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International Conference on Industrial Electronics, control and instrumentation

作者： H.K. Cho B.H. Lee Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul South Korea

This paper presents a systematic approach to the time-optimal motion planning of a cooperative two robot system along a prescribed path. First, the minimum-time motion planning problem is formulated in a concise form by parameterizing the dynamics of the robot system through a single variable describing the path. The constraints imposed on the input actuator torques and the exerted forces on the object are then converted into those on that variable, which result in the so-called admissible region in the phase plane of the variable. Considering the load distribution problem that is also involved in the motion, we present a systematic method to construct the admissible region by employing the orthogonal projection technique and the theory of multiple objective optimization. Especially, the effects of viscous damping and state-dependent actuator bounds are incorporated into the problem formulation so that the case where the admissible region is not simply connected can be investigated in detail. The resultant time-optimal solution specifies not only the velocity profile, but also the force assigned to each robot at each instant.< >

关键词： Robotics and automation Motion planning Actuators Robot sensing systems Path planning Multirobot systems Drives Acceleration Automatic control control systems

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An approach to the direct analysis of transient stability

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European Transactions on Electrical Power 1993年第3期3卷 241-248页

作者： Djukanovic, M.B. Sobajic, D.J. Pao, Y.‐H. Miodrag B. Djukanovic (1959) received his B.S. M.Sc. and Ph.D. degrees in Electrical Engineering from the University of Belgrade/Yugoslavia in 1982 1985 and 1992 respectively specializing in electric power systems. In 1984 he joined the Electrical Engineering Institute “Nikola Tesla” in Belgrade where he was working on the scientific studies in the field of power systems planning operation and control. In 1985 and 1990 he was appointed as a research scholar at the Royal Institute of Technology Stockholm and Case Western Reserve University Cleveland Ohio. His major in- terests are in the area of power system analysis steady-state and dynamic security and application of neural networks in electric power systems. (Electrical Engineering Institute “Nicola Tesla” ul. Koste Glavinica 8A YU-11000 Belgrad T +3811/2351-619 Fax + 3811/2351-823) Dejan J. Sobajic (1949) received the B.S.E.E. and the M.S.E.E. degrees from the University of Belgrade/Yugoslavia in 1972 and 1976 respectively and the Ph.D. degree from Case Western Reserve University Cleveland Ohio in 1988. At present he is with the Department of Electrical Engineering and Applied Physics Case Western Reserve University Cleveland. He is also the Engineering Manager of A1 WARE Inc. Cleveland. His current research interests include power system operation and control neuralnet systems and adaptive control. He is a member of the IEEE Task Force on Neural-Network Applications in Power Systems and of the IEEE Intelligent Controls Committee. He is the Chairman of the International Neural-Networks Society Special Interest Group on Power Engineering. (Case Western Reserve University Department of Electrial Engineering and Computer Sciences Glennan Building Ohio 44 106 USA T + 1216/421-2380 Fax +1216/368-8776) Yoh-Han Pao (1922) has been a Professor of Electrical Engineering and Computer Science at Case Westem Reserve University (CWRU) Cleveland Ohio since 1967. He has served as chairman of the University's Electrical Engineering Department

The Transient Energy Function (TEF) method has been intensely investigated over the last decade as a reliable and accurate tool for transient stability assessment of multimachine power systems. In this paper we propose the Potential Energy Boundary Surface (PEBS) based method for direct analysis of transient stability. The critical value of transient energy and the Critical Clearing Time (T_CCT) are evaluated without the need for successive calculation and memorization of the system kinetic and potential energy values along the sustained fault trajectory. The method is used for determination of output features in the training phase of the neural‐net based transient security assessment. The proposed approach is tested on the well‐known ten‐generator New England test system demonstrating the validity and accuracy of obtained results. Copyright © 1993 John Wiley & Sons, Ltd.

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A RESOLVER-TO-DIGITAL CONVERSION METHOD FOR FAST TRACKING

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1992年第5期39卷 369-378页

作者： YIM, CH HA, IJ KO, MS Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul South Korea

In this paper, we propose a new resolver-to-digital (R/D) conversion method in which a bang-bang type phase comparator is employed for fast tracking. We eliminate from the R/D conversion loop the low-pass filter that is needed to reject carrier signal and noise. Instead, we employ two prefilters outside the R/D conversion loop that take the role of the low-pass filter. We can thereby construct a fast and accurate tracking R/D converter. Some simulation and experimental results as well as mathematical performance analysis are presented to demonstrate the superior tracking performance of our R/D converter over conventional tracking R/D converters.

关键词： Signal resolution Low pass filters Voltage-controlled oscillators Phase locked loops Tracking loops Shafts Magnetic separation Circuit noise Magnetic noise Phase noise

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control OF INDUCTION-MOTORS FOR BOTH HIGH DYNAMIC PERFORMANCE AND HIGH-POWER EFFICIENCY

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1992年第4期39卷 323-333页

作者： KIM, GS HA, IJ KO, MS Department of Electronics The Central R & D Institute Daewoo Heavy Industries Limited Incheon South Korea Department of Control & Instrumentation Engineering and Automation and Systems Research Institute Seoul National University Seoul South Korea

In this paper, we attempt to control induction motors with maximum power efficiency as well as high dynamic performance by means of decoupling of motor speed (or motor torque) and rotor flux. For maximum power efficiency, the squared rotor flux is adjusted according to a minimum power search- algorithm until the measured power input reaches the minimum. Since the motor speed is dynamically decoupled from the rotor flux, this can be done successfully without any degradation of motor speed responses. Our controller depends on rotor resistance but not on stator resistance. However, the performance of our control scheme is robust with respect to variations in rotor resistance because an identification algorithm for rotor resistance is employed. Our identification algorithm for rotor resistance has some advantages over the previous methods. To demonstrate the practical significance of our results, we present some experimental results.

关键词： Induction motors Rotors Stators DC motors Torque control Voltage Inductance Optimal control Electrical resistance measurement Power measurement

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Path planning for a mobile robot with grid type world model

Path planning for a mobile robot with grid type world model

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Chung, Hakyoung Choi, Yong Seek Lee, Jang Gyu Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Seoul151-741 Korea Republic of

ISBN: (纸本)0780307372

This paper describes a methodology of world modelling and path planning for a mobile robot. The world model, called a certainty grid for obstacle representation,is obtained from readings of ultrasonic sensors and more accurate world model is built by using the information of neighboring sonar sensors. A linear programming method for the shortest paths from many origins to a destination is proposed. The global path is generated with off-line calculation but the local paths are obtained on-line by table look-up method. It is implemented on a physical mobile robot. The results show that the certainty grid which is updated by our proposed method well represents a precise environment including the location of obstacles. The robot was enable to navigate to a destination avoiding obstacles with the path which is calculated by the proposed linear programming method. © 1992 institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Mobile robots

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Application of recursive partially unknown system identification to aerodynamic coefficients estimation

Application of recursive partially unknown system identifica...

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Astrodynamics Conference, 1992

作者： Kim, Won-Jong Lee, Jang Gyu Lee, Dal Ho Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Seoul151-742 Korea Republic of

Presented in this paper is an application to aerodynamic coefficients estimation of new recursive parameter identification algorithm which utilizes the recursive least squares (RLS) method and the constrained quadratic programming, useful for partially unknown systems described in state space. It is possible to combine the two independent techniques because they both minimize cost functions in least square sense. Also discussed is the convergence properties of the algorithm, showing that it converges well and fast. In order to demonstrate its practical use, the technique is applied to a set of discretized and linearized equations of the motion of an aircraft only to show a satisfactory result in identifying aerodynamic coefficients in the equations. © 1992 American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Cost functions

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Robot motion planning for time-varying obstacle avoidance using view-time concept

Robot motion planning for time-varying obstacle avoidance us...

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1992 IEEE International Symposium on Industrial Electronics, ISIE 1992

作者： Ko, Nak Yong Lee, Bum Hee Ko, Myoung Sam Nam, Yun Seok Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Shinrim-Dong Kwanak-Ku Seoul151-742 Korea Republic of

ISBN: (纸本)0780300424

An approach to solving the time-varying obstacle avoidance problem is pursued. The mathematical formulation of the problem is given in robot joint space (JS). The view-time concept is introduced to deal with time-varying obstacles. The view-time is the period in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is the volume swept by the time-varying obstacle for the view-time. The swept volume is transformed into the JS obstacle that is the set of robot configurations causing the collision between the robot and the swept volume. In JS, the path avoiding the JS obstacle is planned, and a trajectory satisfying the constraints on robot motion planning is planned along the path. This method is applied to the collision-free motion planning of two SCARA robots, and the simulation results are given. © 1992 IEEE.

关键词： Collision avoidance

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An approach to interconnection, modelling and simulation for a multi-robot workcell

An approach to interconnection, modelling and simulation for...

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1992 IEEE International Symposium on Industrial Electronics, ISIE 1992

作者： Lee, Ki Dong Lee, Bum Hee Ko, Myoung Sam Hong, Jee Min Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Shinrim-Dong Kwanak-Ku Seoul151-742 Korea Republic of

ISBN: (纸本)0780300424

For a robotic workcell with multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multi-robot interconnection system (MRIS), the authors turn the knowledge of multiple processor system (MPS) or multiple computer system (MCS) to good account. The systems are modelled using the queuing network. Performance evaluation is done through the mean value analysis with their response time and the probability of service failure under different workloads. To verify the significance of the proposed analysis method, a computer simulation is performed. The results together with comments suggest some useful guidelines for selecting an appropriate interconnection method for the MRIS. © 1992 IEEE.

关键词： Industrial robots

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Robot motion planning for time-varying obstacle avoidance using view-time concept

Robot motion planning for time-varying obstacle avoidance us...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Nak Yong Ko Bum Hee Lee Myoung Sam Ko Yun Seok Nam Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

关键词： Robot motion Motion planning Path planning Robot kinematics Orbital robotics Space stations Robotics and automation Trajectory Motion analysis Automatic control

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Path Planning For A Mobile Robot With Grid Type World Model

Path Planning For A Mobile Robot With Grid Type World Model

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Hakyoung Chung Yong Seek Choi Jang Gyu Lee Automation and Systems Research Institute &Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

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