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C4ISR architectures: I. Developing a process for C4ISR architecture design

systems engineering 2000年第4期3卷 225-247页

作者： Levis, Alexander H. Wagenhals, Lee W. System Architectures Laboratory C3I Center MSN 4D2 George Mason University Fairfax VA 22030 United States Department of Electrical Computer and Systems Engineering C3I Center System Architectures Laboratory United States Institute of Electrical and Electronic Engineers (IEEE) Advancement of Science (AAAS) United States Center of Excellence Command Control Communications and Intelligence George Mason University Fairfax VA United States System Architectures Laboratory United States

The C4ISR Architecture Framework document issued by the department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to serve as the basis for C4ISR system development and acquisition. The Framework does not provide a process for architecture design. In this paper, information architectures are described in the context of Structured Analysis, and then the architecture views of the Framework and the related products are interpreted in that context. A methodology for architecture design is developed that is then implemented using Structured Analysis and object orientation in two companion papers. © 2000 John Wiley & Sons, Inc.

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Nonlinear Fault Detection by a Bank of Neural Estimators

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IFAC Proceedings Volumes 2000年第11期33卷 429-434页

作者： A. Alessandri M. Delia G. Graffione T. Parisini Naval Automation Institute Italian National Research Council Via De Marini 6 16149 Genova Italy Department of Communications Computer and System Sciences University of Genoa Via Opera Pia 13 16145 Genova Italy Department of Electronic Engineering and Information Sciences Politecnico di Milano P.za Leonardo da Vinci 32 20133 Milano Italy

The problem of model-based fault-detection for nonlinear systems is addressed in the paper by means of a bank of neural estimators. The solution of nonlinear fault-detection problems is very difficult in general. A different fault-detection scheme is proposed, basing on finite-memory estimators. Each estimator of the bank enables one to estimate the fault parameters used to describe plant, actuator, and sensor faults. The fault finite-memory estimator is stated in a general nonlinear setting and an efficient technique is proposed to find an approximate solution by means of feedforward neural networks. Successful simulation results have been obtained with the model of a small underwater vehicle.

关键词： Fault-Detection Nonlinear Filters Neural Networks Filter banks

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LMI-constrained concave programs in robust control

LMI-constrained concave programs in robust control

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American control Conference (ACC)

作者： P. Apkarian Hoang Duong Tuan Control System Department Toulouse France Department of Electronic-Mechanical Engineering Nagoya Aichi Japan

We show that many open and challenging problems in control theory belong to the class of concave minimization programs. More precisely, these problems can be recast as the minimization of a concave objective function over convex linear matrix inequality (LMI) constraints. In this setting, these problems can then be efficiently handled using local and/or global optimization techniques.

关键词： Robust control Linear matrix inequalities control theory Constraint optimization Symmetric matrices Eigenvalues and eigenfunctions Automatic programming Centralized control Automatic control Optimization methods

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A sequential SDP/Gauss-Newton algorithm for rank-constrained LMI problems

A sequential SDP/Gauss-Newton algorithm for rank-constrained...

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IEEE Conference on Decision and control

作者： P. Apkarian Hoang Duong Tuan Control System Department ONERA/CERT Toulouse France Department of Electronic-Mechanical Engineering University of Nagoya Nagoya Japan

The paper develops a second-order Newton algorithm for finding local solutions of rank-constrained LMI problems in robust synthesis. The algorithm is based on a quadratic approximation of a suitably defined merit function and generates sequences of LMI feasible iterates. The main thrust of the algorithm is that it inherits the good local convergence properties of Newton methods and thus overcomes the difficulties encountered with earlier methods such as the Frank and Wolfe or conditional gradient methods which tend to be very slow in the neighborhood of a local solution. Moreover, it is easily implemented using available Semi-Definite Programming (SDP) codes. Proposed algorithms have proven global and local convergence properties and thus represent improvements over classically used D-K iteration schemes but also outperform earlier conditional gradient algorithms. Reported computational results demonstrate these facts.

关键词： Newton method Least squares methods Recursive estimation Gradient methods Robustness Symmetric matrices Approximation algorithms Robust control Constraint theory Vectors

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Model conversions of uncertain linear system via the interval tuning bilinear approximation method

JSME International Journal, Series C: Dynamics, Control, Rob...

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JSME International Journal, Series C: Dynamics, control, Robotics, Design and Manufacturing 1999年第1期42卷 154-162页

作者： Shieh, Cheng-Shion Tsai, Jason Sheng-Hong Sun, York-Yih Department of Electronic Engineering Chinese Air Force Academy PO Box 90277-4 Kangshan Kaohsiung 82012 Taiwan Control System Laboratory Department of Electrical Engineering National Cheng-Kung University Tainan 701 Taiwan

This paper presents a new tuning bilinear approximation method together with the interval arithmetic operation to convert a continuous-time (discrete-time) uncertain system to an equivalent discrete-time (continuous-time) uncertain model. Based on the bilinear approximation method, we induct one parameter for tuning the error bound between the exact and approximate uncertain system matrices. The bounds of interval system matrices via the proposed interval tuning bilinear approximation method are narrower than those of the existing interval bilinear and the interval pade approximation methods. The resulting interval models (the enclosing interval models) are able to tightly enclose the exact uncertain models. Also the approximate discrete-time interval solution is able to tightly enclose the exact interval solution of the continuous-time uncertain state-space equation. The proposed method will be helpful for analysis and synthesis of uncertain systems.

关键词： Uncertain systems

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Intermodulation analysis of mixer circuits based on frequency domain relaxation method

Intermodulation analysis of mixer circuits based on frequenc...

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Custom Integrated Circuits Conference (CICC)

作者： A. Ushida Y. Yamagami Y. Nishio M. Takahashi K. Ogawa Department of Electrical and Electronic Engineering University of Tokushima Tokushima Japan Custom DA Section Design Automation Department LSI System Development Division SONY Company Limited Atsugi Kanagawa Japan

There are many communication circuits driven by multi-tone signals such as modulators and mixers. If the output frequency components are largely different to each other, the brute force numerical method will take an enormous computation time to calculate the steady-state responses, because the total period becomes very long. In this paper, we show a SPICE oriented algorithm based on the frequency domain relaxation method which can be efficiently applied to relatively large scale ICs.

关键词： Circuit analysis Frequency domain analysis Relaxation methods Steady-state SPICE Large-scale systems Nonlinear circuits Design engineering Design automation Large scale integration

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Stiffness adaptation and force regulation using hybrid system approach for constrained robots

Stiffness adaptation and force regulation using hybrid syste...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Electronic Engineering Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

A new stiffness adaptation and force regulation methodology using hybrid system approach for constrained robots is presented. We present the hybrid system model and the hybrid system control synthesis for constrained robots with the stiffness uncertainties is formulated. The hybrid control approach presented has shown to be a very effective strategy to incorporate both the continuous and discrete natures of constraint motion. A nonlinear stiffness function is developed and designed to be hybrid automaton, which consists of some abstracted motion such as increase, decrease, and maintenance of stiffness. The evaluations are evaluated via experimental studies on grinding tasks. The results of experiment are showing the applicability of proposed scheme for constrained tasks.

关键词： Motion control Robot kinematics Robotics and automation Orbital robotics Force control Automatic control Servomechanisms Manipulators Torque control Intelligent robots

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Use of pseudo measurement to real-time target tracking

Use of pseudo measurement to real-time target tracking

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IEEE International Conference on systems, Man and Cybernetics

作者： Yaping Dai K. Hirasawa J. Murata Jinglu Hu Chunzhi Jin Zhen Liu Department of Automatic Control Beijing Institute of Technology China Department of Electrical and Electronic System Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Japan Department of Earth Resource Engineering Graduate School of Engineering Kyoto University Japan

In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and is described by an AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e., there are four measurement data: range r, azimuth /spl theta//sub a/, elevation /spl theta//sub e/ and range rate r/spl dot/). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance can be decoupled. Thus the computing requirement of the algorithm is reduced and can be performed in real time.

关键词： Target tracking Noise measurement Colored noise Coordinate measuring machines Nonlinear equations Motion measurement White noise Electric variables measurement Gain measurement Azimuth

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Interactive on-line evaluation of robot motion control

Interactive on-line evaluation of robot motion control

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Valera A. Robertsson K. Nilsson R. Johansson Department of System Engineering & Automation Valencia Technical University Valencia Spain Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Lund Institute of Technology Department of Computer Science Lund University Lund Sweden

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.

关键词： Robot motion Motion control Robot control Industrial control control systems Electrical equipment industry Service robots Robot sensing systems Safety Logic

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Sliding-window neural state estimation in a power plant heater line

Sliding-window neural state estimation in a power plant heat...

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American control Conference (ACC)

作者： A. Alessandri T. Parisini R. Zoppoli Naval Automation Institute IAN National Research Council CNR Genoa Italy Department of Electronic Engineering and Information Sciences Politecnico di Milano Milano Italy Department of Communications Computer and System Sciences DIST-University of Genoa Genoa Italy

Power plant monitoring is addressed by means of a sliding-window neural state estimator. The complexity and the nonlinearity of the considered power plant application prevents us from using standard techniques such as Kalman filtering. The statistics of noises are assumed unknown and the estimator is designed by minimising a given best squares cost function (in general, non-quadratic) under very general assumptions on the state equation and the system measurement channel. The estimator has been designed off-line in such a way as to be able to process any possible measurement online. Extensive simulation of a state estimation problem in a model of a section of a real power plant are reported showing the effectiveness of the applied method as compared to the extended Kalman filter.

关键词： State estimation Power generation Monitoring Kalman filters Filtering Statistics Cost function Nonlinear equations Noise measurement Power system modeling

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