during the research show that the proposed autopilot structure is to be recommended if improved performance is of prime interest, when the velocity of the ship is changing. The analysis is based on the simulation of a mariner class ship as a nonlinear system, with the steering servo system taken as a nonlinear model. Results of the simulation are included.

关键词： Marine vehicles Limit-cycles Gears Servomechanisms System testing Spirals Mathematical model Performance gain Regulators

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Modelling and simulation of diesel electrical aggregate voltage controller with current sink

Modelling and simulation of diesel electrical aggregate volt...

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IEEE International Conference on Industrial Technology (ICIT)

作者： G. Erceg S. Tesnjak R. Erceg Department of Electric Machines and Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Electric Power Engineeering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In the paper modeling and simulation of a diesel motor with speed control system and generator with voltage system as complex, nonlinear and multivariable systems are presented. Mathematical models for every part of a diesel electrical aggregate (diesel motor with its speed control system, synchronous generator, synchronous exciter, self-excited compounding unit, voltage controller and load) are developed and connected in a common model of the aggregate. Based upon these mathematical models of the aggregate, a simulation model is made using the "Matrix/sub x/" simulation software package. The paper also deals with comparison of characteristics seen from the simulation aspect and measurements. Bringing into the model new current sink simulation results, it better matches experimental results. So, this model can be used for selection of the diesel electrical aggregate's type and for analyzing the quality of load supply.

关键词： Aggregates Voltage control Synchronous motors Mathematical model Pulse width modulation Switches Control systems Velocity control Synchronous generators Frequency

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Influence of turbogenerator set parameters on the calculation of shaft transient torsional strains

Influence of turbogenerator set parameters on the calculatio...

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Mediterranean Electrotechnical Conference (MELECON)

作者： Z. Maljkovic L. Kuterovac I. Gasparac Department of Electric Machines Drives aiiid Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

The paper involves an analysis of the impact of some turbogenerator set parameters which considerably influence its mechanical behaviour on the calculations of torsional strains. The analysis is carried out for a case of a three-phase short circuit at one of two parallel lines through which a generator is supplied followed by a fault clearing. Maximum torsional torques and critical fault clearing times at which they occur are presented. The mechanical parameters which have the largest influence on the torsional strains in the shaft are the stiffness coefficients of the shaft sections and the mechanical time constants (or moments of inertia) of the generator and the turbine rotors. The influence of mechanical damping coefficients is less significant. Maximum torsional torques are also indirectly influenced by electrical parameters of the generator, primarily by the subtransient and the transient synchronous reactance, but their impact is minor. Calculated time responses of torsional torques for the combined fault show that inaccurately defined mechanical parameters can lead to wrong conclusions concerning maximum values of torsional torques which could occur during a fault.

关键词： Turbogenerators Shafts Capacitive sensors Circuit faults Power system modeling Transient analysis Turbines Power system stability Power system protection Mathematical model

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Shepe from Shading with perspective projection and camera calibration

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Computers & Graphics 1996年第3期20卷 351-364页

作者： Júlio Kiyoshi Hasegawa Clésio Luis Tozzi Department of Computing Engineering and Automation—DCA Electrical Engineering Faculty UNICAMP Universidade Estadual de Campinas CP6101 13081-970 Campinas São Paulo Brazil

The majority of algorithms making use of the Shape from Shading technique to reconstruct a 3-D surface from its image employ the orthographic projection system which, in the case of real images, always causes deformation on the reconstructed surface. To remove this constraint a simultaneous procedure (Hybrid Model) is proposed which uses the Shape from Shading (SFS) technique combined with the photogrammetric technique and the perspective projection to reconstruct the surface and determine the camera calibration parameters. The procedure is based on an explicit mathematical model and an iterative process is adopted to solve the resulting system of equations. The Least Square Method (LSM) is adopted and the Taylor's Series Lianearization technique is applied due to the non-linearity of the model. The proposed procedure differs from the procedures found in the literature in that it adopts the simultaneous computation of the tridimensional coordinates for surface point and the camera calibration parameters while employing perspective projection. In addition to that, solving the resulting system of equations does not demand any restriction on the surface, as it happens in other related procedures.

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ACE: a digital floating point CNN emulator engine

ACE: a digital floating point CNN emulator engine

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： B. Feher P. Szolgay T. Roska A.G. Radvanyi T. Sziranyi M. Csapodi K. Laszlo L. Nemes I. Szatmari G. Toth P.L. Venetianer Measurement and Instrument Engineering Department Technical University of Budapest Budapest Hungary Analogical and Neural Computing Systems Laboratory Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The architecture of ACE, a multiprocessor analogic cellular neural network (CNN) emulator engine consisting of 2 to 16 TMS320C40 floating point DSPs is introduced. The engine containing up to 512 Mbyte RAM (enough to store a 512/spl times/512/spl times/512 sized CNN cube) which can be controlled through its SCSI port. It can either accelerate the multilayer CNN simulator CNNM or be accessed directly from the high level, C-based analogic CNN language ACL to achieve the simulation speed of /spl sim/2.8 /spl mu/sec/cell/iteration/DSP for 3/spl times/3 linear templates.

关键词： Cellular neural networks Engines Computer architecture Digital signal processing Very large scale integration Programmable logic arrays Computational modeling Logic arrays Signal processing algorithms Hardware

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Multivariable Control System Studies in the Time-Domain Using WCBSL

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IFAC Proceedings Volumes 1996年第1期29卷 1080-1085页

作者： N.E. Gough L.H. Ting G.M. Dimirovski O.L. Iliev School of Computing and Information Technology University of Wolverhampton Wulfruna Street Wolverhampton WV1 1SB UK. Department of Automation and Systems Engineering Sts. Cyril and Methodius University 91000 Skopje Republic of Macedonia

WCBSL is a Windows Convolution-Based Simulation Language for time-domain analysis and design of linear feedback systems based on convolution algebra The theoretical basis is outlined and the language and methodology are illustrated. Characteristic patterns and vectors are defined and the effect of delay is considered-Dynamic criteria for choosing between decentralized and multivariable control are illustrated using the model of an industrial air compressor.

关键词： Computer-aided control system design linear MIMO systems convolution

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Optical detection of breaks and short circuits on the layouts of printed circuit boards using CNN

Optical detection of breaks and short circuits on the layout...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： P. Szolgay K. Tomordi Analogic and Neural Computing Systems Laboratory Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Image Processing and Neurocomputing Department Faculty of Engineering University of Veszprem Veszprem Hungary

The printed circuit board layout inspection methods are mostly based on local geometric information, therefore it is well suited to the cellular neural network (CNN) paradigm. Two layout errors are detected here namely, the breaks in the wires and some kind of short circuits. The designed analogic algorithms to solve the problems above were tested on real life examples using an experimental system based on our CNN-HAC1M digital multiprocessor add-on-board, with 1 million cell space and 2.0 /spl mu/s/cell/iteration speed.

关键词： Optical detectors Cellular neural networks Geometrical optics Optical computing Printed circuits Inspection Wires Algorithm design and analysis Circuit testing Life testing

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