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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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Study of measurement technique of resultant resistance in the underground distribution system

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IEEJ Transactions on Power and Energy 2006年第8期126卷 834-840页

作者： Yoshinaga, Jun Kawakami, Kuniaki Yamada, Hiroshi Hachijo, Toshiaki Uemura, Satoshi Distribution Engineering Group Distribution Department Power Network Division TEPCO 1-3 Uchisaiwai-cho 1-chome Chiyoda-ku Tokyo 100-8560 Electronic Telecommunications Group Tokyo Branch Otsuka Branch Office TEPCO 3-6-8 Higashi Ikebukuro Toshima-ku Tokyo 170-0013 Engineering Department Hasegawa Denki Industry Co. Inc 3-29-3 Meishin-cho Amagasaki 661-0022 Customer Systems Sector System Engineering Research Lab. CRIEPI 2-11-1 Iwado Kita Komae 201-8511 TEPCO Hasegawa Denki Industry Co. Inc. CRIEPI

To realize the effective management ot grounding resistances, it is necessary to establish a measuring technique of resultant resistance. Especially on underground system, it is too complex the connection of grounding system to understand the resultant resistance exactly by using of calculation, etc. Therefore, we propose a new measuring technique of resultant resistance. That is the way to apply the voltage on two different circuits with auxiliary grounding electrode, and to measure each current of the route on the circuits. Additionally, we produced a test measuring equipment, and performed the verification on electric circuits, practice lines and commercial lines.

关键词： Electric power distribution

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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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Study of measurement technique of resultant resistance in the underground distribution system

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IEEJ Transactions on Sensors and Micromachines 2006年第8期126卷 834-840+12页

作者： Yoshinaga, Jun Kawakami, Kuniaki Yamada, Hiroshi Hachijo, Toshiaki Uemura, Satoshi Distribution Engineering Group Distribution Department Power Network Division TEPCO 1-3 Uchisaiwai-cho 1-chome Chiyoda-ku Tokyo 100-8560 Electronic Telecommunications Group Tokyo Branch TEPCO 3-6-8 Higashi Ikebukuro Toshima-ku Tokyo 170-0013 Engineering Department Hasegawa Denki Industry Co. Inc. 3-29-3 Meishin-cho Amagasaki 661-0022 Customer Systems Sector System Engineering Research Lab. CRIEPI 2-11-1 Iwado Kita Komae 201 - 8511 TEPCO Hasegawa Denki Industry Co. Inc. CRIEPI

To realize the effective management of grounding resistances, it is necessary to establish a measuring technique of resultant resistance. Especially on underground system, it is too complex the connection of grounding system to understand the resultant resistance exactly by using of calculation, etc. Therefore, we propose a new measuring technique of resultant resistance. That is the way to apply the voltage on two different circuits with auxiliary grounding electrode, and to measure each current of the route on the circuits. Additionally, we produced a test measuring equipment, and performed the verification on electric circuits, practice lines and commercial lines.

关键词： Electric resistance

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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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Modelling and optimal digital tracker for analog neutral delay systems

Modelling and optimal digital tracker for analog neutral del...

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7th IASTED International Conference on control and Applications, CA 2005

作者： Tsai, Tzong J. Tsai, Jason S. H. Guo, Shu M. Chen, Guanrong Control System Laboratory Department of Electrical Engineering National Cheng Kung University Tainan 701 Taiwan Department of Computer Science and Information Engineering National Cheng Kung University Tainan 701 Taiwan Department of Electronic and Engineering City University of Hong Kong Kowloon Hong Kong

ISBN: (纸本)0889865027

This paper presents a new, practical, and realizable methodology and scheme for an optimal hybrid tracking control problem for continuous neutral time-delay system. A continuous-time linear quadratic cost function that has a high-gain property is used for tracking control specification. Two interpolation formulas together with an extended state vector are applied to directly convert the original analog optimal tracking problem into an equivalent digital optimal regulator problem. Then, using the discrete-time optimal control theory and an indirect digital redesign technique with a predictive feature, an effective low-gain digital tracker, without losing the pre-specified high-quality performance in the continuous domain, is designed for the original analog neutral time-delay system.

关键词： control system analysis

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Plasma Arc Waste Destruction system (PAWDS) a novel approach to waste elimination aboard ships

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NAVAL ENGINEERS JOURNAL 2006年第3期118卷 139-150页

作者： Kaldas, Aida Picard, Isabelle Chronopoulos, Christos Chevalier, Philippe Carabin, Pierre Holcroft, Gillian Alexander, Gary Spezio, Joseph Mann, Jim Molintas, Henry AIDA KALDAS Eng. is the principal author and Technical Manager at PyroGenesis Inc. She is currently leading the process development team of the Plasma Arc Waste Destruction System for applications on board ships. She holds a Bachelor in Chemical Engineering from Cairo University and a Masters in Engineering Science from the University of Western Ontario. She is a member of “l'Ordre des Ingénieurs du Québec” since 1981. Prior to joining PyroGenesis Inc. Mrs. Kaldas has led several development programs working for Orica (formally ICI Explosives)for over 20 years. Her areas of expertise include process optimization and debottlenecking process modeling and particles processing. ISABELLE PICARD ENG. is a Product Development Engineer at PyroGenesis Inc. She is currently part of the process development team of the Plasma Arc Waste Destruction System for applications on board ships. She holds a Bachelor in Chemical Engineering from “école Polytechnique de Montréal”. She is a member of “l'Ordre des Ingénieurs du Québec” since 1995. Prior to joining PyroGenesis Inc. Mrs. Picard has worked as project leader for several development project related to natural gas applications working for The Natural Gas Technologies Center and as Product Development Engineer for the fuel cell industry working for H Power Canada inc. Her areas of expertise include process development and optimization system integration and equipment sizing. CHRISTOS CHRONOPOULOS Eng. is presently a Product Development Engineer at PyroGenesis Inc. Over the last two years Mr. Chronopoulos has worked on the design and development processes for the treatment of all types of wastes. Prior to joining PyroGenesis Inc. Mr. Chronopoulos worked on process engineering and process development in the Fuel Cell industry for a period of two years and also in the Electronic Plating industry for 4 years. He holds a Bachelor's degree in Chemical Engineering from Sherbrooke University. He is a member of “l'Ordre des Ingénieurs du Québec”. PHILIPPE CHEVALIER Eng. is the

The Plasma Arc Waste Destruction system (PAWDS) uses plasma energy, with temperatures over 5,000 degrees C, to rapidly and efficiently destroy combustible waste aboard ships. PAWDS has proven itself to be a viable alternative to traditional incinerators. >> In September 2003, Carnival Cruise Lines were the first to install a PAWDS aboard their 2,056 passenger (plus 1,000 crew members) capacity, M/S Fantasy cruise ship, to treat ship waste including paper, cardboard, plastics, textiles, wood, and food. As of June 2004, it is being operated and maintained solely by Carnival Cruise Lines personnel and has been permitted to operate in port by the Bahamian port authorities. >> The Navy's next generation aircraft carrier, CVN 21, will be equipped with two FAWDS to process all of the non-food combustible solid waste generated with sufficient system redundancy. The US Navy has been jointly developing the PAWDS with PyroGenesis Inc. over the last 6 years. The development efforts in 2004 and 2005 coupled with lessons learned from operation aboard Carnival's cruise ship have resulted in the identification of additional process and design improvements. Source emission testing by an independent laboratory has also demonstrated that the PAWDS easily meets IMO MARPOL requirements for the destruction of solid waste.

关键词： Waste treatment

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Inharmonic theoretical models for photopolymers gratings formation

Inharmonic theoretical models for photopolymers gratings for...

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Photorefractive Effects, Materials, and Devices, PEMD 2005

作者： Dovolnov, Eugene A. Sharangovich, Sergey N. Sheridan, John T. Tomsk State University of Control System and Radioelectronics MQR department 40 Lenin Avenue 634050 Tomsk Russia Department of Electronic and Electrical Engineering Faculty of Engineering and Architecture University College Dublin National University of Ireland Belfield Dublin D-4 Ireland

ISBN: (纸本)1557527938

We present an analytical model of the dynamics of spatial harmonics of holographic grating profiles, taking into consideration record mechanisms (polymerization and components diffusion), absorption, interference pattern contrast and optional photopolymerization nonlinearity. On the basis of numerical simulation we compare the model presented with the non-local polymerization driven diffusion model. The results of fitting experimental data with the model results are also presented. © 2005 OSA/PEMD 2005.

关键词： Photopolymerization

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Theoretical and experimental investigation of photopolymer chirped gratings formation

Theoretical and experimental investigation of photopolymer c...

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Photorefractive Effects, Materials, and Devices, PEMD 2005

ISBN: (纸本)1557527938

In the work an analytical model of transmission holographic grating formation by light beams with non-uniform phase-amplitude profiles is presented. The model takes into consideration influence of light absorption of a photopolymer with dye-sensitizer and nonlinearity of photo-polymerization on the spatial profiles and diffraction properties of the chirped grating. The model of diffraction efficiency and selective properties of chirped gratings is also presented. The results of fitting experimental data and numerical ones are shown and discussed. © 2005 OSA/PEMD 2005.

关键词： Light absorption

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Dynamic modelling for condition monitoring of gas turbines: Genetic algorithms approach

Dynamic modelling for condition monitoring of gas turbines: ...

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作者： Breikin, T.V. Kulikov, G.G. Arkov, V.Y. Fleming, P.J. Control System Centre School of Electrical and Electronic Engineering University of Manchester Manchester M60 1QD United Kingdom Department of Automated Control Systems Ufa State Aviation Technical University K.Marx Street 12 Ufa 450000 Russia Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom

ISBN: (纸本)008045108X

The problem of model-based condition monitoring of aero gas turbine engines is considered. Genetic algorithms are applied for the dynamic modelling of aero engines by estimating parameters of the linear reduced-order model. The use of genetic algorithms affords flexibility in the choice of performance metrics. Real engine data is used to investigate the performance genetic algorithms and this approach is compared with traditional modelling techniques used in industry. Copyright © 2005 IFAC.

关键词： Genetic algorithms

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