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OptoElectronic technology Consortium (OETC) parallel optical data link: components, system applications, and simulation tools

OptoElectronic Technology Consortium (OETC) parallel optical...

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Electronic Components and technology Conference (ECTC)

作者： Y.M. Wong D.J. Muehlner C.C. Faudskar M. Fishteyn J.V. Gates P.J. Anthony G.J. Cyr J. Choi J.D. Crow D.M. Kuchta P.K. Pepeljugoski K. Stawiasz W. Nation D. Engebretsen B. Whitlock R.A. Morgan M.K. Hibbs-Brenner J. Lehman R. Walterson E. Kalweit T. Marta Lucent Technologies Bell Laboratories Murray Hill NJ USA Lucent Technologies Bell Laboratories Naperville IL USA IBM Thomas J. Watson Research Center Yorktown Heights NY USA IBM Systems Technology and Architecture Division Rochester MN USA University of Minnesota USA Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign Urbana IL USA Honeywell Technology Center Minneapolis MN USA

This paper discusses the present state of the art of components, systems, and application technology related to parallel optical data links (ODL) as demonstrated by the OptoElectronic technology Consortium (OETC). Parallel ODL technology is poised for large volume commercialization despite some uncertainties in industrial standards and system applications. This is fueled by the demand for high-bandwidth to support the upcoming information age. To meet the need for low-cost, broadband digital multimedia services, parallel ODL technology faces the challenge of providing reasonable cost/performance ratios when compared with other established technologies. Responding to this challenge has required the integration of a number of state-of-the-art component technologies (e.g. VCSEL, monolithic integrated photoreceiver, MCM, GaAs IC, optical array connector and cable) with system designs and applications.

关键词： Optical arrays Optical devices Commercialization Uncertainty Costs Vertical cavity surface emitting lasers Gallium arsenide Application specific integrated circuits Photonic integrated circuits Monolithic integrated circuits

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Task planning and project management using Petri nets

Task planning and project management using Petri nets

引用

IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Jongwook Kim A.A. Desrochers A.C. Sanderson Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The demand for effective project management increases as the complexity and cost of a project grown. This paper introduces an interactive project management approach based on the Petri net to overcome the limitations of network diagrams. In the Petri net based approach, the project manager does fine tuning of the planning and scheduling with the resource constraints embedded in the plan representation. The Petri net controller maintains three plan representations. The reference, monitor and predictor Petri nets. These three nets are configured with the resource database to form a feedback loop such that the controller can monitor and control the project online. This structure is applicable to the control of more general discrete event dynamic systems as well as the project management problem. In case no admissible control action can be found, the manager turns to the rescheduling/replanning mode to generate a new plan and schedule.

关键词： Project management Petri nets Monitoring Robotics and automation Costs Resource management Building materials Scheduling Visualization Roads

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Robot motion planning for sensor-based control with uncertainties

Robot motion planning for sensor-based control with uncertai...

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： L.A. Page A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper describes a new representation for sensing and control uncertainties in sensor-based robot control, and presents motion planning algorithms that use this representation. The planning algorithms employ a robot's sensing capabilities as needed to accomplish a task, by activating sensors at points or intervals during motion. A sensor is represented by three quantities: a domain, which is the set of robot configurations at which a valid measurement can be taken; an absolute sensing uncertainty held, which describes the sensor's absolute (global) accuracy; and an incremental motion uncertainty, which describes the sensor's relative (pertaining to displacements) accuracy. Control uncertainty represents the ability of a controller to drive the measured error near zero. These descriptions of sensing and control capability determine the evolution of uncertainty in a sensor-based motion plan. Two complementary algorithms for motion planning with the new representation are presented. One is a backprojection algorithm which searches globally (in configuration space and the available sensors) for ways to achieve a particular subgoal. The other searches locally (in path space) to satisfy all the constraints in a planning problem. Examples of uncertainty evaluation and motion planning in two degrees of freedom are presented.

关键词： Robot motion Motion planning Motion control Uncertainty Robot sensing systems Robot control Sensor phenomena and characterization Displacement measurement Motion measurement Error correction

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Process monitoring and control for robotic resistive welding

Process monitoring and control for robotic resistive welding

引用

IEEE Conference on Control technology and Applications (CCTA)

作者： D. Mintz J.T. Wen Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute New York State Center for Advanced Technology in Automation Troy NY USA

Spot welding is a commonly used process for joining metals. Under nominal operating conditions, existing weld controllers can produce high quality welds. In practice, however, the process can significantly deviate from the nominal condition, and thus compromise the quality of the weld. This paper presents an overview of the main contributing factors to the process variation and suggest methods to detect and ameliorate them.

关键词： Monitoring Robot control Process control Spot welding Electrodes Surface resistance Robotics and automation Manufacturing automation computer aided manufacturing Manufacturing processes

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Task-based servoing in quaternion space

Task-based servoing in quaternion space

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IEEE International Conference on Robotics and automation (ICRA)

作者： L. Singh H. Stephanou New York State Center for Advanced Technology in Robotics Automation and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the control law required to control a plant in such a space. A complete set of derivations of the quaternion algebra used to accomplish the optimal control have also been developed. The advantage of this approach is that it decouples the position and orientation states, thereby reducing the complexity of the control algorithms. The intended application of this research is task-level control of the five-fingered Anthrobot mounted on a PUMA 760.

关键词： Quaternions Optimal control Space technology Orbital robotics Force control Robotics and automation Manufacturing automation computer aided manufacturing Motion control Acceleration

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Attitude control without angular velocity measurement: a passivity approach

Attitude control without angular velocity measurement: a pas...

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IEEE International Conference on Robotics and automation (ICRA)

作者： F. Lizarralde J.T. Wen Department of Electrical Engineering COPPE UFRJ Rio de Janeiro Brazil Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

It is well known that the linear feedback of the quarternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear filter of the quarternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a dynamic observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem. Simulation results are included to illustrate the theoretical results.

关键词： Angular velocity Velocity measurement PD control Feedback Quaternions Robot control Orbital robotics Robotics and automation Space vehicles Proportional control

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on Control technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on Control technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Tetrobot: A Modular System for Hyper-Redundant Parallel Robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

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A practical resource scheduling with OPF constraints

A practical resource scheduling with OPF constraints

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Power Industry computer Application Conference (PICA)

作者： K.H. Abdul-Rahman S.M. Shahidehpour M. Aganagic S. Mokhtari Siemens Empros Power Systems Control USA Department of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL USA Empros Power Systems Control Siemens Energy and Automation Inc. Brooklyn MN USA

This paper presents an efficient approach to short term power system resource scheduling based on the augmented Lagrangian relaxation method. The problem is divided into two stages, the commitment stage and the constrained economic dispatch stage. The proposed mathematical model incorporates optimal power flow (OPF) constraints in the unit commitment stage. By OPF constrains, the authors refer to the relevant active power constraints that are incorporated in the constrained economic dispatch stage (i.e. transmission capacity constraints, fuel and various regulated emission requirements). The inclusion of OPF constraints in the commitment stage will improve the feasibility of the constrained economic dispatch solution. Other unit commitment constraints such as spinning and operating reserve requirements, power balance as well as other relevant local constraints (i.e. unit ramping rates, upper and lower generation limits, minimum up and down times) are taken into account in the proposed model. As a larger number of constraints are dealt with, a more rigorous method is introduced for updating Lagrange multipliers to improve the solution convergence. A software package which addresses energy management systems requirements is developed and tested.

关键词： Power generation economics Fuel economy Power system modeling Lagrangian functions Relaxation methods Power system economics Mathematical model Load flow Spinning Power generation

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