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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Mee-Seub Lim Jinmo Lim Joonhong Lim Sang-Rok Oh Department of Electronic Engineering Hanyang University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology (KIST) South Korea

ISBN: (纸本)0780344650

Addresses the design of hybrid control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has a 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by switched systems. The abstract model and digital automata for the motion control are developed. The motion control tasks for desired-paths with edges and dynamic path following with various initial conditions are investigated as the applications by simulation studies.

关键词： Motion control Mobile robots control systems Automatic control Motion planning Vehicle dynamics Wheels Automata Path planning Vehicle driving

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EDITORIAL

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International Journal of Robust and Nonlinear control 1998年第4期7卷

作者： Giorgio Bartolini Antonella Ferrara Sarah Spurgeon Department of Electrical and Electronic Engineering University of Cagliari Piazza d'Armi 09123 Cagliari Italy Department of Communication Computer and System Sciences University of Geneva Via Opera Pia 13 Geneva Italy Control Systems Research Department of Engineering University of Leicester Leicester LE1 7RH U.K.

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Computer-controlled equipment testing: Speed, accuracy and improved analysis

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NAVAL ENGINEERS JOURNAL 1998年第1期110卷 207-215页

作者： Smith, JJ Greene, WC John J. Smith is a senior field engineer with the Electrmics Systems Division (ESD) of TRACOR System Technologies Inc. As the technical supervisor fm the Impact and Feasibility Studies group of the E nginemang Department he provides engineering support to the Ships Communication Systems Operation Branch Naval Air Warfare Center Aircraft Division Patuxent River St. Inigoes Maryland. This support entails the integration of radio communication systems on USS Arleigh Burke (DDG 51)-class AEGIS destrqvers and special engineering projects. During 23 years of Naval service as an electronics technician he sewed as electronics division officer for the repair division (R-4) on board USS Ghore (AS IS) homeported in La Maddalena Sardinia. His last duty station was NAVCOMSTA Roosevelt Road Puerto Rico where he sewed as muster chief-in-charge of electronic communications repair the island-wide communications quality control chiel the contract administrator to the operations and maintenance contractor supporting Mystic Star transmitter and receiver facilities for Air Fme One communications the Naval transmitter station and 16 interconnecting remote mimowave sites. Wilhemina C. Greene is a Supervisory Electronics Engineer with the Combatant Engineering and Integration Section at NAWCAD. As the team leader directs the effots of Civilian and contractors personnel responsible for delivering a fully integrated and tested Radio Communication Systems for surfme cmnbatant ships. The team also pvovida the Nay's only system level training on RCS for all AEGIS Pre-Communits. As part ofthis eflort she is responsible for the operation and maintenance of the Satellite Production Test Centq a facility housing the RCS test beds. Ms. Greene has over 20 years of government service 13 years on the AEGIS RCS program. She has a BSEE degree from Tennessee State University.

As shipboard radio communication systems (RCSs) become more complex and crew size continues to be reduced, the requirement for an automated, condition-based maintenance system is imperative. Personal computers can be programmed to provide full equipment testing that is capable of digital interface as well as automated and semi-automated testing of equipment that is not buss-controllable. Some of the advantages of computer-controlled equipment testing (CCET) include increased accuracy repeatability, and data-collection capability for in-depth analysis. However, the paramount advantage of CCET is speed. This paper will describe various methods of remote testing, including using a LAN, the Internet, and the telephone system. It will detail application software developed to test the Aegis-class destroyers' RCS equipment. This paper examines CCET as it is presently applied to the Aegis Board of Inspection and Survey (INSURV) support program. Additionally, the condition-based maintenance (CBM) application developed for over-the-air system testing of the Navy's UHF line-of-sight (LOS) system installed on the USS Yorktown (CG 48) as part of the Smart Ship project will be described. This paper will also describe CCET methods to use charged-coupled device (CCD) miniature cameras to read analog meters, gauges, or entire gauge boards.

关键词： electronic ship equipment

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FasBack: matching-error based learning for automatic generation of fuzzy logic systems

FasBack: matching-error based learning for automatic generat...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J.M.C. Izquierdo Y.A. Dimitriadis J.L. Coronado Group of Vision and Robotics. Department of Automatic Electronic and Industrial Electricity School of Industrial Engineering. University of Murcia Murcia Spain Department of Signal Theory Telecommunications and Telematics Enginnering School of Telecommunications Engineering. University of Valladolid Spain Department of Systems Engineering and Control School of Industrial Engineering. University of Valladolid Spain

Many research works have been reported with respect to the relation between neural and fuzzy systems. Looking for a synergistic relation of these technologies, an important property of neural network-based systems is their learning capacity, that permits to embed self-organization in fuzzy logic systems. In this paper, a new neuro-fuzzy system, called FasBack, is proposed, that combines learning based on prediction error minimization and pattern matching. FasBack adds error-based learning to a previously proposed model, called FasArt, which extended and formalized neural networks models of the ART family, as fuzzy logic systems. Experimental results are presented in nonlinear systems identification problems, typically used in the literature.

关键词： Fuzzy logic control systems Fuzzy systems Hardware Industrial engineering Neural networks Subspace constraints system performance Service robots Robot vision systems

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Modeling A 10 Gbit/s/port Shared Memory ATM Switch

Modeling A 10 Gbit/s/port Shared Memory ATM Switch

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Simulation Winter Conference

作者： T. Lazraq P. Andersson J. Brundin A. Arvidsson Electronic System Design Laboratory Vattenfall AB Royal Institute of Technology Kista Sweden Department of Computer Engineering Lund University Lund Sweden Department of Telecommunications and Mathematics University of Karlskrona Ronneby Karlskrona Sweden

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A Dynamic Predicting Algorithm for Estimating Bus Arrival Time

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IFAC Proceedings Volumes 1997年第8期30卷 1225-1228页

作者： Edwin M. Reinhoudt S.A. Velastin Delft University of Technology Department of Electrical Engineering Telecommunications and Traffic Control Systems Group Mekelweg 4 2628 CD Delft the Netherlands fax: +31 (15) 278 1774 Department of Electronic & Electrical Engineering Vision and Robotics Laboratory King’s College London Strand London WC2R 2LS United Kingdom fax: +44 (171) 873 2211

In order to maintain a high quality service and keep up with the ever increasing demands in the field of public transport, London Transport Buses (LTB) equipped bus routes in a test area in North London with a new system called Countdown. The system calculates arrival time estimations which inform both the customers and the operators of the company about the running of their buses. The calculations should be as accurate as possible in the interest of customer satisfaction. This paper shows that the use of a dynamic Kalman filter instead of a previously used static averaging algorithm, improves the error distribution up to 7% and often reduces maximum absolute error figures significantly. This technique may also prove to be a useful tool for other predicting systems.

关键词： Measurement Surveillance Estimation Practical Application Results Travel Traffic Information Public Transport

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Application of a constraint-oriented knowledge processing system to a section mill finishing facility line scheduling system

Application of a constraint-oriented knowledge processing sy...

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SICE Annual Conference

作者： Y. Miyamoto M. Hayashi K. Kato S. Ihara Y. Takase Y. Funakoshi K. Saito Electronic & Control Technology Development Center Application Engineering Department AI System Section Kawasaki Heavy Industries Limited Akashi Japan

This paper proposes a constraint oriented approach to solve practical multipurpose machine(MPM) flow shop problems with changeover time and limited transportation capacity. In practical MPM flow shop problems, the transportation capacity is limited. Owing to this limitation, interference phenomena peculiar to complex production lines occur, thus decreasing production capacity. The algorithm proposed in this paper solves practical MPM flow shop problems by explicitly using constraints to avoid interference. The validity of this method is confirmed by discrete simulations of a section mill finishing facility line. Furthermore, the method is applied to an actual section mill finishing facility line.

关键词： Milling machines Finishing Transportation Job shop scheduling Interference constraints Production systems Electrical equipment industry Artificial intelligence Expert systems

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Theory and characteristics of novel variable reluctance 1X resolver

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ELECTRICAL engineering IN JAPAN 1996年第5期116卷 128-137页

作者： Ishizaki, A Takasaki, K Shimomura, S Masaki, K Kitazawa, K Tokyo Denki University Graduated in 1948 from the Department of Electrical Engineering Tokyo Institute of Technology and received his Dr. of Eng. degree from the same university. He joined Meidensha Corporation in April 1948. He has engaged in research development and design of rotating machines. He became a General Manager of the First Division at Research Laboratory in 1965 a Plant Manager of Ohsaki Works in 1974 and a Director in 1977. He became a Professor in the Department of Electrical Engineering Nagaoka University of Technology in 1981. He has been a Professor on the Faculty of Engineering Tokyo Denki University since 1990. He is engaged mainly in the analysis of rotating machines using finite element method as well as research on the optimization of the rotating machines and their control as a system. He is a member of IEEE. Graduated in 1993 from the Department of Electrical Engineering Tokyo Denki University where he is currently in the Master's program. The Polytechnic University Received his Master's degree in Electrical and Electronic System Engineering in 1984 from Nagaoka University of Technology and joined Fuji Electric Co. Ltd. He has been a Research Associate at The Polytechnic University since April 1993. He is engaged mainly in research on optimal design of rotating machines. Tamagawa Seiki Co. Ltd. Graduated in 1970 from the Department of Electrical Engineering Osaka Institute of Technology. In 1970 he joined Tamagawa Seiki Co. Ltd. He has served as Manager of Design Department General Manager of Manufacturing Division and General Manager of Technology Sector. He is currently a General Manager of Development and Business Sector. He is engaged mainly in synchro/resolver-related design. Graduated in 1977 from the Department of Electrical Engineering Yamanashi University and joined Tamagawa Seiki Co. Ltd. He is currently a Manager of Design Department in the Rotating Machines Manufacturing Division. He is engaged in resolver-related design.

Although brushless resolvers have been used widely as angular position transducers, they are expensive due to their intricate construction, involving a rotary transformer to supply the exciting coils wound on the rotor poles with the current. It is shown theoretically in this paper that the resolver without rotary transformer or brushes can be realized by simple construction, which consists of the stator core with both 4-poles exciting windings and 2-poles output ones and the rotor core carrying no windings. In this resolver the rotor core has minimum gap at one side and a maximum gap at another side of the diameter. It is characterized by an outer surface form that makes the fluctuation part of gap permeance very in proportion to cos theta, where theta represents the angular position of a point in the air gap with respect to the origin on the rotor, the point of minimum air gap. The method determining the rotor form to embody the afore-mentioned gap permeance variation is also shown. It has been confirmed not only by simulation but also experiment that the 2-phase output voltages of a model designed based on the theory have sinusoidal waveforms with very small harmonic contents. Moreover, the rotor position detected by processing the output voltages through the conventional resolver/digital converter was within acceptable engineering accuracy.

关键词： resolver VR type rotating position detection optimal rotor shape electrical error

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Linear-programming-based method for optimum schedule of reactive power sources in power systems

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EUROPEAN TRANSACTIONS ON ELECTRICAL POWER 1996年第1期6卷 31-37页

作者： AbdelSalam, MM ElSadek, MZ Hussein, AI Hussein, AA Mazen Abdel-Salam (1946) received the B.Sc. degree in 1967 The M.SC. degree in 1970 and the Ph.D. degree in 1973 all in Electrical Engineering from the University of Cairo Egypt. In 1967 he was with the Academy of Science and Technology Cairo as a Research Assistant. In 1973 he joined the faculty of Electrical Engineering at Assiut University Egypt as an Assistant Professor and in October 1977 he became an Associate Professor. During the academic years of 1977 to 1979 he was an Alexander-von-Humboldt Fellow in the Electrical Engineering Department TU Munic/Germany and the Electrical Engineering Department University of Liverpoo YGB. In September 1979 he began work as a Researcher with General Electric Co. Pittsfield MANSA. In January 1982 he rejoined Assiut University as a Professor of Electrical Power Engineering. During the academic years of 1982 to 1984 he was Professor in the Department of Electrical Engineering University of Jordad Amman. During the academic years of 1982 to 1984 he was a visiting Full Professor in the Department of Electrical Engineering Michigan Technological University Houghton NSA. From 1990 to 1994 he was a Professor of Electrical Power Engineering in the Department of Electrical Engineering at King Fahd University of Petroleum & Minerals Dhahran/Saudi Arabia. He had obtained Research Fellowships at the Military Technical University of Hamburg Eemany in 1984 at the University of Leedd GB in 1988 at Kaiserslautern University/Germany in 1989 and at Michigan Technological University in 1990. He is currently a Professor of Electrical Power Engineering Assiut University. His research activities include corona studies digital calculation of electric fields investigations of high-voltage phenomena low-voltage distribution networks and control of electrical machines. He is a fellow of the Institution of Electrical Engineers Londod GB and of the Institute of Electrical and Electronic Engineers New York AJSA. (Assiut University Electrical Engineering Departmen

This paper proposes a linear-programming optimization-based method for reactive power scheduling using generator terminal voltages and reactive outputs, transformer tap-settings and switchable reactive power sources as control variables. Dual linear programming is applied to minimize a composite objective function consisting of the cost of the adjusted control variables and the system transmission losses. The proposed composite objective function is more economical than that of the minimum total adjustment of the control variables and calls for less adjustments of var sources to meet the desired voltage limits. The proposed method is applicable to practical transmission and distribution networks, 500 kV to 11 kV of small and large sizes.

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An ANDECS-MATLAB Multicriteria Design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ control Structure

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IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective Design Magnetic Suspension Transportation

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