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28th European Simulation and Modelling Conference, ESM 2014

作者： Gerzson, Miklós Leitold, Adrien Hangos, Katalin M. Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel fault integration method is proposed in this paper for manufacturing system models given in the form of timed colored Petri nets. The faults are assumed to have a stochastic nature and are represented in the form of transitions firing in stochastic way with known fault probabilities in the system model. A novel fault effect propagation method was also developed, that can be used to compute the probabilities of the possible faulty and non-faulty intermediate and final states of the system using the probabilities of faults and the occurrence graph. The faultless and fault containing models were implemented in CPNTools both for non-timed and timed cases. A software module was also developed for the proposed probabilistic fault propagation analysis. The proposed methods and tools were demonstrated using a simple case study.

关键词： Manufacture

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On-line qualitative model-based diagnosis of technological systems using colored petri nets 28

On-line qualitative model-based diagnosis of technological s...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Leitold, Adrien Gerzson, Miklós Pózna, Anna I. Hangos, Katalin M. Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel on-line diagnosis method is proposed in this paper that uses a qualitative dynamic model of the system and its colored Petri nets model. The model contains both the normal and the possible faulty operational modes of the system. The deviation between the normal and faulty modes is characterized based on P-HAZID tables. The actual system state can be searched on the occurrence graph constructed in advance. Starting from this node the possible consequences and root causes can be determined on-line with traversing on the graph. The proposed method is illustrated on simple case studies.

关键词： Petri nets

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A unified framework for optimality analysis of model predictive control

A unified framework for optimality analysis of model predict...

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World Congress on Intelligent control and automation (WCICA)

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai P.R. China Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

As well-known, model predictive control is closely related to optimal control. This paper studies relationships between them and provides a unified framework for optimality analysis of model predictive controllers (MPC). The optimality is evaluated by comparing total performance of MPC with finite and infinite horizon optimal cost. Based on relaxed value iteration method, upper and lower bounds of optimality evaluation functions are expressed explicitly in terms of optimization horizon. These results reveal detailed characteristics on performance of closed-loop MPC systems due to using “receding horizon optimization” implementation style.

关键词： Optimal control Nonlinear systems Cost function Predictive control Predictive models

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Finite-time consensus of leader-follower multi-agent systems with fixed and switching topologies

Finite-time consensus of leader-follower multi-agent systems...

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World Congress on Intelligent control and automation (WCICA)

作者： Yakun Zhu Cailian Chen Xinping Guan Xiaoyuan Luo School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao P. R. China Department of Automation Key Laboratory of System Control and Information Processing Shanghai P. R. China Institute of Electrical Engineering Yanshan University Qinhuangdao P. R. China

This paper proposes a novel nonlinear distributed consensus protocol of the finite-time consensus problems of leader-follower multi-agent systems based on the distributed consensus error functions. It is proved that the leader-follower multi-agent systems under this nonlinear protocol can reach the consensus in finite time in the scenarios with fixed topology and two kinds of switching topologies, respectively. The results are also extended to the case with directed communication topology. Finally, some examples and simulation results are given to illustrate the effectiveness of the proposed control protocols.

关键词： Topology Switches Protocols Multi-agent systems Network topology Vehicle dynamics Educational institutions

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A sensor network modeling and fault detection method for large wind farms by using neural networks

A sensor network modeling and fault detection method for lar...

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International Conference on control and automation (ICCA)

作者： Qing Wang Fan Yang Quanbo Ge Qinmin Yang Zhejiang Windey Co. Ltd State Key Laboratory of Wind Power System Hangzhou Zhejiang China School of Automation Hangzhou Dianzi University Hangzhou China Department of Control Science and Engineering Zhejiang University Hangzhou China

Sensor networks have been widely utilized in various applications. In large wind farms, numerous sensor nodes are deployed across the field for monitoring purpose. They are required to work in harsh environment and usually undergo unexpected failures. This paper introduces a new method to model nodes of sensor networks by using two-layer neural networks (NN). Each node's dynamics and interconnections with other sensor network nodes are integrated into the model, whose accuracy is guaranteed by the NN's universal approximation property. Furthermore, the model can be subsequently employed to detect any incipient failures which can be modeled as a nonlinear function of state and input variables. An additional NN along with a novel simplified updating law is utilized for self-diagnostics, whose output can declare a failure alarm if it exceeds a certain threshold. Mathematical analysis is substantiated with simulation results.

关键词： Conferences automation

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Crawling Gait Planning for a Quadruped Robot with High Payload Walking on Irregular Terrain

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IFAC Proceedings Volumes 2014年第3期47卷 2153-2158页

作者： Nan Hu Shaoyuan Li Dan Huang Feng Gao Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai 200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain.

关键词： Quadruped robot gait planning trajectory planning kinematics

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On Infinite Time Performance of Nonlinear Model Predictive controllers

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IFAC Proceedings Volumes 2014年第3期47卷 1916-1921页

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases.

关键词： Model Predictive control Finite Horizon Optimal control Value Iteration Principle of Optimality

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Multi-Objective Load Distribution Optimization for Hot Strip Mills

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Journal of Iron and Steel Research International 2013年第2期20卷 27-32,61页

作者： JIA Shu-jin LI Wei-gang LIU Xiang-hua DU Bin Department of Automation and Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Automation Division of Research Institute Baosteel Group Corporation College of Information Science and Engineering Northeastern University Research Institute of Science and Technology Northeastern University

Load distribution is a key technology in hot strip rolling process, which directly influences strip product quality. A multi-objective load distribution model, which takes into account the rolling force margin balance, roll wear ratio and strip shape control, is presented. To avoid the selection of weight coefficients encountered in single objective optimization, a multi-objective differential evolutionary algorithm, called MaximinDE, is proposed to solve this model. The experimental results based on practical production data indicate that MaximinDE can obtain a good pareto-optimal solution set, which consists of a series of alternative solutions to load distribution. Decision-makers can select a trade-off solution from the pareto-optimal solution set based on their experience or the importance of ob- iectives. In comparison with the empirical load distribution solution, the trade-off solution can achieve a better per- formance, which demonstrates the effectiveness of the multi-objective load distribution optimization. Moreover, the conflicting relationship among different objectives can be also found, which is another advantage of multi-objective load distribution optimization.

关键词： hot strip mill load distribution multi-objective optimization

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Enhancing the Effectiveness of Fungicides by Optimizing Their Combinations

Enhancing the Effectiveness of Fungicides by Optimizing Thei...

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第26届中国控制与决策会议

作者： Xiang Wang Jia Ma Xiaowei Li Xiaodong Zhao Zongli Lin Jie Chen Zhifeng Shao Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Department of Resource and Environmental Science School of Agriculture and BiologyShanghai Jiao Tong University School of Biomedical Engineering Shanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

In controlling biological diseases, it is often more potent to use a combination of agents than using individual ones. However, the number of possible combinations increases exponentially with the number of agents and their concentrations. It is prohibitive to search for effective agent combinations by trial and error as biological systems are complex and their responses to agents are often a slow process. This motivates to build a suitable model to describe the biological systems and help reduce the number of experiments. In this paper, we consider the use of fungicides to inhibit Bipolarismaydis and construct models that describe the responses to fungicide combinations. Three data-driven modeling methods, the polynomial regression, the artificial neural network and the support vector regression, are compared based on the experimental data of the inhibition rates of the southern corn leaf blight with different fungicide combinations. The analysis of the results demonstrates that the support vector regression is best suited to the construction of the response model in terms of achieving better prediction with fewer experiments.

关键词： agent combinations,complex system,data-driven model,polynomial regression,artificial neural network,support vector regression

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Integrated object and path demonstration for industrial robots in adaptive handling applications

Integrated object and path demonstration for industrial robo...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： C. F. Wu S. K. Lin J. Lambrecht T. D. Nguyen A. Vick M. Kleinsorge J. Krüger Division of Intelligent System Engineering Industrial Technology Research Institute Mechanical and Systems Research Laboratory Hsinchu Taiwan National Chiao Tung University Institute of Electrical Control Engineering Hsinchu Department Industrial Automation Technology Technische Universität Berlin Insitute for Machine Tools and Factory Management Berlin Germany

We propose an approach for integrated object and path demonstration. The main idea is to choose the motion of the robot depending on the object it grabs. When programming, an object is fixed at the robot's gripper. Path programming is done using haptic guidance. Afterwards, if a robot is handed over an object it knows before, it reproduces the path assigned to the object. Path programming and object recognition can be done with a single force/torque sensor. In our opinion, this way of programming is especially suited for creating pick and place tasks in frequently changing production environments where (re-)programming has to be done frequently.

关键词： Robot sensing systems Programming Service robots Force Grippers Training

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