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SICE Annual Conference

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence Uberlingen Germany Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Institute of System Dynamics University of Stuttgart Germany

We consider a setting where a team of multiple robots has to fulfil a mission in a specifically defined formation in a partially known environment. In many real environments, not all obstacles are previously known, but often most of them. For the planning of the optimal trajectory along these obstacles a mixed integer programming algorithm is used. If during the mission at least one of the robots detects a previously unknown obstacle, the control on each robot switches from centralized formation control to decentralized control. In this case, each robot is able to use its own set of fuzzy systems for obstacle avoidance and returns to the optimal trajectory after passing the unknown obstacles. This concept allows the robots to find the optimal trajectories for the mission task in known areas using the mixed integer programming. In unknown or for the mixed integer programming too complex scenarios the robots have to use the information based on their limited onboard sensors. With the sensor information they are in most cases able to find at least a possible way through the obstacles by using a set of onboard fuzzy systems for robot control

关键词： Robot control control systems Mobile robots Linear programming Fuzzy systems Centralized control Robot sensing systems Trajectory Switches Distributed control

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A networked formation control for groups of mobile robots using mixed integer programming

A networked formation control for groups of mobile robots us...

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IEEE International Conference on Computer-Aided Design

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence 88662 Ueberlingen Germany The Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan The Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan The Institute of System Dynamics University of Stuttgart Stuttgart Germany

In this paper we demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication. Therefore we use a global centralized planning algorithm and solve the optimal trajectory problem of the formation of mobile robots by mixed integer quadratic programming (MIQP). This description of formation can be used for non-static formations as well as for formation switching between different kinds of formations where inter-robot collisions will be avoided and the formations are organized as unit-center-referenced formations. The environment itself can be formulated by convex polygons that are described as hybrid systems. The moving along the optimum trajectories is controlled by a controller structure in three levels, whereby the highest level is set on a master robot and controls the general formation using Bluetooth communication between the robots. The control of the position of each robot is realized by an individual controller on every robot and a motor controller for every wheel of each robot. The effectiveness of our formation control structure and the algorithm for the planning of the trajectory is demonstrated in simulations and experiments which also verify the dynamic models of the robots

关键词： Mobile robots Linear programming Communication system control Robot control Trajectory Mobile communication Quadratic programming Communication switching Bluetooth Wheels

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ROBUST control OF A HIGH PRECISION PLANAR PARALLEL MANIPULATOR

ROBUST CONTROL OF A HIGH PRECISION PLANAR PARALLEL MANIPULAT...

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第二届亚洲机械电子学学术会议

作者： Jacob W.F.Cheung Y.S.Hung Motion Control and Systems Laboratory Research and Development Department ASM Assembly Automation Ltd. 3/F Watson Centre 16 Kung Yip Street Kwai Chung New Territories Hong Kong. Department of Electrical and Electronic Engineering The University of Hong Kong.Pokfulam Road Hong Kong. Department of Electrical and Electronic Engineering The University of Hong Kong.Pokfulam Road Hong Kong.

A model-based robust control design approach for a novel direct-drive planar parallel manipulator aimed at high speed and high precision semiconductor packaging application is *** experimental identification approach is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic *** results demonstrate that the motion performance of the planar parallel manipulator including positioning accttracy,settling time and steady- state error is improved significantly when compared with traditional XY *** shows that the proposed planar manipulator provides a superior alternative to the traditional XY stages for high- precision motion.

关键词： Parallel manipulator mechatronics applications motion control dynamic modelling robust control

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Experimental confirmation of n-scroll hyperchaotic attractors

Experimental confirmation of n-scroll hyperchaotic attractor...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Simin Yu Jinhu Lu Guanrong Chen College of Automation Guangdong University of Technology Guangzhou China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science슠Chinese Academy of Sciences Beijing China Department of Electronic Engineering City University of Hong Kong Hong Kong China

A systematic circuit design approach is proposed for experimental verification of hyperchaotic 2, 3, 4-scroll attractors from a generalized Matsumoto-Chua-Kobayashi (MCK) circuit. The recursive formulas for system par... 详细信息

关键词： Circuits Chaotic communication Hardware Equations Computer simulation Resistors Educational institutions Design automation Laboratories Automatic control

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Development of intelligent setting system for fracture based on x-ray image

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Journal of Physics: Conference Series 2006年第1期48卷 1137-1141页

作者： Zheng, W. Zhang, Y. Liu, J. Yu, G. Hebei University College of Electronic and Information Engineering Baoding 071002 China Harbin University of Science and Technology Measurement Control Technology and Communications Engineering College Harbin 150040 China Harbin Institute of Technology School of Electrical Engineering and Automation Harbin 150001 China Harbin Fifth Hospital Department of Orthopedics Harbin 150040 China

In order to achieve micro-wound, intelligence and high efficiency for fracture setting, intelligent setting system for fracture is proposed in accordance with biomechanics and fracture therapy theory. In the comprehensive medical system based on C-shape-arm X-machine, image processing and analysis is the core, programmable logical controller and stepping motor are important driving parts controlling mechanical parts. Six degree of freedom dynamics sensor ensures to control accurately force and moment. On the foundation of analyzing X-ray image peculiarities, method of processing and analysis is put forward, combining time domain with frequency domain. After mining domain knowledge in depth, setting actions is quantized into three non-continuous steps and is parameterized into two angles and one distance aiming at femoral-neck fracture. Objective features are extracted by virtue of three power polymerization curved surface fitting. Master-slave reference frame is advanced to solve a question that basic standard for parameters calculation is difficult to be determined. At the same time, four-groupsixteen-frame algorithm is put forward to solve a problem that the load value is unable to be calculated and applied precisely in the process of treatment of delayed union and non-union of fracture. Clinic experience proved that the system can help orthopedist to correctly and reliably complete fracture setting. And the system has many advantages such as micro-wound, low medical cost and low infection ratio, in comparison with traditional operation setting and manipulator setting. © 2006 IOP Publishing Ltd.

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Reversible phase transitions in the pseudomorphic 7×3-hex In layer on Si(111)

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Physical Review B 2006年第3期74卷 035436-035436页

作者： A. A. Saranin A. V. Zotov M. Kishida Y. Murata S. Honda M. Katayama K. Oura D. V. Gruznev A. Visikovskiy H. Tochihara Institute of Automation and Control Processes 690041 Vladivostok Russia Faculty of Physics and Engineering Far Eastern State University 690000 Vladivostok Russia Department of Electronics Vladivostok State University of Economics and Service 690600 Vladivostok Russia Department of Electronic Engineering Faculty of Engineering Osaka University Suita Osaka 565-0871 Japan Research Center for Ultra-High Voltage Electron Microscopy Osaka University Ibaraki Osaka 567-0047 Japan Department of Molecular and Material Sciences Kyushu University Kasuga Fukuoka 816-8580 Japan

Using scanning tunneling microscopy, reversible phase transitions have been detected in the modulated pseudomorphic In monolayer on the Si(111) surface. It has been found that the room-temperature quasihexagonal 7×3 structure is transformed into the 7×7 structure during cooling in the temperature range from 265to225K. Further cooling results in developing long-range modulations in the In layer, including formation of the chevron-type structure with 67×7 periodicity, the ordered arrays with regular antiphase domain boundaries with local 37×7, and 27×7 periodicity and the chained-ring structure with 1033×4033 periodicity, which is believed to originate from the 533×533 structure occurring at room temperature near surface defects and at domain boundaries of the original 7×3−In phase.

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Atomic dynamics of In nanoclusters on Si(100)

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Physical Review B 2006年第12期74卷 125304-125304页

作者： A. A. Saranin A. V. Zotov I. A. Kuyanov M. Kishida Y. Murata S. Honda M. Katayama K. Oura C. M. Wei Y. L. Wang Institute of Automation and Control Processes 690041 Vladivostok Russia Faculty of Physics and Engineering Far Eastern State University 690000 Vladivostok Russia Department of Electronics Vladivostok State University of Economics and Service 690600 Vladivostok Russia Department of Electronic Engineering Faculty of Engineering Osaka University Suita Osaka 565-0871 Japan Research Center for Ultra-High Voltage Electron Microscopy Osaka University Ibaraki Osaka 567-0047 Japan Institute of Atomic and Molecular Sciences Academia Sinica P.O. Box 23-166 Taipei Taiwan Republic of China

Using scanning-tunneling microscopy and first-principles total-energy calculations, we have considered the structural properties of the so-called doped clusters formed by depositing additional 0.05 monolayer of In onto the 4×3-periodicity magic-cluster array in the In∕Si(100) system. Low-temperature STM observations have revealed that most of the doped clusters have an asymmetric shape. According to the total-energy calculations, these clusters have plausibly Si6In8 composition. In such a cluster, one of the In atoms is mobile and can hop between four equivalent sites within a cluster. The hopping between sites, located in the different 2a×3a halves of the cluster, is characterized by the barrier of about 0.7eV, and this hopping becomes frozen at 55K. In contrast, the hopping between the neighboring sites within the same cluster half persists up to very low temperatures, as the barrier height here is an order of magnitude lower. Due to the above structural properties, the doped asymmetric Si6In8 cluster can be treated as a promising switch, logic gate, or memory cell of the atomic-scale size.

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Novel decentralized approach through optimal resource allocation for congestion management

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2006年第22期26卷 46-53页

作者： Liu, Kai Zhao, Da-Pu Hou, Yun-He Bi, Tian-Shu Ni, Yi-Xin Wu, Felix Department of Electrical and Electronic Engineering University of Hong Kong Hong Kong Hong Kong Department of Electric Engineering Tsinghua University Beijing 100084 China Key Power System Lab. Shenzhen Research Institute Shenzhen 518055 China Key Laboratory of Power System Protection and Dynamic Security Monitoring and Control North China Electric Power University Beijing 102206 China

The paper proposed a novel decentralized approach for congestion management via Optimal Resource Allocation (ORA) for the forward markets. The available capacities of possible congested transmission lines are considered as commonly shared resources for bilateral and multilateral transactions in the market. Each transaction maximizes its profit using limited capacity of transmission line allocated by the ISO. Through the proposed decentralized optimization algorithms, the ISO searches the optimal allocation of the capacities of congested transmission lines to the individual transactions and finally the same market efficiency (social welfare) as centralized optimization is achieved. This decentralized approach is more suitable for power market environment since it does not require private and sensitive information submission from individual transactions to the ISO and the resource allocation decision is always feasible during iterations. The mathematical model, calculation procedure and relevant proof are presented. The computer test results from the IEEE 30 bus system show clearly the effectiveness of the approach and its consistency with the centralized optimization.

关键词： Resource allocation

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The overall dynamics of power-factor-correction boost converter

The overall dynamics of power-factor-correction boost conver...

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作者： Haipeng, Ren Ninomiya, Tamotsu Xi'an University of Technology School of Automation and Information Engineering Xi'an 710048 China Kyushu University Department of Electrical and Electronic System Engineering Fukuoka 812-8581 Japan

ISBN: (纸本)0780390334

The overall dynamics of Power-Factor-Correction (PFC) boost converter, including the fast-scale instability, the low-frequency stable periodic operation, the low-frequency bifurcation and chaos, are investigated by using the combined Continuous Conduction Mode (CCM) and Discontinuous Conduction Mode (DCM) model. It is conventionally assumed that the converter operates in CCM in the design and analysis process of a PFC boost converter, which prevents us to understand the overall dynamics of the converter. It has been pointed out that the DCM can occur in the PFC boost converter, especially, in the light load condition. Therefore, the DCM model has to be included to analyze this PFC converter to cover the possible DCM operation. The unified model for describing the overall dynamics of the PFC boost converter is derived, which can be used to analyze the overall dynamics uniformly. By using the proposed combined model, the fast-scale instability can be detected. At the same time, the low-frequency bifurcation diagram is derived by proposed model, which makes the route from period-double bifurcation to chaos clear. The overall dynamics derived from the proposed method is verified by the experimental results. © 2005 IEEE.

关键词： Power converters

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Accurate flux observer based on distributed multi-processor in MV adjustable speed drive systems

Accurate flux observer based on distributed multi-processor ...

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ICEMS 2005: 8th International Conference on Electrical Machines and systems

作者： Shu, Liu Jianzheng, Liu Zhengming, Zhao Liqiang, Yuan Hua, Bai Haitao, Zhang Department of Electrical Engineering and Applied Electronic Technology State Key Laboratory of Control and Simulation of Power System and Generation Equipment Tsinghua University Beijing 100084 China

ISBN: (纸本)7506274078

This paper presents an accurate flux observer used in distributed multi-processor (DMP) adjustable speed drive systems. The stator flux linkage is estimated with a full-order observer, while the rotor speed is identified by using Lyapunov theorem. In order to improve the system performance in a wide speed range, the stator resistance is estimated simultaneously. In this paper, the structure of the DMP system, the principle of the full-order observer and the method for identifying the rotor speed and state resistance are all described in details. Relevant simulation results based on MATLAB/SIMULINK are given to prove the performance of the method. Experiments of a real system also verify the feasibility of this scheme.

关键词： Microprocessor chips

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