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MODELING AND control OF ELEVATORS BY STATECHARTS

Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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MOVEMENT -Modular Versatile Mobility Enhancement System

MOVEMENT -Modular Versatile Mobility Enhancement System

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IEEE International Conference on Robotics and automation (ICRA)

作者： Peter Mayer Georg Edelmayer Gert Jan Gelderblom Markus Vincze Peter Einramhof Marnix Nuttin Thomas Fuxreiter Gernot Kronreif Institute integrated study University of Technology Vienna Vienna Austria Institute for Rehabilitation and Research Hoensbroek Netherlands Automation and Control Institute University of Technology Vienna Vienna Austria Department of Mechanical Engineering Katholieke Universiteit Leuven Leuven Belgium Department of Clinical Systems & Simulation Austrian Research Centers GmbH Wien Austria Department of Mechatronik Automation Systems Austrian Research Centers GmbH Seibersdorf Austria

Although powered wheelchairs provide a well established solution for severely impaired persons they do not cover all needs regarding mobility of people with impairment. In the course of the EC funded research project MOVEMENT a novel approach for a highly adaptable and modular mobility enhancement system is targeted to cover additional user needs. A system consisting of a robotic platform and several dockable application modules is developed that additionally provides assistance for the driving process itself to the user or even takes over the complete driving autonomously. The project also includes development of new solutions for navigation of mobile robot systems including a "low-cost" sensor system as well as adaptable HMI components. This paper describes the concept and the first prototyping results.

关键词： Wheelchairs Navigation Mobile robots Robotics and automation Automatic control Robot sensing systems Intelligent robots control systems Sensor systems Prototypes

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Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems

Federated filtering for fault tolerant estimation and sensor...

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Mediterranean Conference on control and automation (MED)

作者： A. Edelmayer M. Miranda Faculty of Engineering Department of Chemical Engineering Laboratory of Unit Operations University de Los Andes Merida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper discusses the application of the idea of federated filtering to the estimation of intrinsically nonlinear distributed systems by examining its impacts on filtering performance by using the Extended Kalman Filter (EKF) as state estimator. Specifically, the performance of the traditional centralized solution is compared with the filtering structure obtained using the federating idea, and their conceptions, and their ability to balance between fault tolerance and estimation accuracy is examined. Our research demonstrates how successfully the EKF for solving nonlinear estimation problems in federated structures can be used, noting that the idea of federation have only been demonstrated for linear problems previously. In addressing the demands of both fault tolerance and estimation accuracy, it is shown that increased filtering accuracy is relied on the proper choice of sharing of the error covariance information between local filters, while sensor fault tolerance is provided by the utilization of an appropriate resetting policy of the filter.

关键词： Fault tolerant systems Sensor systems Redundancy Nonlinear filters Fault tolerance control systems Information filtering Information filters Computer architecture Sensor arrays

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A two-input two-output robust multiple model adaptive control (RMMAC) case study

A two-input two-output robust multiple model adaptive contro...

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American control Conference (ACC)

作者： S. Fekri M. Athans A. Pascoal Instituto Superior Técnico Institute for Systems and Robotic Lisboa Portugal Research Associate in Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK Department of EE&CS MIT Cambridge MA USA

We use the RMMAC architecture and design methodology, introduced in the work of M. Athans et al. (2005) and S. Fekri et al. (2004), to design and evaluate a truly multivariable adaptive control system; this fills a void that is present in the literature. A three-cart problem with two uncertain parameters, two controls, and two outputs is used as the case study. We show that the RMMAC significantly improves disturbance-rejection compared with the "best" non-adaptive controller designed by mixed-mu synthesis. In the example considered, in addition to two uncertainties in mass and spring constants, there are unmodeled dynamics as well as (unmeasured) stochastic disturbance inputs and noisy sensor measurements. Numerous simulation results are presented that demonstrate the superior performance of the RMMAC

关键词： Robust control Adaptive control Computer aided software engineering Design methodology Stochastic processes control system synthesis control systems Robust stability Robustness Springs

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Uncertainty vs Performance Trade-Offs in Robust Feedback control: A Mimo Case Study

Uncertainty vs Performance Trade-Offs in Robust Feedback Con...

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IEEE Conference on Decision and control

作者： J.F. Vasconcelos M. Athans S. Fekri C. Silvestre P. Oliveira Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal EECS (emeritus) M.I.T. USA Research Associate Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK

ISBN: (纸本)1424401704;9781424401703

We use a non-trivial MIMO three-cart Mass-Spring-Dashpot (MSD) system to demonstrate how performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased in the presence of unmodeled dynamics. All designs are carried out by the mixed-mu robust synthesis methodology. Comparisons are made: (a) in the frequency-domain, (b) by RMS values of key signals and (c) in time-domain simulation results

关键词： Uncertainty Robust control Feedback control MIMO Robustness Robust stability Frequency domain analysis Mathematical model control systems MATLAB

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Stereo Vision based Relative Pose and Motion Estimation for Unmanned Helicopter Landing

Stereo Vision based Relative Pose and Motion Estimation for ...

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International Conference on Information and automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines Computer vision

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Hierarchical modelling in biology: Systematic building of limb models

Hierarchical modelling in biology: Systematic building of li...

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作者： Fazekas, C.S. Kozmann, G.Y. Hangos, K.M. Department of Information Systems University of Veszprém Veszprém Hungary Research Institute for Technical Physics and Materials Sciences Department of Biomedical Engineering Budapest Hungary Computer and Automation Research Institute Systems and Control Laboratory Budapest Hungary

ISBN: (纸本)008045108X

A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation signals. The levels, the sub-models on each level and their interconnections are developed and described following a systematic modelling procedure. The computational properties (degree of freedom and differential index) of the developed model have been analyzed and a sub-model has been transformed to meet the index-one requirement for solving the resulting differential algebraic equation (DAE) model by standard methods implemented in MATLAB. The model is extensively verified against engineering expectations using parameter values found in the literature, and a good agreement was found. Parameter sensitivity analysis has also been performed. Copyright © 2005 IFAC.

关键词： Hierarchical systems

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Prediction-based diagnosis and loss prevention using model-based reasoning

Prediction-based diagnosis and loss prevention using model-b...

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18th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert systems: Innovations in Applied Artificial Intelligence, IEA/AIE 2005

作者： Námeth, Erzsábet Lakner, Rozália Hangos, Katalin M. Cameron, Ian T. Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Computer Science University of Veszprám Veszprám Hungary School of Engineering University of Queensland Brisbane Australia

ISBN: (纸本)3540265511

A diagnostic expert system established on model-based reasoning for on-line diagnosis and loss prevention is described in the paper. Its diagnostic "cause-effect" rules and possible actions (suggestions) are extracted from the results of standard HAZOP analysis. Automatic focusing as well as "what-if" type reasoning for testing hypothetical actions have been also implemented. The diagnostic system is tested on a granulator drum of a fertilizer plant in a simulation test-bed. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Artificial intelligence

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HIERARCHICAL MODELLING IN BIOLOGY: SYSTEMATIC BUILDING OF LIMB MODELS

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IFAC Proceedings Volumes 2005年第1期38卷 49-54页

作者： Cs. Fazekas Gy. Kozmann K.M. Hangos Department of Information Systems University of Veszprém Veszprém Hungary Department of Biomedical Engineering Research Institute for Technical Physics and Materials Sciences Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

关键词： Biomedical system model hierarchical system muscle tendon aponeurosis pennation sarcomere

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