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International Symposium on Information Technology 2008, ITSim

作者： Abdul Rahim, H. Ibrahim, F. Taib, M.N. Abdul Rahim, R. Mad Sam, Y. Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Udai Johor Malaysia Department of Biomedical Electrical Engineering Faculty of Engineering University of Malaya 50603 Kuala Lumpur Malaysia Faculty of Engineering Universiti Teknologi Mara 40450 Shah Alam Selangor Malaysia

ISBN: (纸本)9781424423286

This paper describes the development of linear autoregressive moving average with exogenous input (ARMAX) models to monitor the progression of dengue infection based on hemoglobin status. Three differents ARMAX model order selection criteria namely Final Prediction Error (FPE), Akaike's Information Criteria (AIC) and Lipschitz number have been evaluated and analyzed. The results showed that Lipschitz number has better accuracy compared to FPE and AIC. Finally based on Lipschitz number, appropriate model orders have been selected to monitor the progression of dengue patients based on hemoglobin status. Further work is to apply this appropriate model orders to nonlinear Autoregressive (NARMAX) model. © 2008 IEEE.

关键词： Hemoglobin

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The advantages and disadvantages of kalman filtering in iterative learning control

The advantages and disadvantages of kalman filtering in iter...

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18th Annual Space Flight Mechanics Meeting

作者： Panomruttanarug, Benjamas Longman, Richard W. Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Mechanical Engineering Civil Engineering and Engineering Mechanics Columbia University New York NY 10027 United States

ISBN: (纸本)9780877035442

Iterative learning control (ILC) can eliminate deterministic tracking errors of a control system that repeatedly performs the same tracking maneuver. It iterates with the real world rather than with a model aiming to achieve this zero error, and hence it can achieve lower final error levels in the real world than one could obtain when limiting oneself to using a mathematical model aiming to achieve zero tracking error. There are spacecraft applications when fine pointing sensors perform repeated scans. When there is substantial plant and measurement noise, it is natural to consider using a Kalman filter to improve the signal used by the learning control law. In a separate work, this was analyzed for the sister field of repetitive control (RC). It was observed that when the model in the Kalman filter is imperfect, the use of a Kalman filter can make the final error levels worse rather than better, and care must be taken to assess the benefit in reduced random variations compared to the deterministic error introduced. This is also the case when there are unmodeled repeating external disturbances. Here we show that the same situation applies to ILC if one uses a Kalman filter running in time steps during each iteration. But one can reformulate the Kalman filter to operate in the repetition or iteration domain, and when this is done, one can still converge to zero expected value of the tracking error in the presence of model errors and external repeating disturbances.

关键词： Kalman filters

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Robustness on model error of time delayed control systems with communication disturbance observer - Verification on an example constructed by double integration controlled object and PD controller

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IEEJ Transactions on Industry Applications 2008年第6期128卷 709-717+4页

作者： Natori, Kenji Oboe, Roberto Ohnishi, Kouhei Department of System Design Engineering Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Control Engineering and Technology Department of Mechanical and Structural Engineering University of Trento Mesiano 77 38050 Trento Italy

This paper discusses robustness on model error of time delayed control systems with communication disturbance observer (CDOB). A feature of the time delay compensation method based on the concept of network disturbance (ND) and CDOB is that the method can be utilized without delay time model (predictive control methods like Smith predictor usually need delay time model). Therefore the method can effectively compensate time delay effect even in the case with time-varying delay. However the method needs a model of controlled system for implementation. Then the robustness on model error of controlled system model is a very important issue for development of the time delay compensation method. In this paper, the robustness on model error is discussed from the perspective of robust stability and steady-state characteristic. At first, robust stability problem is analyzed comparing to that of Smith predictor. Then steady-state characteristic is also studied in the same manner. The validity of analytical results on both robust stability and steady-state characteristics are verified by experimental results. © 2008 The Institute of Electrical Engineers of Japan.

关键词： Time delay

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Adaptive brake warning system for automobiles

Adaptive brake warning system for automobiles

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International Conference on ITS Telecommunications (ITST)

作者： P. Thammakaroon P. Tangamchit Department of Control System and Instrumentation Engineering King Mongkut''s University of Technology Thailand

We present an adaptive brake warning system in order to help a driver keep a safe distance from the cars in front to avoid rear-end collisions. The safe distance continuously varies according to the carpsilas velocity, driving events, and road conditions. Three sensors, an ECU reader, a camera, and a laser range finder, are used to collect the vehicular velocity, the density of cars on the road and the following distance respectively. These data are sent to a main computer to calculate the level of critical situation where the driver needs to apply brake ranging from 0 to 4 where level 0 is the safest and level 4 means the most dangerous. Two decision algorithms: adaptive threshold and fuzzy inference system are compared. The results from real driving situations indicated that both methods can achieve an accuracy of 76.98% and 65.46% respectively.

关键词： Adaptive systems Alarm systems Automobiles Roads Cameras Vehicles Collision avoidance Programmable control Adaptive control Accidents

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Quadratic neural unit for adaptive prediction of transitions among local attractors of Lorenz system

Quadratic neural unit for adaptive prediction of transitions...

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IEEE International Conference on Automation and Logistics

作者： Ivo Bukovsky Frantisek Anderle Ladislav Smetana Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University Czech Republic

ISBN: (纸本)9781424425020

The goal of the paper is to demonstrate an adaptive prediction of trajectory transitions between local attractors of deterministic chaotic systems using low-dimensional dynamic quadratic neural unit with periodically forced neural inputs. The forthcoming transitions of higher dimensional chaotic systems are predicted by a low dimensional discrete dynamic neural unit implemented as a special adaptive forced oscillator. The real-time sample-by-sample evaluation of complex system behavior is based on monitoring of parameters of an adaptive model during its adaptation. The behavior of chaotic systems in the state-space is adaptively transformed to system behavior in an approximated parameter-space using special higher order nonlinear neural unit forced with periodical inputs. Added forcing inputs naturally allow a low dimensional dynamic neural unit to better approximate higher dimensional behavior; the forcing neural inputs are initially configured upon analysis of frequency spectra of the evaluated time series. It is demonstrated that monitoring of system parameters during adaptation of a dynamic neural architecture can reveal important attributes of complex behavior in real time, and should be considered as a novel methodology for early detection of transients between local attractors of higher dimensional chaotic systems (transient chaos) by lower dimensional adaptive evaluating systems, i.e. a neural unit with forcing inputs. The stable learning technique combining consequent adaptation of the static and dynamic neural unit is discussed. Results are shown on the application of monitoring and detection of significant transitions among local basins of attraction in deterministic chaotic time series generated first by Lorenz system in a chaotic mode and second by a high dimensional complex nonlinear dynamic system.

关键词： Chaos Adaptive systems Dynamics Nonlinear dynamical systems Trajectory Monitoring Approximation methods

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Piloted sliding mode FTC simulator evaluation for the EL AL flight 1862 incident

Piloted sliding mode FTC simulator evaluation for the EL AL ...

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作者： Alwi, H. Edwards, C. Stroosma, O. Mulder, J.A. University of Leicester Leicester LE1 7RH United Kingdom Delft University of Technology Delft 2600GB Netherlands Control and Instrumentation Research Group Engineering Department Portugal United States Control and Simulation Division Faculty of Aerospace Engineering United States

ISBN: (纸本)9781563479458

This paper considers a model reference based sliding mode control allocation scheme for fault tolerant control. The scheme uses equal distribution of the control signals to all actuators even when a fault or failure occurs, and assumes no FDI is available. The paper analyzes the scheme and determines conditions under which closed-loop stability is retained for a certain class of faults and failures. It is shown that faults and even certain total actuator failures can be handled directly without reconfiguring the controller. The results obtained from implementing the controller on the SIMONA research flight simulator, configured to represent a large transport aircraft under the EL AL flight 1862 scenario, shows good performance in both nominal and failure scenarios. © 2008 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Flight simulators

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Cooperative behavior-based control of decentralized mobile robots on an overhead box carrying task

Cooperative behavior-based control of decentralized mobile r...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Mahitthidetch Udomkun Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Bangkok Thailand

We demonstrated that the regular behavior-based architecture can be used to control decentralized multiple robots on a tightly-coupled task. With carefully designed behaviors, the robots can work cooperatively and effectively. We divided the behaviors into two types: individual behaviors and group behaviors. Group behaviors, embedded as layers in the behavior-based architecture, act as a mechanism to induced coordination and synchronization among robots. The tightly-coupled task that we use as our testbed is the cooperative overhead transportation of a box, in which two robots have to carry a box over their tops. Little movement error will result in a fall of the box. The result illustrated the validity of the proposed method. The robots can move the box to a goal without falling down with a success rate of 80%.

关键词： Robots Robot kinematics Mobile robots Robot sensing systems Synchronization Transportation Distributed control

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Automatic Ruler Scale Calibration using a Rotary Machine

Automatic Ruler Scale Calibration using a Rotary Machine

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5th International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON 2008), vol.2

作者： Suricha Kraiprawes Anusorn Tonmueanwai Poj Tangamchit Department of Control System and Instrumentation Engineering Faculty of Engineering King Mongkut's University of Technology Bangkok Thailand National Institute of Metrology Thailand Pathum Thani Thailand

We combined a rotary machine with a reflecting optical sensor to built a machine that automatically calibrate ruler scales. The optical sensor is mounted on a linear motion rail along the ruler scales It identifies the marked lines on a metal ruler by detecting reflecting light intensity from the lines. Our system then finds distances between lines and counts the number of lines. The measured results were compared with the a reference length obtaining from an encoder of a precise stepping motor to measure the precision of the ruler scale. From the experiment results, the machine is shown to be capable of standard rulers grade 2 calibration. Lastly, the measurement uncertainty of the machine was analyzed.

关键词： Optical sensor Uncertainty

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Monitoring haemoglobin status in dengue patients using ARMAX model

Monitoring haemoglobin status in dengue patients using ARMAX...

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International Symposium on Information Technology, ITSim

作者： H. Abdul Rahim F. Ibrahim M. N. Taib R. Abdul Rahim Y. Mad Sam Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi udai Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering University of Malaya Kuala Lumpur Malaysia Teknologi Mara Shah Alam Selangor Darul Ehsan Malaysia

This paper describes the development of linear autoregressive moving average with exogenous input (ARMAX) models to monitor the progression of dengue infection based on hemoglobin status. Three differents ARMAX model order selection criteria namely Final Prediction Error (FPE), Akaike’s Information Criteria (AIC) and Lipschitz number have been evaluated and analyzed. The results showed that Lipschitz number has better accuracy compared to FPE and AIC. Finally based on Lipschitz number, appropriate model orders have been selected to monitor the progression of dengue patients based on hemoglobin status. Further work is to apply this appropriate model orders to nonlinear Autoregressive (NARMAX) model.

关键词： Biological system modeling Autoregressive processes Mathematical model Accuracy Diseases Monitoring Predictive models

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Cooperative Overhead Transportation of a Box by Decentralized Mobile Robots

Cooperative Overhead Transportation of a Box by Decentralize...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Mahitthidetch Udomkun Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

We demonstrated that the regular behavior-based architecture can be used to control decentralized multiple robots on a tightly-coupled task. With carefully designed behaviors, the robots can work cooperatively and effectively. We divided the behaviors into two types: individual behaviors and group behaviors. Group behaviors, embedded as layers in the behavior-based architecture, act as a mechanism to induce coordination and synchronization among robots. The tightly-coupled task that we use as our testbed is the cooperative overhead transportation of a box, in which two robots have to carry a box over their tops. Little movement error will result in a fall of the box. The result illustrated the validity of the proposed method. The robots can move the box to a goal without falling down with a success rate of 80%.

关键词： Transportation Mobile robots Robot kinematics Distributed control control systems Centralized control Robot control Instruments systems engineering and theory Testing

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