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American control Conference (ACC)

作者： Jun Wu Sheng Chen Gang Li R.H. Istepanian Jian Chu J.F. Whidborne National Laboratory of Industrial Control Tech Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK The school of EEE Nanyang Technological University Singapore Department of Electrical and Computer Engineering Ryerson Polytechnic University Toronto ONT Canada National Laboratory of Industrial Control Tech. Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Mechanical Engineering King''s College London UK

This paper present a new effective algorithm for the optimal realization of state estimate feedback controller structures for discrete time systems subject to finite-word-length constraints. The problem is formulated as a nonlinear programming to provide an easy and efficient optimization tool to solve such a complex problem. Simulation results of the optimum realizations of state estimate feedback controller structures are presented to illustrate the effectiveness of the proposed strategy.

关键词： Stability State estimation Adaptive control control systems Digital control Industrial control process control Educational institutions Discrete time systems Signal design

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Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems Robotics and automation Uncertainty

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Stability issues of finite precision state estimate feedback controller realizations for discrete time systems

Stability issues of finite precision state estimate feedback...

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作者： Wu, Jun Chen, Sheng Li, Gang Istepanian, Robert Habib Chu, Jian Whidborne, James F. National Lab. of Industrial Control Tech. Institute of Advanced Process Control Zhejiang University Hangzhou 310027 China Dep. of Electronics and Computer Sci. University of Southampton Highfield Southampton SO17 lBJ United Kingdom School of EEE Nanyang Technological University Singapore Dep. of Electrical and Computer Eng. Ryerson Polytechnic University Toronto ON M5B 2K3 Canada Department of Mechanical Engineering King's College London London WC2R 2LS United Kingdom

关键词： Nonlinear programming

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Adaptive PID controller with On-Line Identification

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IFAC Proceedings Volumes 2000年第4期33卷 437-442页

作者： Jiří Macháček Vladimír Bobál University of Pardubice Faculty of Chemical Technology Department of Process Control and Computer Techniques nám. Ćs. legií 565 532 10 Pardubice Czech Republic fax: (+42040) 603 7068 Brno University of Technology Faculty of Technology Zlín Department of Automatic Control nám. TGM 275 762 72 Zlin Czech Republic fax: (+42067) 721 1521

A digital adaptive PID controller algorithm, which contained on-line identification, is presented in this paper. It is performed for tree type of discrete model: second order, third order and first order with time delay. The controller parameter design is derived from the ultimate (critical) gain and ultimate period of the system. The main part of the paper consists in the simple algebraic expressions for the ultimate values computation. This procedure can be implemented on all controller design methods, which are based on the knowledge of the ultimate values, such as the well-known Ziegler-Nichols (Z-N) method.

关键词： Adaptive control PID controllers on-line control identification transfer functions simulation computer control system design

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Self-Tuning PID controllers Based on Dynamics Inversion Method

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IFAC Proceedings Volumes 2000年第4期33卷 167-172页

作者： Vladimír Bobál Petr Dostál Jiří Macháček Miluše Vitečková Department of Automatic Control Faculty of Technology Zlin Brno University of Technology nám. TGM 275 762 72 Zlin Czech Republic Phone Fax: +420 67 721 1521 Department of Process Control and Computer Techniques University of Pardubice nám. Čs. Legií 565 532 10 Pardubice Czech Republic Department of Control Systems and Instrumentation Faculty of Mechanical Engineering Technical University of Ostrava 17. Listopadu 15 708 33 Ostrava-Poruba Czech Republic

A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directional forgetting. The recursive parameter estimates of the continuous – time model (differential equation) are used to synthesis the PID controller. controller synthesis is designed on the basis of a dynamics inversion method. This method allows the tuning of standard analog and digital controllers for chosen types of controlled processes without or with time delay. The algorithm is suitable for the automatic setting of analog and digital PID controllers for deterministic processes or the adaptive control of stochastic and nonlinear processes. The analog modification PID controller has been verified by computer simulation.

关键词： continuous – time ARX model recursive least squares inverse dynamics control PID control self-tuning control

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A phenomenological nonlinear multivariable controller for a pellet cooling process

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IFAC Proceedings Volumes 2000年第22期33卷 167-172页

作者： Dominique Pomerleau Daniel Hodouin Eric Poulin GRAIIM (Groupe de recherche sur les applications de l’informatique à l’industrie minérale) Department of Mining and Metallurgical Engineering Université Laval Sainte-Foy Québec Canada G1К 7P4 Department of Automation and Process Control Breton Banville & Associates 375 Boul. Laurier Mont-St-Hilaire Québec Canada J3H 6C3

When process non-linearities are responsible for the deterioration of linear controller performances, usually the linear approximation of the model is updated as the operating conditions change. The alternative approach, which is used in this paper, is to directly incorporate the non-linear phenomenological simulator of the process into the controller. To assess the method, the control of a cooling zone of an iron oxide pellet-sintering furnace, a multivariable process containing strong gain variations, has been simulated. The structure of the predictive controller is based on the internal model control scheme. The observer part of the control loop uses the non-linear phenomenological dynamic model of the process, while the controller part uses either the steady-state or the dynamic non-linear model for output predictions.

关键词： Dynamic Modelling Predictive control Nonlinear control Model based control Nonlinearity

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On learning control in industrial furnaces and boilers

On learning control in industrial furnaces and boilers

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IEEE International Symposium on Intelligent control (ISIC)

作者： G.M. Dimirovski A. Dourado N.E. Gough B. Ribeiro M.J. Stankovski I.H. Ting E. Tulunay ASE Department at Faculty of E.Eng SS Cyril and Methodius University Skopje Macedonia Computer Cont. Laboratory at Department of InfonnEng University of Coimbra Coimbra Portugal School of Computing and Information Technology University of Wolverhampton Wolverhampton UK Process Control Laboratory at Department of Electr and Electronic Eng Middle East Technical University Ankara Turkey

Presents some contributions to the integrated learning control and supervision of industrial thermal systems such as furnaces and boilers. Three application case-studies have enabled us to demonstrate practical feasibility and efficiency of the learning control and supervision approach in thermal systems automation. This approach provides for a methodology for solving the problem of process identification, control and supervision for complex, multi-variable, thermal plants within a time-domain setting and by using recorded, operating time series and/or rough, non-parametric process models.

关键词： Industrial control Furnaces Boilers control systems Thermal variables control Temperature control Automatic control Uncertainty Weight control process control

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Simulation of frontal orbital advancement

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Virtual Reality 1999年第3期4卷 235-240页

作者： Grabowski, H.A. Hassfeld, S. Krempien, R. Munchenberg, J. Brief, J. Rembokp, U. Wörn, H. Institute for Process Control and Robotics University of Karlsruhe Germany Clinic for Cranio-Maxillo-Fociol-Surgery University of Heidelberg Germany Department of Radiology University of Heidelberg Germany Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany

In this paper, we present a system for performing a complex surgical intervention using virtual reality (VR) technology. With the aid of the system, the intervention can be planned and simulated exactly before performing it in reality and important additional information can be achieved during the simulation. Before working in VR, finite element models of the patient's head are generated form CT-images. Based on these models, additional work is done in VR, where the patient's skull is cut into several pieces, which are then re-positioned. Based on moving and shifting the obtained pieces, the goal is to increase the volume inside the skull, which is called intracranial volume. Until now, it was not possible to measure the achieved increase of the intracranial volume. However, by using our system is it now possible to calculate this volume online during each step of our virtual intervention. The obtained results are used for the surgical intervention in reality. © Springer-Verlag London Ltd.

关键词： Finite element models Geometric modelling Mesh generation Virtual cutting Volume measurement VR-based surgery

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Sensor-based controlling of the objects pose for multifinger grippers

Sensor-based controlling of the objects pose for multifinger...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T. Fischer D. Rapela H. Woern Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the field of research and development of grippers in object-handling applications, many research results in improving grippers performances have been achieved, and many kinds of multifinger grippers have been developed. By using multifinger grippers, it is possible to grasp different objects of different shapes without changing grippers; and most importantly, it can manipulate the grasped object in the hand, under the condition that the object is controlled in real-time. Therefore, an object-pose controller with feedback from an object-pose sensor is presented in this paper.

关键词： Grippers Fingers Force control Sliding mode control Open loop systems control systems Robot sensing systems Shape control Feedback Orbital robotics

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Sensor-based obstacle modeling in configuration space for manipulator motion planning 1

Sensor-based obstacle modeling in configuration space for ma...

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1st Workshop on Robot Motion and control, RoMoCo 1999

作者： Li, Wei Chen, Zushun Wahl, F.M. Kozlowski, Krzysztof R. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Poznań University of Technology Department of Control Robotics and Computer Science Ul. Piotrowo 3a Poznań60-965 Poland

ISBN: (纸本)0780356551

This paper presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance" sensors to detect obstacles inthe local region. By computation of the critical points of an obstacle based on information acquired by the distance" sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames. © 1999 IEEE.

关键词： Wave functions

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