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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hyo-Jeong Cha Jaeheon Chung Whee Kuk Kim Byung-Ju Yi School of Electrical Engineering and Computer Science Hanyang University Ansan South Korea Department of Advanced Medical Initiatives Faculty of Medical Science Kyushu University Japan Department of Control and Instrumentation Engineering Korea University Seoul South Korea

This paper proposes a new 4-Degree-of-Freedom (DOF) master-slave system for 3 dimensional needle steering. Both master and slave devices are commonly composed of a 3 DOF spherical type parallel mechanism and a 1 DOF needle insertion mechanism. This system provides users with 3 dimensional needle steering and force reflection capabilities. The real time forward solution of the master device is addressed. The design of the master-slave system is described in detail. Finally, the effectiveness of this system for 3 dimensional needle steering task is verified through experimental work.

关键词： Needles Robots Master-slave Joints Phantoms Force Kinematics

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Virtual Automation Networks - one way from incompatibility

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IFAC Proceedings Volumes 2010年第24期43卷 138-143页

作者： P. Fiedler F. Zezulka Z. Bradac V. Kazcmarczyk O. Sajdl Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic (Tel: +420-54114-1302) (Tel: +420-54114-1304) (Tel: +420-54114-1304) (Tel: +420-54114-1308) Department of microelectronics Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic (Tel: +420-54114-6181)

Paper deals with existing situation in industrial communication. Apart from proprietary serial communication systems exist many standardized fieldbuses. Due to increasing requirements on rapid data transfer and in hope of better transparency of communication in the overall plant control architecture, Ethernet has established as a well known and broadly used industrial communication technology. The paper shows one of possible methods for at least partial overcoming of the existing heterogeneity and incompatibility in large highly distributed control applications. The way is virtual automation networks and paper specify requirements and key features of the solution. The most important part of the paper deals with questions of the real - time features of virtual automation networks and the data security in heterogeneous communication environment.

关键词： fieldbus virtual automation network VAN VPN openVPN tunneling

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Artificial neural networks broken rotor bars induction motor fault detection

Artificial neural networks broken rotor bars induction motor...

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Seminar on Neural Network Applications in Electrical engineering

作者： Dragan Matić Filip Kulić Vincente Climente-Alarcón Ruben Puche-Panadero Faculty of Technical Science Department for Automation and System Control Trg Dositeja Obradovica 6 NoviSad Serbia Faculty of Technical Science cDepartment for Automation and System Control Trg Dositeja Obradovica 6 Novi Sad Serbia Department of Electrical Engineering Comino de Vera Polytechnic University of Valencia Valencia Spain

Paper deals with application of online rotor broken bar fault detection via artificial neural networks. Fault can be detected by monitoring abnormalities of the spectrum amplitudes at certain frequencies in the motor current spectrum. These discriminative features are used for training of feed-forward backpropagation artificial neural network. Trained network is capable to successfully classify induction motor rotor condition. Results are presented in tables and figures.

关键词： Rotors Induction motors Artificial neural networks Bars Amplitude modulation Fault detection Classification algorithms

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Trends in Automation - investigation in Network control systems and Sensor Networks

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IFAC Proceedings Volumes 2010年第24期43卷 109-113页

作者： F. Zezulka Z. Bradac P. Fiedler M. Sir Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic (Tel: +420-54114-1302) (Tel: +420-54114-1304) (Tel: +420-54114-1304) (Tel: +420-54114-1308)

Paper deals with two significant trends in the automation and control theory of the last decade. The problems are evoked by a lack between control theory and the automation praxis in the case of Networked control systems (NCS) and by penetration of wireless communication used in case of Sensor Networks. Authors define serious theoretical problems in Networked control systems analyses in the design of digital control such as non-periodical sampling period, variable delays in control feedback, lower dependability of feedback information and some other issues. Network Calculus is proposed as a possible mathematical and description tool. The paper also mentions an ambitious research program of the Deutsche Forschungsgemeinschaft to develop new theory of the NCS synthesis. In the second part of the paper the Sensor Networks as the new phenomenon in process values measurement and data acquisition systems are described. It is the opinion of the authors, that sensor networks represent totally other look on the utilization of sensors, than represents classical measurement engineering used in data acquisition systems.

关键词： sensor networks networked control systems control automation control theory

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Efficiency optimisation of an experimental PEM fuel cell system via Super Twisting control

Efficiency optimisation of an experimental PEM fuel cell sys...

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International Workshop on Variable Structure systems, VSS

作者： Cristian Kunusch Paul F. Puleston Miguel A. Mayosky Alejandro Dávila Institute of Robotics and Industrial informatics (IRI) research center Technical University of Catalonia (UPC) Barcelona Spain Barcelona Technology Park research center of the Technical University of Catalonia (UPC) and the Spanish Council for Scientific Research (CSIC) Spain Laboratory of Industrial Electronics Control and Instrumentation (LEICI) Faculty of Engineering National University of La Plata La Plata Argentine Department of Control Engineering Faculty National Autonomous University of Mexico DF Mexico

A robust control solution is proposed to solve the air supply control problem in autonomous polymer electrolyte membrane fuel cells (PEMFC) based systems. Different second order sliding mode (SOSM) controllers are designed using a model of a laboratory test fuel cell generation system. Very good simulation results are obtained using such algorithms, showing the suitability of the SOSM approach to PEMFC stack breathing control. Subsequently, for experimental validation, a controller based on one of the previously assessed SOSM algorithms, namely a Super Twisting, is successfully implemented in the laboratory test bench. Highly satisfactory results are obtained, regarding dynamic behaviour, regulation error and robustness to uncertainties and external disturbances.

关键词： Fuel cells control systems Sliding mode control Laboratories Robust control Polymers Biomembranes system testing Robustness Uncertainty

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system identification to forecast electricity loads

System identification to forecast electricity loads

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2009 IEEE Student Conference on Research and Development, SCOReD2009

作者： Othman, Mohd. Fauzi Bin Yusoff, Mohd. Khairi Bin Mohd. Faculty of Electrical Engineering Department of Control and Instrumentation Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

ISBN: (纸本)9781424451876

Forecasting electricity load is an important economic problem. For an electric load forecasting task with a prediction horizon of 1-31 days ahead we decide to develop a simple model based on a system identification using the ARX model. The linear structure of the ARX model is concerned with the number of time lags of the model and coefficients. The determination of the system order is very important in the performance of the estimated model which is estimated using the training data collected by the Eastern Slovakian Electricity Corporation during the period of 1997-1998. The model is validated by using real data from the first 20 days of December 1998. For final application, the model is retrained and the requested forecasts are then performed ©2009 IEEE.

关键词： Religious buildings

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Robust magnetic attitude control of low-orbit small satellite

Robust magnetic attitude control of low-orbit small satellit...

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12th IASTED International Conference on Intelligent systems and control, ISC 2009

作者： Malyavej, Veerachai Artitthang, Peerawat Aorpimai, Manop Department of Control Instrumentation and Mechatronics Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)9780889868144

The magnetic torque coupled form the Earth's magnetic field is the most fundamental technique to generate torque for attitude control of low Earth orbit small satellites. The Earth's magnetic field is time varying as well as nonuniform distribution around the globe. Hence, normally there is large variation of the magnetic field from the nominal one using in controller design. In this work, we apply the robust control for the low Earth orbit small satellite actuated only by magnetic torque. The proposed controller, based on integral quadratic constraint, is of linear and robust respect to the input torque uncertainty. The complexity of computing the controller gain is the same as linear quadratic controller that can be computed off-line and stored in memory. The simulation results show that the performance of the proposed method is better than the optimal controller in the present of input magnetic torque uncertainty.

关键词： Attitude control

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Electronic system for control of a Thermally Actuated Alignment Device

Electronic System for Control of a Thermally Actuated Alignm...

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2010 IEEE International Conference on Industrial Technology (ICIT 2010)

作者： Ruimin. Yang Jeroen van Schieveen Stoyan Nihtianov Jo W. Spronck Delft University of Technology Faculty of Electrical Engineering Department of Microelectronics Electronic Instrumentation Laboratory Mekelweg 4 2628 CD Delft The Netherlands Delft University of Technology Faculty of 3mE Department of Precision and Microsystem Engineering Mechatronic System Design Mekelweg 2 2628 CD Delft The Netherlands

ISBN: (纸本)9781424456956

This article presents the design of an electronic system that is used to control a thermally actuated alignment device. This device is ideal for aligning critical parts in complex, high-precision systems, like, for example, optical elements or the electrodes of capacitive sensors. Accurate temperature control of the thermal elements improves the performance of the alignment in terms of positioning accuracy and operating speed. Furthermore, the article presents the realized test setup and the initial measurement results. The measurement results show the benefits of the new controller.

关键词： Thermal actuation thermal stepper auto-aligment electronic control system smart sensor

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Virtual automation networks: A solution for heterogeneous automation networks in manufacturing

Virtual automation networks: A solution for heterogeneous au...

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作者： Zezulka, Frantisek Beran, Jan Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Czech Republic

ISBN: (纸本)9783902661418

The contribution deals with an interesting technology for purposes of industrial automation. The Virtual Automation Networks (VAN) technology is an advanced Ethernet-based industrial communication system which much better corresponds to requirements of industry than all existing Industrial Ethernets. It enables an effective cooperation of public and private networks with a stress on security, safety and real-time properties. It solves also problems with implementation of different wireless technologies into heterogeneous communication structure of distributed industrial automation systems. Virtual Automation Networks project is under development in one of the integrated projects of the 6th Framework Program. Authors present main problems of the virtual automation network as architecture, technological platform, network topology and device profiles in an overview. Finally, principal questions of the name-based routing, and OpenVPN tunneling is explained. © 2009 IFAC.

关键词： Ethernet

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Findings on QoS metrics of L3 network devices intended for future factory automation

Findings on QoS metrics of L3 network devices intended for f...

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作者： Beran, Jan Zezulka, Frantisek Fiedler, Petr Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic

ISBN: (纸本)9783902661418

Internetworking technologies have penetrated industrial automation for the last decade gaining enormous popularity. A new trend of network segmentation in automation networks has emerged together with the growing popularity and number of nodes in field. However, neither the Ethernet-based fieldbuses, nor existing network devices are tailored to routed (L3) real-time communication used for time-critical run-time data exchange. The paper presents an approach to delivering real-time communication across LAN segments with the use of existing L3 network devices. Firstly, the real-time requirements of industrial automation and the principles of QoS are presented. Secondly, a test bed designed for evaluation of QoS parameters of the given network devices is introduced. Finally, first findings on the influence of the L3 network devices on QoS parameters are shown. © 2009 IFAC.

关键词： Networked control systems

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