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13th IFAC Symposium on system Identification, SYSID 2003

作者： Kumamaru, K. Inoue, K. Hosoyamada, Y. Söerström, T. Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Kawazu 680-4 Fukuoka Iizuka820-8502 Japan Department of Automatic Control and System Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This paper is concerned with an application study of model-based fault detection method to a ship propulsion system. When modeling the object system, Quasi-ARMAX model with multi-model form is used. In this model, the system non-linearity is incorporated into model parameters by using non-linear non-parametric models (NNMs). Kullback discrimination Information (KDI) is introduced as fault detection index to evaluate the distortion in identified model, which is caused by a fault. The effectiveness of the method is verified through simulation studies on the ship propulsion system. © 2003 International Federation of Automatic control.

关键词： Fault detection

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Virtual control of Robot

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IFAC Proceedings Volumes 2003年第1期36卷 323-326页

作者： Pavel Kučera Petr Honzík František Zezulka Brno University of Technology Faculty of Electrical Engineering and Communication Department of Control and Instrumentation Božetěchova 2 612 66 Brno Czech republic Tel: ++420 5 4114 1308 Fax: ++450 5 4114 1123

Industrial communication via Internet plays an important role in the new generation's daily life; thus many standard industrial types of equipments are connected via Internet for purpose of visualisation, configuration and recently control. This contribution deals with one of these industrial equipments-laboratory robot. Readers are familiarised with hardware configuration of the robot at first, i.e. control circuit with power drivers, protection and serial communication interface. Then software configuration is mentioned, i.e. communication protocol, Win2K driver, control algorithm and Java communication model. Main purpose of the contribution is based on whole system that enables control of the robot via Java applet window.

关键词： control system Communication system Software engineering Computer hardware Computer software Computer controlled systems

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Fault detection of non-linear systems based on multi-form quasi-armax modeling and its application to the ship benchmark

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IFAC Proceedings Volumes 2003年第16期36卷 1047-1052页

作者： K. Kumamaru K. Inoue Y. Hosoyamada T. Söerström Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka 820-8502 Fukuoka Japan Department of Automatic Control and System Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

关键词： Fault detection Kullback discrimination information non-linear system parameter estimation quasi-ARMAX model

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Simulation of RFieldbus networks

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IFAC Proceedings Volumes 2003年第13期36卷 109-116页

作者： Elke Hintze Pavel Kucera Institut f. Automation und Kommunikation e. V. Magdeburg (ifak) Steinfeldstr. 3 D-39179 Barleben. Germany Brno University of Technology Faculty of Electrical Engineering and Communication Department of Control and Instrumentation Bozetechova 2 612 66 Brno Czech Republic

Driven by the demand on more flexibility in manufacturing and process automation systems. investigations are made in the field of wireless communication. In the R-FlELDBUS project a new wireless physical layer type was added to an existing fieldbus system. The resulting R-FIELDBUS systems allow adaptive architectures with mixed wired and wireless segments. To be able to analyse the functional and time behaviour of different configurations, a simulation model of the fieldbus system was also extended by the wireless behaviour. This paper describes the used simulation method. the models of the communication protocol as well as the new added wireless medium type as well as providing some first simulation results.

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40th EASD Annual Meeting of the European Association for the Study of Diabetes : Munich, Germany, 5-9 September 2004

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Diabetologia 2004年第SUPPL 1期47卷 A1-A464页

作者： Veitenhansl, M. Stegner, K. Hierl, F.-X. Dieterle, C. Feldmeier, H. Gutt, B. Landgraf, R. Garrow, A. P. Vileikyte, L. Findlow, A. Waterman, C. Boulton, A. J. M. Shankhdhar, K. Shankhdhar, L. Shankhdhar, U. Petrova, N. L. Foster, A. V. M. Edmonds, M. E. Ferraresi, R. Caravaggi, C. De Giglio, R. Cavaiani, P. Pogliaghi, I. Sommariva, E. Katz, I. A. Harlan, A. Miranda-Palma, B. Prieto-Sanchez, L. Armstrong, D. G. Bowker, J. H. Mizel, M. S. Cernea, S. Wohlgelernter, J. Kidron, M. Modi, P. Raz, I. Arbit, E. Nosek, L. Kapitza, C. Beckett, P. Gelfand, R. Goldberg, M. Heise, T. Testa, M. A. Turner, R. R. Hayes, J. F. Scranton, R. E. Simonson, D. C. Yang, Y.-W. Hsu, Y.-J. Naujok, O. Francini, F. Jörns, A. Tiedge, M. Lenzen, S. Abdel-Wahab, Y. H. A. Marenah, L. Orr, D. F. Shaw, C. Flatt, P. R. Chokkalingam, K. Mansell, P. I. Clausen, P. Ekbom, P. Damm, P. Feldt-Rasmussen, U. Nielsen, B. Mathiesen, E. R. Feldt-Rasmussen, B. Dewan, S. Da Silva, N. Ternan, P. Mc Leong, K. S. Wilding, J. P. H. Asatiani, N. Kurashvili, R. Dundua, M. Shelestova, E. Pagava, K. Ramazashvili, M. Hod, M. Smirnov, S. Petersen, J. L. A. Justesen, T. I. Ringholm Nielsen, L. Müller, C. Højlund, K. Wensaas, A. Kase, E. T. Aas, V. Rustan, A. C. Thoresen, G. H. Levin, K. Beck-Nielsen, H. Gaster, M. Im, S.-S. Kang, S.-Y. Kim, S.-Y. Ahn, Y.-H. Lihn, A. S. Schmoll, D. Werner, T. Kienitz, A. Meyer, M. Barthel, A. Ailett, F. Sutherland, C. Walther, R. Grempler, R. Sasson, S. Reich, R. Tenenbaum, T. Alpert, E. Anfossi, G. Russo, I. Traversa, M. Massucco, P. Mattiello, L. Doronzo, G. Trovati, M. Lally, S. Tan, C. Y. Owens, D. Tomkin, G. H. Porchay, I. Péan, F. Bellili, N. Betoulle, D. Balkau, B. Tichet, J. Marre, M. Fumeron, F. Chatellier, G. Alhenc-Gelas, F. Nichols, G. A. Brown, J. B. Hayes, R. P. Bowman, L. Drexel, H. Saely, C. H. Marte, T. Benzer, W. Langer, P. Hoefle, G. Moll, W. Aczel, S. Karagiannis, E. Lübben, G. Urquhart, R. Edwards, G. Bruce, S. Howlett, H. S. C. Cugnardey, N. Turner, K. C. Park, J.-S. Fiedorek, F. T. Avogaro, A. Gallo, A. Pinton, P. Riz Innenstadt Klinikum der Universität München München Germany Diabetes Center Medizinische Klinik München Germany Medicine The University of Manchester Manchester UK Medicine University of Manchester Manchester UK Podiatry The University of Salford Manchester UK Department of Medicine/Division of Endocrinology Diabetes and Metabolism University of Miami Miami USA Department of Medicine Manchester Royal Infirmary Manchester UK Podiatry L.K.Diabetes Centre Lucknow India Diabetology L.K.Diabetes Centre Lucknow India Medical Nutrition L.K.Diabetes Centre Lucknow India Diabetic Foot Clinic King’s College Hospital London UK Haemodinamic Department - Cardiovascular Division Magenta Hospital Milan Italy Center for the Study and Treatment of Diabetic Foot Pathology Abbiategrasso Hospital Milan Italy Center for the Study and Treatment of Diabetic Foot Pathology Abbiategrasso Hospital Abbiategrasso Italy Department of Orthopedics University of Miami Miami USA Department of Surgery Southern Arizona Veterans Affairs Medical Center Tucson USA Surgery Southern Arizona VA Medical Center Tucson USA Podiatric Medicine and Surgery Rosalind Franklin University School of Medicine and Science North Chicago USA Diabetes Department Center of Diabetes Nutrition and Metabolic Disorders Clug-Napoca Romania Diabetes Unit Hadassah University Hospital Jerusalem Israel Diabetes Unit Hadassah Hebrew University Hospital Jerusalem Israel Research Department Generex Biotechnology Corporation Toronto Canada Hadassah Hebrew University Hospital Jerusalem Israel Medical Research Emisphere Technologies Inc. New York USA Profil Institut fuer Stoffwechselforschung GmbH Neuss Germany Profil Institute for Metabolic Research Neuss Germany Management Profil Inst. für Stoffwechselforschung Düsseldorf Germany Institute for Metabolic Research Profil Neuss Germany Biostatistics Harvard School of Public Health Boston USA Clinical Research Phase V Technologies Wellesley Hills US

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Mobile robots playing soccer

Mobile robots playing soccer

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International Workshop on Advanced Motion control (AMC)

作者： J. Hrabec B. Honzik Faculty of Electrical Engineering and Communication Department of Control and Instrumentation Brno University of Technology Czech Republic

Robot soccer is a game similar to the "classical" soccer, but the players are robots. Each team consists of three players, one of them is the goalkeeper. Robots have to be controlled remotely from the host computer. The color camera connected to the computer is used for gaining information about the position of individual players and the orange golf ball. The match between two teams (each having its own camera and computer) is running without human intervention, with the exception of foul or stalemate situations, when the game is interrupted and a standard situation, such as free kick or penalty kick is called. The paper discusses micro robot control electronics based on a single-chip microcontroller with specialized DC motor controllers. Algorithms for fast image processing and object recognition are presented. A real time vector field based path planning for attack and defense robot is described. Artificial intelligence is realized using the decision tree algorithm.

关键词： Mobile robots Robot vision systems Cameras Humans Games Robot control Microcontrollers DC motors Image processing Object recognition

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Comparative analysis of fuzzy PI/PD/PID controller based on classical PID controller approach

Comparative analysis of fuzzy PI/PD/PID controller based on ...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： P. Pivonka Faculty of Electrical Engineering and Communication Department of Control Measurement and Instrumentation Brno University of Technology Brno Czech Republic

Fuzzy PID controllers are physically related to classical PID controller. The parameters settings of classical and fuzzy controllers are based on deep common physical background. The original newly introduced method c... 详细信息

关键词： Three-term control Fuzzy control Two-term control PD control Communication system control Fuzzy sets Optimization methods Regulators Proportional control Electric variables measurement

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Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots

Optimal design and actuator sizing of redundantly actuated o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Tae Bum Park Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Burn Jae You Sang-Rok Oh School of Electrical Engineering and Computer Science Hanyang South Korea Department of Control & Instrumentation Engineering Korea University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.

关键词： Actuators Mobile robots Wheels Angular velocity Optimal control control systems Roads Computer science Intelligent systems Intelligent control

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Process instrumentation modular models of thermal power plant for operator training simulators 15th

Process instrumentation modular models of thermal power plan...

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15th World Congress of the International Federation of Automatic control, 2002

作者： Hrdlicka, P. Neuman, P. Šulc, B. International Power - Elektrarny Opatovice Power Plants Pardubice 2532 13 Czech Republic Energy Training Center VSE Tuimice Cihlárská 4132 Chomutov430 03 Czech Republic Czech Technical University in Prague Faculty of Mechanical Engineering Department of Instrumentation and Control Engineering Technická 4 Prague 6166 07 Czech Republic

ISBN: (纸本)9783902661746

The increasing use of operator training simulators means that there is a need for models of industrial plants which are at the same time detailed but also simple enough to provide a credible (but not necessarily precise) simulation for both small and large changes of operating point. These conflicting requirements are often complicated by the desire to carry out operator training using the control and monitoring system with which the respective device or process is equipped. This paper shows how in the modelling of a thermal power unit a non-linear model based on "first principle" analysis is used for building up operator training simulators. This process instrumentation model, which can be called a reality-oriented model, was developed as a purpose-built user block library in the MATLAB-SIMULINK standard simulation package. This process instrumentation model represents the water feeding subsystem of a steam boiler with 250 t/h power capacity of a 55 MW power unit, as a part of the operator training simulator developed for Opatovice Power Plants in the Czech Republic. Copyright © 2002 IFAC.

关键词： Personnel training

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Voltage control in power system using expert system based on SCADA system

Voltage control in power system using expert system based on...

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IEEE Winter Meeting Power engineering Society

作者： C. Pimpa S. Premrudeepreechacharn System Dispatch Section 2 Regional System Control and Operation Division Northern Regional Operation Department EGAT Phitsanulok Thailand Department of Electrical Engineering Faculty of Engineering Chiang Mai University Chiang Mai Thailand

ISBN: (纸本)0780373227

This paper presents the type of expert system for controlling the 22 kV voltage levels of a power system in the northern region of Thailand based on the SCADA system. At present, for the operation, the operators have to make decisions by their knowledge and experience to control the voltage. This expert system is obtained for alleviation of voltage violation in the day-to-day operation of a distribution substation in the system, and for processing the data from the SCADA for helping the operator detect buses experiencing abnormal conditions. This expert system focused on shunt reactive compensating devices and transformer tap change to select the most effective control for keeping the bus voltage in the entire system within limits. This study selected 6 distribution substations to be tested with this expert system. The performance of the expert system is compared with the operator control in the terms of voltage deviation indices, numbers of tap changing and minimizing losses.

关键词： Voltage control Power system control Power systems Expert systems SCADA systems control systems Shunt (electrical) Capacitors Substations system testing

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