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IEEE International Symposium on Intelligent control (ISIC)

作者： Weimin Wu Hongye Su Jian Chu W.M. Wonham National Laboratory of Industrial Control Technology & Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electrical and Computer Engineering University of Toronto Toronto ONT Canada

Usually, the maximally permissive control of Petri nets with an OR-logic constraint is difficult to implement. In this paper, OR-logic is easily enforced using a colored Petri net. A colored Petri net place, named colored monitor place, is designed to monitor the states of constraints. A so-called guard function of colored Petri nets that maps certain transitions into a Boolean expression is suitably defined on the colored sets. The maximally permissive control is then obtained via the guard function. In addition, a constraint transformation method for marked graphs with uncontrollable transitions is proposed.

关键词： Petri nets Vectors control systems Laboratories Industrial control process control computerized monitoring Logic Glass Force control

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Optimal floating-point realizations of finite-precision digital controllers

Optimal floating-point realizations of finite-precision digi...

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IEEE Conference on Decision and control

作者： Jun Wu Sheng Chen J.F. Whidborne Jian Chu National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK Department of Mechanical Engineering King''s College London UK

ISBN: (纸本)0780375165

The paper investigates the closed-loop stability issue of finite-precision realizations for digital controllers implemented in floating-point arithmetic. Unlike the existing methods which only address the effect of the mantissa bits in floating-point format to the sensitivity of closed-loop stability, the sensitivity of closed-loop stability is analyzed with respect to both the mantissa and exponent bits of floating-point format. A computationally tractable finite word length (FWL) closed-loop stability measure is defined, and the optimal controller realization problem is posed as searching for a floating-point realization that maximizes the proposed measure. A numerical optimization approach is adopted to solve for the resulting optimization problem. Simulation results show that the proposed design procedure yields computationally efficient controller realizations with enhanced FWL closed-loop stability performance.

关键词： Optimal control Digital control Stability Floating-point arithmetic Length measurement Design methodology Uncertainty Laboratories Industrial control process control

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Interactive simulation of teeth cleaning

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International Congress Series 2001年第C期1230卷 682-688页

作者： Gockel, T. Salb, T. Weyrich, T. Burgert, O. Dillmann, R. Department for Computer Science Institute for Process Control Robotics Universität Karlsruhe (TH) 76128 Karlsruhe Germany

In this paper, an interactive simulation system for teeth cleaning is presented. This simulation system offers assistance for optimizing design and manufacturing of new toothbrushes. Data acquisition and pre-processing techniques for the model generation are shown, an editor for modelling of the elastic behaviour of the toothbrush parts is presented and the mathematical method for modelling of flexible parts of the toothbrush is explained. After the introduction of the PHANToM haptoid and the explanation of a new approach to collision detection, first results of the project are shown. © 2001, Elsevier Science B.V. All rights reserved.

关键词： Interactive simulation system Teeth cleaning Toothbrush

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A volume-based process model for computer-assisted surgery

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International Congress Series 2001年第C期1230卷 8-13页

作者： Däuber, S. Krempien, R. Schorr, O. Brief, J. Hassfeld, S. Wörn, H. Department of Computer Science University of Karlsruhe (TH) Institute for Process Control and Robotics 76128 Karlsruhe Kaiserstraße 12 Germany Department of Clinical Radiology University of Heidelberg Hedelberg Germany Department of Oral and Maxillofacial Surgery University of Heidelberg Hedelberg Germany

computer systems, which assists surgical procedures, are more and more leaving the status of being mere prototypes [1-4]. It is increasingly necessary for the surgeons and developers to ensure the quality, accuracy and security of their systems. Standards may help to achieve these objects. In this work, we present a standard which deals with the inaccuracies emerging in the particular steps of a CAS procedure. It is based on the definition of radiotherapy procedures as provided by the International Commission on Radiation Units and Measurements (ICRU) [5]. © 2001 Elsevier Science B.V.

关键词： Accuracy computer-assisted surgery Standardization

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Automatic safety analysis of computer-controlled plants

Automatic safety analysis of computer-controlled plants

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作者： Yang, S.H. Stursberg, O. Chung, P.W.H. Kowalewski, S. Department of Computer Science Loughborough University Leicestershire LE11 3TU United Kingdom Department of Chemical Engineering Process Control Laboratory University of Dortmund D-44221 Dortmund Germany

The paper describes an approach to apply the formal technique of model checking to the verification of logic controllers within the safety analysis of processing plants. In order to investigate plant safety in an early design phase in which only basic information is available, we set up plant and controller models in a qualitative and modular fashion. In a first step, the computer-controlled plant is partitioned into functional units, named modules, and the communication between different modules is represented graphically in a so-called process control event diagram (PCED). The PCED can be transformed into a formal model in which the behaviour of each module is described in terms of logical expressions for the modules' input, state and output variables. Based on the formal model, the method of model checking can be applied to determine algorithmically whether the system fulfils a set of given safety requirements. Specifically, we use the tool symbolic model verifier (SMV) to determine whether the plant can reach states that are, in some sense, critical for the plant operation. The whole approach is illustrated by application to an industrial computer-controlled tube reactor. © 2001 Elsevier Science Ltd.

关键词： Chemical plants

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Automated generated collision-free time optimized robot movements in industrial environments based on rounding

Automated generated collision-free time optimized robot move...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： B. Hein M. Salonia H. Worn Computer Science Department Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)078037004X

This paper presents a new approach to optimized notion planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based on the A*-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The collision-free result path is then optimized in execution time using rounding, a common command of every standard robot controller in the industry.

关键词： Service robots Robotics and automation Industrial control Orbital robotics Robot control computer industry Defense industry process planning Robot programming computer science

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Remotely controllable mobile microrobots acting as nano positioners and intelligent tweezers in scanning electron microscopes (SEMs)

Remotely controllable mobile microrobots acting as nano posi...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Schmoeckel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions of microns. In the paper, some aspects of the control of small mobile microrobots by teleoperation are addressed facing the special behavior of their piezoelectric actuators and the challenge of handling tasks in ranges of very different orders of magnitude (100 nm-100 mm). In order to give the teleoperated tweezers a kind of low-level "intelligence", a control loop using the SEM as a sensor system is being developed. In different open-loop handling experiments, the employed 6D-mouse proves satisfactory as an intuitive user interface.

关键词： Scanning electron microscopy Electron mobility Piezoelectric actuators Intelligent control Intelligent sensors Intelligent actuators Open loop systems control systems Sensor systems User interfaces

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An integrative framework for global self-localization

An integrative framework for global self-localization

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： J. Weber L. Franken K.-W. Jorg K. Schmitt E. von Puttkamer Computer Science Department Robotics & Process Control Research Group University of Kaiserslautern Kaiserslautern Germany

Concerning the robustness of mobile robot navigation, global self-localization is a key feature for many service applications. In this paper we describe an efficient Bayesian approach for hybrid topological/metric navigation, which is designed to exploit information from multiple sources of sensor data. Experiments with a combination of odometry/laserscans/computer vision show the system was able to generate initial position hypotheses, to cope with environmental ambiguities and to recover from severe position errors.

关键词： Sensor phenomena and characterization Mobile robots Navigation Service robots Robustness Sensor fusion computer science process control Robust control Application software

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Flexible Mobile Microrobots for Various Remote-controlled Micro-Manipulating Tasks

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IFAC Proceedings Volumes 2001年第9期34卷 327-331页

作者： Jörg Seyfried Ferdinand Schmoeckel Axel Bürkle Heinz Wörn Institute for Process Control and Robotics (IPR) Computer Science Department Universität Karlsruhe (TH) Kaiserstrasse 12 D-76128 Karlsruhe Germany

The handling of objects smaller than 1 mm is a great challenge for the robotics research community. applications are the handling of biological cells, teleoperation under vacuum conditions (e.g. inside a scanning electron microscope - SEM) or the manufacture of prototypes of microsystems. In this paper, some aspects of the control of small mobile microrobots by teleoperation are addressed. The employed 6D-mouse proves satisfactory as an intuitive user interface. A distributed control and planning architecture is presented as well as a closed-loop control approach basing on a sensor system that mainly consists of a standard SEM.

关键词： Microsystems Assembly robots Telemanipulation Biotechnology Microscopes

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Comparison of different fault detection algorithms for active body control components: automotive suspension system

Comparison of different fault detection algorithms for activ...

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American control Conference (ACC)

作者： M. Borner M. Zele R. Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany Department of Computer Automation and Control J. Stefan Institute Ljubljana Slovenia

Fault detection is increasingly an essential part of vehicle development. Integrating such fault detection subsystems raises the reliability, maintainability, and safety of automobile components. Until now, the suspension system was not a safety-critical component, but with the introduction of global chassis control systems this system is getting more important. Therefore, the paper presents fault detection algorithms for the suspension system. Real measurements of a vehicle are made to compare the advantages of the different fault detection algorithms.

关键词： Fault detection Automotive engineering control systems Principal component analysis Vehicle dynamics Automatic control Parameter estimation Automation Automobiles Power steering

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