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IEEE International Conference on Robotics and automation (ICRA)

作者： M.H. Choi B.H. Lee M.S. Ko Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

The optimal load distribution for two cooperating robots is studied, and a solution approach utilizing a force ellipsoid is presented. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function. The effort exerted by the robots to follow the specified motion is defined to be the joint torque norm square, and the optimal solution minimizing the effort is obtained using the concept of the force ellipsoid and nonlinear optimization theory. Despite the presence of the joint torque constraints, the optimal solution is obtained almost as a closed form which requires small computation time. The proposed solution approach is illustrated and the internal force effect is studied using a numerical example.< >

关键词： Ellipsoids Robotics and automation Torque Performance analysis Manipulators Service robots Orbital robotics Vectors Instruments Fixtures

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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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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Ki Dong Lee Bum Hee Lee Myoung Sam Ko Jee Min Hong Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

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.< >

关键词： Magnetic resonance imaging Robotics and automation Service robots Failure analysis Performance analysis Job production systems Manufacturing industries Computer aided manufacturing Flexible manufacturing systems Automatic control

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Performance and parameter region for real time use in IEEE 802.4 token bus network

Performance and parameter region for real time use in IEEE 8...

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International Conference on Industrial Electronics, control and instrumentation

作者： Hong Seong Park Deok-Woo Kim Wook Hyun Kwon Engineering Research Center for Advanced Control and Instrumentation and Automation and Systems Research Institute Seoul National University Seoul South Korea

The authors derive the upper and the lower bounds for the mean cycle time and the mean message transmission time of class six and class four in the IEEE 802.4 token bus network, within which the minimum utilization constraint of class four is guaranteed. They also derive stability conditions for the token bus network. These bounds and stability conditions are represented in terms of the high priority token hold time, the token rotation time, the arrival rate, the total station number, etc. A parameter tuning algorithm is proposed in a partially symmetric token bus network with two classes. This algorithm maximizes the utilization of class four for a given high priority token hold time and at the same time meets the constraints of the stability condition of the network, the real time constraint, and the minimum utilization of class four.< >

关键词： Intelligent networks Stability Computer aided manufacturing Time factors Computer integrated manufacturing Delay effects Real time systems Automatic control control systems Instruments

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An approach to robot motion analysis and planning for conveyor tracking

An approach to robot motion analysis and planning for convey...

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IEEE International Conference on Robotics and automation (ICRA)

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

Robot motion is analyzed and planned for conveyor tracking considering the speed of the conveyor belt and the locations of the part and the robot. The joint torque limit, joint velocity, acceleration, and jerk limits of the robot are taken into account in the motion analysis and planning. To include the robot arm dynamics, the problem is formulated as second order state equations using a parametric function. The conveyor tracking problem is then converted to an optimal tracking problem. The solution that minimizes the specified performance index is obtained using the dynamic programming approach. Numerical examples are presented to demonstrate the significance of the proposed method for conveyor tracking of the robot in a workcell.< >

关键词： Robot motion Motion planning Tracking Belts Torque Acceleration Motion analysis Equations Performance analysis Dynamic programming

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Architecture of a ladder solving processor (LSP) for programmable controllers

Architecture of a ladder solving processor (LSP) for program...

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International Conference on Industrial Electronics, control and instrumentation

作者： W.H. Kwon J. Kim J. Park Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

The authors propose a dedicated architecture of a ladder solving processor (LSP) for programmable controllers. A mathematical representation of the ladder language is suggested and algorithms for solving this ladder language are presented using abstract notations. The performance of the proposed architecture was demonstrated by an experimental prototype of the LSP. Computer simulations showed that, under reasonable assumptions, the proposed LSP can process the pure logic instruction group at 45.5 MIPS using eight cells. In case of a ladder program, a quarter of which is the box instruction group, the LSP can process at the rate of 0.27 ms/Kstep using a single-cell architecture, and at the rate of 0.18 ms/Kstep using four cells. This speed is much faster than that of the existing programmable controllers.< >

关键词： Automatic control Computer architecture Manufacturing automation Microprocessors Instruments Logic arrays Production facilities Large-scale systems Algorithm design and analysis Logic design

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Quadratic robust tracking control — A Polynomial Matrix Approach

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International Journal of Robust and Nonlinear control 1991年第4期1卷 215-227页

作者： Kim, Jeong‐Yeol Ko, Myoung‐Sam Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul 151-742 Kwanak-Ku South Korea

A quadratic robust tracking problem is solved using a polynomial matrix approach. Because of the possibly unstable mode of the control sequence we propose a new quadratic cost function of error and control sequences to facilitate the optimization. The optimal controller makes the plant output track the reference sequence robustly and minimizes the proposed quadratic cost function. We also present the parametrized set of suboptimal controllers which yield finite costs so that there exists the central optimal controller in the set when the parameter is set to zero. The usefulness of our proposed cost function is demonstrated by simulation examples. Our design procedure has advantages over two other possible approaches: the LQ state‐space approach and the Wiener–Hopf approach which may be tried to tackle the same problem. Our approach obviates the need to construct a dynamic observer compared to the state‐space approach and it is computationally attractive compared to the Wiener–Hopf approach. Copyright © 1991 John Wiley & Sons, Ltd.

关键词： Polynomial equation Quadratic robust tracking controller

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control of induction motors for both high dynamic performance and high power efficiency

Control of induction motors for both high dynamic performanc...

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International Conference on Industrial Electronics, control and instrumentation

作者： G.-S. Kim I.-J. Ha M.-S. Ko H.-K. Bae Department of Electronics Central R & D Institute Daewoo Heavy Industries Limited Incheon South Korea Department of Control & Instrumentation Engineering Automation Systems Research Institute Seoul National University Seoul South Korea

An attempt to control induction motors with high dynamic performance and maximal power efficiency by means of decoupling of motor speed (or motor torque) and rotor flux is discussed. For maximal power efficiency, the squared rotor flux is adjusted according to the Fibonacci search method 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. Furthermore, the performance of the control scheme is robust with respect to variations in rotor resistance because an identification algorithm for rotor resistance is used.< >

关键词： Induction motors Rotors Torque control Stators Tellurium Automatic control Search methods Power measurement Degradation Robust control

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MPCS - THE MANUFACTURING PROCESS-control SYSTEM

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AT&T TECHNICAL JOURNAL 1986年第4期65卷 35-45页

作者： DUNIETZ, IS HSU, JLC MCEACHERN, MT STOCKING, JH SWARTZ, MA TROMBLY, RM The authors Irwin S. Dunietz John L.C. Hsu Michael T. McEachern James H. Stocking Mark A. Swartz andRodney M. Tromblyare responsible for design and development of the Manufacturing Process Control System. Mr. Dunietz joined AT&T in 1980. He is a member of the technical staff in the Manufacturing Information Automation department at AT&T Engineering Research Center Princeton New Jersey. He received an A.B. in mathematics from Cornell University and an M.S.E. in computer science from Princeton University. Mr. Hsu who joined AT&T in 1970 is a department head in the Manufacturing Information Automation department at the Engineering Research Center. He received an M.S. in electrical engineering from the University of Missouri. Mr. McEachern joined AT&T in 1962 and is a supervisor in the 5ESS™ Line Unit Manufacturing department at AT&T Technologies in Oklahoma City Oklahoma. He is responsible for the manufacturing process control center in Oklahoma City which provides computerized support for all circuit pack manufacturing. Mr. Stocking who joined AT&T in 1975 is a supervisor in the Manufacturing Information Automation department at the Engineering Research Center. He received a B.S. in chemical engineering from Rensselaer Polytechnic Institute and a Ph.D. in chemical engineering from the University of California Berkeley. Mr. Swartz joined AT&T in 1980 and is a member of the technical staff in the Manufacturing Information Automation department at the Engineering Research Center. He received an A.B. in computer science from Cornell University and an M.S. in computer science from Rutgers—The State University. Mr. Trombly who joined AT&T in 19 78 is an assistant manager at the AT&T Merrimack Valley Works in Massachusetts. Previously he was a supervisor at the Engineering Research Center. He holds a B.S. in computers and systems engineering and an M.S.E.E. from Rensselaer Polytechnic Institute.

The central challenge of all manufacturing is making products to the right standards and delivering them at the right time. AT&T is upgrading its corporate and factory resource planning systems to improve control of day-to-day manufacturing. The Manufacturing Process control System (MPCS), developed at the AT&T engineering research Center (ERC), provides this support. MPCS connects the shop floor with production scheduling, accounting, product data archive, and engineering support systems.

关键词： PRODUCTION control

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AN ADVANCED METHODOLOGY FOR PRELIMINARY HULL FORM DEVELOPMENT

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NAVAL ENGINEERS JOURNAL 1984年第4期96卷 147-161页

作者： LIN, WC DAY, WG HOUGH, JJ KEANE, RG WALDEN, DA KOH, IY Wen-Chin Lin:heads the Ship Powering Division at the David Taylor Naval Ship R&D Center (DTNSRDC). Dr. Lin received his B.S. degree in mechanical engineering from the National Taiwan University in 1957. He was awarded his M.S. degree in naval architecture and Ph.D. in engineering science from the University of California at Berkeley in 1963 and 1966 respectively. From 1966 to 1969 he was employed by ESSO Research and Engineering Company to conduct marine hydrodynamic research for oil tankers and offshore structures. Since joining DTNSRDC in 1969 he has actively conducted and directed hydrodynamic research to advance naval ship design technology and improve ship performance. Active in national and international symposia on ship hydrodynamic research he is recognized for contributions to the ship research community. For the past six years he has been a member of the Performance Committee of the ITTC and currently serves as secretary of the committee. He is a member of SNAME and the Society of Naval Architects of Japan. William G. Day Jr:. has been employed as a naval architect at the David Taylor Naval Ship R&D Center since receiving a B.E.S. degree from the Johns Hopkins University in 1966. He obtained an M.S. E. degree from George Washington University in 1971. As Head Design Evaluation Branch of the Ship Performance Department he is responsible for model experiments to evaluate the hydrodynamic performance of ships and propulsors. He is a member of ASNE and SNAME. In-Young Koh:received his B.S. and M.S. degrees in electrical engineering from Lowell University in 1969 and 1971 respectively and his Ph.D. in applied mechanics from Rensselaer Polytechnic Institute in 1976. Dr. Koh joined DTNSRDC as an electronic engineer specializing in the application of advanced instrumentation and computer techniques to ship research and design. He is currently engaged in research and development of active control systems for naval ship applications. Dr. Koh is a member of ASNE SNAME and IEEE. David Andrew Walden:is

A ship design methodology is presented for developing hull forms that attain improved performance in both seakeeping and resistance. Contrary to traditional practice, the methodology starts with developing a seakeeping-optimized hull form without making concessions to other performance considerations, such as resistance. The seakeeping-optimized hull is then modified to improve other performance characteristics without degrading the seakeeping. Presented is a point-design example produced by this methodology. Merits of the methodology and the point design are assessed on the basis of theoretical calculations and model experiments. This methodology is an integral part of the Hull Form Design System (HFDS) being developed for computer-supported naval ship design. The modularized character of HFDS and its application to hull form development are discussed.

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SHIPBOARD MAIN BOILER AND FEED PUMP control-SYSTEM ONLINE ALIGNMENT VERIFICATION

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NAVAL ENGINEERS JOURNAL 1982年第6期94卷 39-46页

作者： BANHAM, JW ADAM, DJ James W. Banham:holds positions both as Director of the Machinery Automation Systems Department of the Naval Ship Systems Engineering Station and as Assistant Chairman of the Mechanical and Industrial Engineering Department of Drexel University's Evening College where he holds the rank of Adjunct Associate Professor. He is the author of a text on Numerical Methods Applications in Engineering. In addition to numerous technical papers he is also the author of the ISA film on Boiler Feedwater Control Systems. A registered professional engineer in the state of Pennsylvania Mr. Banham is co-author of a forthcoming handbook on preparing for the Professional Engineering Examination in mechanical engineering. Mr. Banham holds a bachelor of science degree in mechanical engineering from the Pennsylvania State University his graduate studies were taken at the University of Pennsylvania. He is currently a member of the American Society for Engineering Education and the Instrument Society of America. He served as a member of the ISA Education Committee from 1964 through 1973 and as a member of the ISA Power Plant Dynamics Committee since 1969. His service on the latter committee includes terms as Executive Secretary Vice-Chairman and Chairman. Among other honors Mr. Banham was the winner of the Naval Ship Engineering Center's first Technical Achievement Award (1963) Technical Publication Award (1974) and Equal Employment Opportunity Award (1978). He was also the recipient of Drexel University's Laura S. Campbell Award for Excellence in Teaching (1978). He has taught undergraduate courses in classical control theory numerical methods computer programming systems design and analysis and instrumentation. He also teaches systems theory and computer science in an EIT Review and heat transfer in a PE Review conducted by the Drexel University Department of Continuing Professional Education. Mr. David J. Adam:is a Project Engineer in the Naval Sea Systems Command (PMS301) Steam Propulsion Plant Improvement Program where he i

One of the most serious problems encountered in Naval steam plants following World War II was the unreliable performance of boiler and main feedpump pneumatic control systems. In addition to control component and system design deficiencies, these control systems suffered from inadequate methods to measure and adjust system alignment. This paper describes the development of a set of procedures for on-line alignment verification (OLV) of pneumatic main boiler and feedpump control systems. The procedures are designed for use by N avy control system technicians and, in addition to on-line alignment verification, provide guidance for troubleshooting and for performing system alignment. Procedure static checks measure steady state steaming performance and OLV procedure dynamic checks measure the ability of the boiler and control systems to respond to load changes. The paper describes typical control system characteristics that influence OLV procedure content and the supporting analysis that was used to establish alignment criteria ranges that satisfy both steady state and transient performance requirements. Also described is the alignment criteria tolerance analysis along with the steps involved in a typical OLV check procedure development. Descriptions of the various OLV checks, troubleshooting procedures and alignment procedures are provided. Typical shipboard implementation requirements are described and experience to date with the procedures is provided along with a status report on OLV procedure implementations.

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