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Mass action realizations of reaction kinetic system models on various time scales

Journal of Physics: Conference Series 2011年第1期268卷

作者： K M Hangos G Szederkényi Process Control Research Group Computer and Automation Reseach Institute Kende u. 13-17 H-1111 Budapest Hungary Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 Veszprém Hungary

Complex chemical reaction networks often exhibit different dynamic behaviour on different time scales. A combined approach is proposed in this work for determining physically meaningful mass action realizations of complex chemical reaction networks that describe its dynamic behaviour on different time scales. This is achieved by appropriately reducing the detailed overall mass action kinetic scheme using quasi steady state assumptions fit to the particular time scale, and then searching for an optimal realization using mixed integer linear programing. Furthermore, the relationship between the properties (reversibility, deficiency, stability) of the obtained realizations of the same system on different time scales are also investigated and related to the same properties of the detailed overall model. It is shown that the reduced models obtained by quasi steady state assumptions may show exotic nonlinear behaviour, such as oscillations, when the original detailed is globally asymptotically stable. The proposed methods are illustrated by using a simple Michaelis-Menten type reaction kinetic example. The simplified versions of the well known Brusselator model have also been investigated and presented as a case study.

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Automatic estimation of light sleep level during short nap

Automatic estimation of light sleep level during short nap

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15th International Symposium on Artificial Life and Robotics, AROB '10

作者： Wang, Bei Sugi, Takenao Wang, Xingyu Shirakawa, Shuichiro Nakamura, Masatoshi Department of Automation East China University of Science and Techonology Shanghai China Department of Electrical and Electronic Engineering Saga University Saga Japan National Centre of Neurology and Psychiatry Tokyo Japan Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9784990288044

Short nap is a good relaxation way when people feel sleepy and tired during the day time. An automatic light sleep level estimation technique was presented for short nap sleep evaluation. Parameters were extracted from the polysommnographic sleep record. Sleep stages of open eyes awake, close eyes awake, and stage 1 were determined automatically based on the conditional probability. The conditional probability indicated the possibility of occurrence of sleep stages during short nap. The light sleep level was estimated based on the continuous change of conditional probability of awake. The developed technique can be usable for comfortable short nap sleep control. © 2010 ISAROB.

关键词： Probability

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Sensor data fusion using fuzzy control for VOR-based vision tracking system

Sensor data fusion using fuzzy control for VOR-based vision ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hyun-il Kwon Jaehong Park Wonsang Hwang Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision tracking system to achieve high recognition performance under dynamic circumstances, using a fuzzy logic controller. The main concept of the proposed system is based on the vestibulo-ocular reflex (VOR) and the opto-kinetic reflex (OKR) of the human eye. To realize the VOR concept, MEMS inertial sensors and encoders are used for robot motion detection. This concept turns the camera towards a selected target, counteracting the robot motion. Based on the OKR concept, the targeting errors are periodically compensated, using vision information. The fuzzy logic controller uses sensor data fusion to detect slip or collision occurrences. To calculate a heading angle of the camera accurately, the output of the fuzzy logic controller and the vision information from the camera are combined, using an extended Kalman filter. The proposed vision tracking system is implemented in a mobile robot and evaluated experimentally. The experimental results are obtained as the tracking and the recognition success rate using a mobile robot. The developed system achieved the excellent tracking and recognition performance during slip or collision occurrences under dynamic circumstances.

关键词： Cameras Mobile robots Robot vision systems Machine vision Fuzzy logic

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VVAF - Worst case & safety analysis tools for autonomous rendezvous system

VVAF - Worst case & safety analysis tools for autonomous ren...

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AIAA Guidance, Navigation, and control Conference

作者： Paulino, Nuno Di Sotto, Emanuele Salehi, Sohrab Kron, Aymeric Hamel, Jean-François Wang, Wenfei Menon, Prathyush P. Bates, Declan G. Papachristodoulou, Antonis Maier, Christoph GMV Tres Cantos Madrid Spain Rhea System at ESA-ESTEC Noordwijk Netherlands NGC Aerospace Mouans Sartoux France NGC Aerospace Sherbrooke Canada Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester United Kingdom Department of Engineering Science University of Oxford Oxford United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781600869624

The traditional verification and validation (V&V) process can produce sufficiently safe and reliable systems in the demanding aerospace field. But this comes at great cost and effort, with the necessary simulation of all possible operational conditions for increasingly complex control systems involving substantial autonomy. It is of interest to go beyond the statistical confidence of traditional Monte Carlo methods. New V&V methods need to cope with a large number of mission parameters and mode transitions. They must identify the worst combinations of perturbations, uncertainties and failures. Two classes of frameworks are investigated in the VVAF project: integrated V&V frameworks (IVVF) supported by simulation based analysis techniques, either integrated or with local analysis techniques to establish the global system properties;and enhanced V&V frameworks (EVVF), based on mathematical proof. Two EVVF techniques are explored: Barrier-construction and Reachability-set analysis. These guarantee fulfillment of globally exact safe operation, by the construction of barrier certificates considering nonlinearities, uncertainties and constraints. In addition, two IVVF techniques are developed: Analytical-based (AIVV) and Optimization-based (OIVV). AIVV consists of integrating and embedding frequency domain LFT-based mu-analysis techniques to exclude regions with guaranteed performance and/or identify the most critical areas, within a Monte Carlo simulation based V&V. With as few runs as possible of the non linear time simulator, local analyses can steer the global search towards the worst case. OIVV uses optimization techniques, also linked to the simulator, to identify and characterize the system worst case. Several heuristic techniques are evaluated for global parameters search, which is then refined using local optimization techniques to locate and characterize the worst case. The AIVV can also aid the OIVV by identifying search regions and promising initialization poi

关键词： Monte Carlo methods

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High performance vision tracking system for mobile robot using sensor data fusion with Kalman filter

High performance vision tracking system for mobile robot usi...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jaehong Park Wonsang Hwang Hyun-il Kwon Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper introduces a high performance vision tracking system for mobile robot using sensor data fusion. For mobile robots, it is difficult to collect continuous vision information due to robot's motion. To solve this problem, the proposed vision tracking system estimates the robot's position relative to a target and rotates the camera towards the target. This concept is derived from the human eye reflex mechanism, known as the Vestibulo-Ocular Reflex (VOR), for compensating the head motion. This concept for tracking the target results in much higher performance levels, when compared with the conventional method that rotates the camera using only vision information. The proposed system do not require heavy computing loads to process image data and can track the target continuously even during vision occlusion. The robot motion information is estimated using data from accelerometer, gyroscope, and encoders. This multi-sensor data fusion is achieved using Kalman filter. The proposed vision tracking system is implemented on a two-wheeled robot. The experimental results show that the proposed system achieves excellent tracking and recognition performance in various motion scenarios, including scenarios where camera is temporarily blocked from the target.

关键词： Robot sensing systems Target tracking Machine vision Kalman filters Cameras

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THD reduction with grid synchronized inverter’s power injection of renewable sources

THD reduction with grid synchronized inverter’s power injec...

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International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： Péter Görbe Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary Process Control Research Group Computer and Automation Research Institute Budapest Hungary

A control method for small domestic power plants using renewable energy is described in this paper. This method is not only capable of optimizing the working point of the plant but also implements active power factor correction and lowers the extant harmonic distortion in the line. The novel element in the proposed complex controller structure is the upper harmonic controller that minimizes the amplitudes of the 3rd, 5th 7th, 9th, and the 11th upper harmonic component in the output voltage. The proposed controller has been investigated by simulation in Matlab environment, and as a result, substantial improvement of the output voltage and current waveform could be achieved. Robustness of the method against nonlinear loads has also been tested.

关键词： Power factor correction Costs Power generation Voltage control Harmonic distortion Robustness Nonlinear distortion Solar power generation Power supplies Inverters

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Retraction notice to “Direct adaptive control based on gradient estimation and industrial application” [control Eng. Pract. 17 (2009) 1065–1075]

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control engineering Practice 2011年第5期19卷 522-522页

作者： Zhong Zhao Ning Xu M. Nakamura Y. Ikegami Department of Automation P.O. Box 81 Beijing University of Chemical Technology Beisanhuan East Road 15 Chaoyang District Beijing 100029 China Beijing Research Institute of Chemical Technology SINOPEC Corp Beijing 100023 China Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi 1 Saga 840-8502 Japan Institute of Ocean Energy Saga University Honjomachi 1 Saga 840-8502 Japan

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Dynamic modeling and model analysis of a large industrial synchronous generator

Dynamic modeling and model analysis of a large industrial sy...

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International Conference on Applied Electronics, AE

作者： Attila Fodor Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A simple dynamic model of an industrial size synchronous generator operating in a nuclear power plant is developed in this paper based on first engineering principles. The constructed state-space model consists of a nonlinear state equation and a bi-linear output equation. It has been shown that the model is locally asymptotically stable with parameters obtained from the literature for a similar generator. The effect of load disturbances on the partially controlled generator has been analyzed by simulation using a traditional PI controller. It has been found that the controlled system is stable and can follow the set-point changes in the effective power well. The disturbance rejection of the controller is also satisfactory.

关键词： Mathematical model Equations Synchronous generators Torque Windings Rotors

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Nested backward compensation of unmatched effects of unknown inputs based on HOSM identification

Nested backward compensation of unmatched effects of unknown...

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International Workshop on Variable Structure systems, VSS

作者： Alejandra Ferreira Elisabetta Punta Department of Control Engineering Faculty Universidad Nacional Auténoma de México Mexico Mexico National Research Council of Italy Institute of Intelligent Systems for Automation ISSIA-CNR Genoa Italy

The paper considers the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and perturbation estimation. It is introduced a controller with a compensation strategy based on the identified perturbation values. When the system satisfies quite restrictive assumptions, the method ensures exact regulation of the unmatched states. In order to deal with the general case it is proposed a nested backward strategy to design the sliding surface, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded.

关键词： Sliding mode control Uncertainty control systems Robustness Nonlinear control systems Observers State estimation Design methodology Robust control Variable structure systems

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