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IEEE Conference on Decision and control

作者： Jianping He Peng Cheng Ling Shi Jiming Chen State Key Lab. of Industrial Control Technology Zhejiang University Hangzhou 310027 China Department of Electric and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

ISBN: (纸本)9781612848006

This paper proposes a novel synchronization algorithm for wireless sensor networks (WSNs), the Maximum Time Synchronization (MTS), which is based on maximum value consensus approach. The main idea is to maximize the local information to achieve a global synchronization. Compared with the existing consensus-based synchronization protocols, the main advantages of our protocol include: i) a faster convergence speed such that the synchronization can be completed in a finite time;ii) simultaneous compensation for both the skew and the offset. We provide a rigorous proof of convergence to global synchronization and also give the upper bound of the convergence time. Moreover, the protocol is completely distributed, asynchronous, and robust against packet losses, nodes failure and the addition of new nodes. Some numerical examples are presented to demonstrate the efficiency of our protocol.

关键词： clock recovery maximum value Converge local information. Skew Asynchronous

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A real-time HWIL simulation control system architecture for implementing evaluation environment of complex embedded systems

A real-time HWIL simulation control system architecture for ...

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International Conference on Advanced Communication Technology (ICACT)

作者： WoonSik Kim ByungSun Lee KyungSoo Kim TaeSoo Yang SangHa Kim Guidance & Control Directorate ADD(Agency for Defence Development) The 1st(PGM) Research and Development Institute Daejeon South Korea Department of Computer Science and Engineering Chungnam National University Daejeon South Korea

The complex embedded systems used in aircraft and guided weapon systems have complex tasks and diverse I/O interfaces for controlling the interconnected slave systems. Some complex systems consist of many embedded systems which are closely cooperated each other to perform designated mission. Hardware-in-the-Loop(HWIL) simulation system of complex embedded system suppose to be implemented as a complex system, which has a complex software architecture and hardware configuration, because it needs to support real-time computation of complex embedded system models within a strictly constrained time interval and real-time I/O interfaces. With the HWIL simulation system, the users may run HWIL simulation on the various test scenarios and may implement many sorts of software in accordance with the test scenarios. Therefore, it should have the well-designed software architecture to provide convenient way for developing HWIL simulation environment and support real-time control environment. It also should support interactive simulation control and real-time data acquisition capabilities to provide simulation state control and data analysing environment. This paper suggests layered HWIL simulation control system architecture, which comprises I/O device driver, I/O library, HWIL Simulation control executive, and application, for building evaluation environment of the complex embedded system. In this architecture, real-time control mechanism using internal CPU timer is included. It, also, suggests two protocols, named Command Processing Protocol(CPP) and Multi-rate Data Acquisition Protocol(MDAP), for interactive simulation control and real-time simulation data acquisition. The proposed architecture is implemented as tasks based on the Commercial Off-The-Shelf(COTS) real-time operating system which runs on the computing processor installed on VME bus platform.

关键词： Manganese

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A new fast approach of single-pass perceptual embedded zero-tree coding

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ICIC Express Letters 2011年第8 A期5卷 2523-2530页

作者： Wu, Bing-Fei Huang, Hao-Yu Chen, Yen-Lin Hsieh, Chin-Ming Institute of Electrical and Control Engineering National Chiao Tung University No. 1001 University Road Hsinchu 30050 Taiwan Department of Computer Science and Information Engineering National Taipei University of Technology No. 1 Sec. 3 Chung-hsiao E. Road Taipei 10608 Taiwan

This paper proposes a block-edge based Single-Pass Perceptual Embedded Zero-tree Coding (SPPEZC) method. The SPPEZC approach integrates two novel compression concepts, the Block-Edge Detection (BED) and Low-Complexity and Low-Memory Entropy Coder (LLEC) for coding efficiency and quality. Since the information from the edge information can provide beneficial cue for preserving the perceptual quality of compressed images, this paper presents an effective combinative coding scheme, named Single- Pass Perceptual Embedded Zero-tree Coding (SPPEZC), which integrates the improved LLEC and the block edge information, to provide better perceptual quality on compressed images. Based on the block edge information, this paper proposes an adaptive architecture for adjusting the quantization table and then codes the quantized coefficients with the LLEC. Experimental results and comparisons demonstrate that the proposed SPPEZC technique can provide both computational efficiency and satisfactory perceptual quality on compressed images.

关键词： Discrete cosine transforms

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An equivalent control based second order sliding mode observer using robust differentiators

An equivalent control based second order sliding mode observ...

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IEEE Latin American Robotics Symposium, LARS

作者： Juan Diego Sánchez-Torres Alexander G. Loukianov Julián Alberto Patiño Murillo Bertulfo Giraldo Héctor Botero Department of Electrical Engineering and Computer Computer Science Automatic Control Laboratory Unidad Guadalajara CINVESTAV Mexico Escuela de Ingeniería Eléctrica y Mecánica Facultad de Minas Universidad Nacional de Colombia Sede Medellín Medellin Antioquia Colombia

In this paper a sliding-mode observer for a class of non-linear systems is proposed. The observer is based on the equivalent control method. The mathematical tools required to design such an observer are also presented. The proposed scheme can ensure finite time convergence of the observer and the reduction of chattering effect due to relay-type correction terms. Several examples are presented to illustrate the proposed method.

关键词： Observers Mathematical model Robustness Convergence Vectors Chemical reactors Equations

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A high order sliding mode observer for systems in triangular input observer form

A high order sliding mode observer for systems in triangular...

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IEEE Latin American Robotics Symposium, LARS

作者： Juan Diego Sánchez-Torres Alexander G. Loukianov Julian Alberto Patiño Murillo Bertulfo Giraldo Héctor Botero Department of Electrical Engineering and Computer Computer Science Automatic Control Laboratory Unidad Guadalajara CINVESTAV Zapopan Jalisco Mexico Escuela de Ingeniería Eléctrica y Mecánica Facultad de Minas Universidad Nacional de Colombia Sede Medellín Medellin Colombia

This paper deals with the design of a high order sliding mode observer for a class of nonlinear systems that can be described in the so called triangular input observer form. The mathematical tools required to make the system transformation to such form are also presented. At last, we show the performance of the observers with several simulation examples, including the application of a CSTR process model.

关键词： Observers Mathematical model Chemical reactors Equations Robustness Convergence

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Guaranteed Decentralized Pursuit-Evasion in the Plane with Multiple Pursuers

Guaranteed Decentralized Pursuit-Evasion in the Plane with M...

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IEEE Conference on Decision and control

作者： Haomiao Huang Wei Zhang Jerry Ding Dusan M. Stipanovic Claire J. Tomlin Department of Aeronautics and Astronautics Stanford University Stanford CA 94305 USA Department of Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 USA Control and Decision Group Coordinated Science Laboratory University of Illinois Urbana IL 61801 USA

ISBN: (纸本)9781612848006

Pursuit-evasion games are an important problem in robotics and control, but games with many players are difficult to analyze and solve. This paper studies a game of multiple pursuers cooperating to capture a single evader in a bounded, convex, polytope in the plane. We present a decentralized control scheme based on the Voronoi partion of the game domain, where the pursuers jointly minimize the area of the evader's Voronoi cell. We prove that capturing the evader is guaranteed under this scheme regardless of the evader's actions, and show simulation results demonstrating the pursuit strategy.

关键词： Planing decentralised control Decentralized robotics Simulation results Polytopes cooperating

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Implementation of sEMG-Based Real-Time Embedded Adaptive Finger Force control for a Prosthetic Hand

Implementation of sEMG-Based Real-Time Embedded Adaptive Fin...

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IEEE Conference on Decision and control

作者： Chandrasekhar Potluri Madhavi Anugolu Yimesker Yihun Parmod Kumar Steve Chiu Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center (MCERC) Idaho State University Pocatello Idaho 83201 USA MCERC Idaho State University Pocatello Idaho 83201 USA MCERC College of Engineering Idaho State University Pocatello Idaho 83201 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83209 USA Department of Mechanical and Nuclear Engineering MCERC Idaho State University Pocatello Idaho 83209 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83201 USA

ISBN: (纸本)9781612848006

This paper presents surface electromyographic (sEMG)-based, real-time Model Reference Adaptive control (MRAC) strategy for a prosthetic hand prototype. The proposed design is capable of decoding the prerecorded sEMG signal as well as the sensory force feedback from the sensors to control the force of the prosthetic hand prototype using a PIC 32MX360F512L microcontroller. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system provides the estimated finger forces to be produced as input to the prosthetic hand prototype. A simple MRAC method along with a two stage embedded design is used for the force control of the prosthetic hand. The sensed force at the fingertip is fed back to the controller for real-time operation. The data is transmitted to the computer through an universal asynchronous receiver/transmitter (UART) interface of the proposed embedded design. Results show good performance in controlling the finger force as well as shortcomings of the mechanical design of the prosthetic hand prototype to be addressed in future.

关键词： Prosthetic hand Force control model reference adaptive control Force force feedback Equipment Design Fingers Hydrologic models Embedded design

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Sensorless direct torque control of five-phase induction motor drives

Sensorless direct torque control of five-phase induction mot...

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Annual Conference of Industrial Electronics Society

作者： B. S. Khaldi H. Abu-Rub A. Iqbal R. Kennel M. O. Mahmoudi D. Boukhetala Department of Electrical Engineering Faculty of Science and Engineering Djelfa University Algeria Laboratory of Process Control National Polytechnic School Algiers Algeria Institute for Electrical Drive Systems and Power Electronics Technische Universität München Munich Germany Department of Electrical & Computer Engineering Texas A&M University at Qatar Doha Qatar Department of Electrical Engineering College of Engineering Qatar University Qatar Department of Electrical Engineering Aligarh Muslim University Aligarh India

This paper presents a simple and novel sensorless scheme for five-phase induction motor control. The power measurement is used for speed computation. The drive is controlled using direct torque control (DTC). Speed sensorless control scheme is tested under speed variation and load changes. The control method is simulated and implemented in real time on the DS1103 board.

关键词： Vectors Stators Torque Rotors Induction motors Torque control Electromagnetics

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MRF based Clutch with Integrated Electrical Drive

MRF based Clutch with Integrated Electrical Drive

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Dirk Guth Dennis Cording Jurgen Maas Department of Electrical Engineering and Computer Science Control Engineering and Mechatronic Systems at the Ostwestfalen-Lippe University of Applied Sciences Germany Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Lemgo Germany

ISBN: (纸本)9781457708381

Actuators based on magnetorheological fluids represent an innovative technology to optimize brakes and clutches. Compared to conventional electromechanical systems, MRF actuators show improved and advanced characteristics featuring a smooth adjustable torque, a fast response time, a noiseless operation and a reduced design space. In the present paper, the authors propose an actuator design for a MRF based clutch combined with an integrated electric drive. The actuator design is a further development with enhanced performances considering the torque capacity. Both functionalities of this actuator can be controlled widely independent due to a suitable adjustment of the magnetic field. Therefore a model and a new control strategy are developed. The capability of this concept is proven by measurements of a new proof-of-concept prototype that provides an appropriated ratio between coupling and motor torque of 5:1. This highly integrated mechatronical actuator system allows the design of innovative applications whereby novel features are feasible.

关键词： Magnetorheological fluids (MRF) clutch actuator control actuator design integrative functionalities

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Commercial Vehicle Cabin with Active Air Suspension for Improved Ride Comfort

Commercial Vehicle Cabin with Active Air Suspension for Impr...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Christian Graf Jurgen Maas Department of Electrical Engineering and Computer Science Control Engineering and Mechatronic Systems at the Ostwestfalen-Lippe University of Applied Sciences Germany Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Lemgo Germany

ISBN: (纸本)9781457708381

The damping of a common cabin of a commercial vehicle is realized with hydraulic based dampers integrated inside the air springs of the suspension. For the suspension proposed in this paper, the damping forces are generated by varying the mass of air inside the air spring volume. To achieve a high bandwidth of vibration suppression, the mass flow of compressed air is controlled using fast switching valves. To use the air spring actuator in a superimposed vibration control, a force controller was designed, based on a linearized air spring model. Using four force-controlled air springs in the suspension of a cabin, a superimposed vibration control can be designed, which reduces the cabin accelerations in the lifting, pitching and rolling degree of freedom. In case of large excitations the utilized skyhook damping has to be changed into a groundhook damping, which is done by an automated cross-fade. During road tests the meaningful capability of the hybrid vibration isolation concept is proofed by measurements.

关键词： Air springs ride comfort Commercial vehicles Suspensions Suspended load AIR SUSPENSIONS vibration control absorption of shock air vibration suppression high-bandwidth Compressed air Degree of freedom MASS FLOW Suspension

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