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International Conference on Industrial Electronics, control and Instrumentation

作者： J.-Y. Lee W.-I. Tsai Y.-M. Chang Control System Laboratory Department of Electrical Engineering National Cheng Kung University Tainan Taiwan

A simple method for improving the input power factor of a single-phase online UPS (uninterruptible power supply) by making the DC-bus capacitance as small as possible is proposed. A feedforward modulation scheme is provided for solving the rapid DC-bus voltage fluctuation problem due to insufficient filtering. A discrete-time model of the UPS with the proposed scheme and a design technique for the compensators are also developed. Finally, a laboratory prototype 1kVA single-phase online UPS is set up to experimentally verify the predicted and analyzed results. The proposed UPS features a high input power factor, fast transient response, high efficiency, light weight, and small size.< >

关键词： Reactive power Uninterruptible power systems Inverters Power harmonic filters Voltage fluctuations Laboratories Capacitors Batteries Capacitance Filtering

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On-Line Identification of Time Delay And system Parameters of Continuous systems Based on Discrete-Time Measurements

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IFAC Proceedings Volumes 1991年第3期24卷 721-726页

作者： Z.Y. Zhao S. Sagara K. Kumamaru Department of Electrical Engineering Faculty of Engineering Kyushu University Hakozaki Fukuoka 812 Japan Department of Computer Science and Control Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Iizuka Fukuoka 820 Japan

A simple approach is presented for simultaneous on-line identification of the time delay and the system parameters of continuous-time systems based on discrete-time measurements. The linear integral filter is used both to construct the derivatives of input-output signals and to avoid estimating the unknown initial conditions. The time delay and the system parameters are directly estimated by an on-line algorithm which is derived using Newton’s method. Severed identification methods such as the bias-compensating method and the instrumental variable methods are applied for eliminating the asymptotic bias of the parameter estimates in noisy situations. The present algorithm is applicable to the case when the time delay is not an integral multiple of the sampling interval, and can also be used for model reduction.

关键词： Identification time-delay systems identification techniques model reduction

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Visual servoing by a fuzzy reasoning method

Visual servoing by a fuzzy reasoning method

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： Il Hong Suh Tae Won Kim Shin Heu Sang-Rok Oh Department of Electronics Engineering Hanyang University Seoul South Korea Control System Laboratory KIST Seoul South Korea

A visual servoing method is proposed for eye-in-hand robots. It employs a self-organizing fuzzy controller. There is defined a Jacobian that is not a function of a relative position of the object but is a function of the image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implementation. To show its validity, the proposed method is applied to a 2D visual servoing task.< >

关键词： Visual servoing Fuzzy reasoning Jacobian matrices Robot vision systems Cameras control systems Robot motion Fuzzy control Humans Intelligent sensors

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Efficient method to generate collision free paths for an autonomous mobile robot based on new free space structuring approach

Efficient method to generate collision free paths for an aut...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： M.K. Habib H. Asama Control & System Engineering Department University of Technology Baghdad Baghdad Iraq Chemical Engineering Laboratory The Institute of Physical and Chemical Research Wako Saitama Japan

A technique is developed based on free link concept to construct the available free space between obstacles within robot's environment in terms of free convex area. Then, a new kind of vertex graph called MAKLINK is constructed to support the generation of a collision free path. This graph is constructed using the midpoints of common free links between free convex area as passing points. These points correspond to nodes in a graph and the connection between them within each convex area as arcs in this graph. A collision free path can be efficiently generated using the MAKLINK graph. The complexity of the search for a collision free path is greatly reduced by minimizing the size of the graph to be searched concerning the number of nodes and the number of arcs connecting them. The analysis of the proposed algorithm shows its efficiency in terms of computation ability, safety, optimality, and in supporting robot navigation along the generated path.< >

关键词： Mobile robots Orbital robotics Robot kinematics Path planning Robot sensing systems Equations

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An optimal turning gait for a quadruped walking robot

An optimal turning gait for a quadruped walking robot

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： Z. Bien M.G. Chun H.S. Son Department of Electrical Engineering Robotics and System Control Laboratory Seoul South Korea Korea Telecommunication Authority Research Center South Korea

A turning gait is proposed for a quadruped walking robot. The proposed scheme makes it possible to control the translation and orientation of the walking robot simultaneously. First, feasible leg sequences which guarantee positive longitudinal gait stability margin for each direction of movement are found. A method for finding the lifting time of each leg of a feasible leg sequence and selecting an optimal gait among feasible gaits is then suggested. The proposed gait can be applied to control the posture of walking robots and to generate an optimal gait for a desired movement of translation and rotation of the walking robot systematically.< >

关键词： Legged locomotion Turning Service robots Leg Stability Mobile robots control systems Telecommunication control Vehicles Orbital robotics

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Fuzzy rule based position/force control of industrial manipulators

Fuzzy rule based position/force control of industrial manipu...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： Il Hong Suh Jong Hyuck Hong Sang-Rok Oh Kwang Bae Kim Department of Electronics Engineering Hanyang University Seoul South Korea Hyundai Electronics Industries Company Limited Ichon Kyunggi South Korea Control System Laboratory KIST Seoul South Korea

A force/position control method is proposed for robot manipulators equipped with a wrist force/torque sensor and position servo drives. Especially, fuzzy PI gain tuning rules are suggested to improve the transient force response. To show the validity of the proposed method, a numerical example employing a two-link manipulator is given.< >

关键词： Fuzzy control Force control Industrial control Manipulators Force sensors Position control Service robots Robot sensing systems Wrist Servomechanisms

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DIGNET: a self-organizing neural network for automatic pattern recognition and classification

DIGNET: a self-organizing neural network for automatic patte...

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IEEE Conference on Decision and control

作者： S.C.A. Thomopoulos D.K. Bougoulias Decision and Control Systems Laboratory Department of Electrical & Computer Engineering Pennsylvania State University University Park PA USA Information Proc. & Intell. System Laboratory Department of Electrical Engineering Southem Illinois University Carbondale IL USA

The authors present a self-organizing artificial neural network (ANN) that exhibits deterministically reliable behavior to noise interference when the noise does not exceed a specified level of tolerance. The complexity of the proposed ANN, called DIGNET, in terms of neuron requirements versus stored patterns, increases linearly with the number of stored patterns and their dimensionality. The self-organization of DIGNET is based on the idea of competitive generation and elimination of attraction wells in the pattern space. The same neural network can be used for both pattern recognition and classification.< >

关键词： Neural networks Pattern recognition Artificial neural networks Neurons Interference Vectors Laboratories Noise level Signal detection Automatic control

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Cad Techniques for a Structural Approach to Noninteraction and Disturbance Rejection

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IFAC Proceedings Volumes 1991年第8期24卷 537-542页

作者： K.J. Reinschke J. Jantzen F.J. Evans Informatik und Prozessteuerung Hochschule fur Bauwesen Cottbus 7500 Germany Electric Power Engineering Department Technical University of Denmark Lyngby DK-2800 Denmark Control System Centre South Bank Polytechnic London SE1 0AA UK

Practical CAD techniques for a structural approach to multivariable control are described. These are based on earlier graph theoretic analysis, as largely developed by one of the authors. Their application to two major control design problems; an IFAC benchmark problem in disturbance rejection and another of non-interactive control, are successfully demonstrated. The software tools are fully compatible with the standard MATLAB environment, and are briefly described. It is claimed that, with adequate software tools, a structural approach to complex problems can be effective in design, and it is proposed to further extend this more tangible approach to a wider variety of problem such as pole assignment, decentralized control and non-linear systems

关键词： Computer-aided design graph theory multivariable control systems disturbance rejection decoupling structural controllability

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ARTIFICIAL NEURAL NETWORKS AND THEIR APPLICATION TO WEAPONS

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NAVAL ENGINEERS JOURNAL 1991年第3期103卷 46-59页

作者： WEBSTER, WP The Author The Author is the technology manager for the Intercept Weapons Department at the Naval Weapons Center China Lake Calif. Dr. Webster received his B.S. M.S. and Ph.D. degrees in electrical engineering at the University of Arizona Tucson Arizona in 1964 1966 and 1971 respectively. While at the University of Arizona his studies focused on electromagnetic field propagation and scattering and laser radar system design. Since graduation he has worked at the Naval Weapons Center in a variety of technology areas including laser radar system design infrared system design proximity fuze system design hybrid and monolithic microelectronic circuit design and fabrication technology airborne fire control sensor technology and anti-air and anti-surface missile guidance and control technology. Currently he is responsible for identifying selecting and directing the development of advanced guidance sensor signal processing and aerodynamic control system technologies for application to U.S. Navy tactical electro-optical and radio frequency air intercept missiles. Dr. Webster is a member of IEEE Sigma Xi and Tau Beta Pi.

Complex processing algorithms associated with requirements for real-time target detection, acquisition and recognition have far outdistanced our ability to package the necessary processing power into real-time weapon-sized hardware. Weapon developers need new, radically different, approaches to solve these difficult weapon signal processing problems. Artificial neural networks (ANN) is one of the new, radically different, signal processing approaches that is currently receiving much attention for weapon applications. The human brain is a powerful image and pattern recognition processor whose basic processing element is the neuron. Synapses are the weighted interconnections between neurons that permit learning and communication between the neurons. Artificial neural network technology attempts to mathematically and/or electrically model neurons and synapses and then interconnect these models in architectures suitable for signal processing tasks. ANN technology is particularly applicable to pattern recognition, speech recognition, machine vision, robotics, and optimization signal processing tasks. Specific military applications include missile seekers, missile fuzing, sonar target discrimination, automatic target recognition, and autopilots. Two unique characteristics of ANN processors are that they are non-linear processors and that they are trained, not programmed, to accomplish processing tasks in a manner analogous to the way the human brain learns. Learning is achieved by modifying the synaptic weights of each artificial neuron until the final desired system processing response is achieved. Several years ago the Naval Weapons Center (NavWpnCen) identified ANN technology as a high risk-high payoff approach to missile signal processing requirements and initiated several research and development efforts in this area. One result of this work is the new 80170NW ANN analog VLSI chip produced by Intel Inc. Another is the current Missileborne Integrated Neural Network De

关键词： Neural Networks

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New algorithms for earthfault distance protection in insulated and compensated networks

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European Transactions on Electrical Power 1991年第5期1卷 253-259页

作者： Igel, M. Koglin, H.‐J. Schegner, P. Dr.-lng. Michael Igel (1961). VDE received his Dip1.-lng. degree in Electrical Engineering at the University of SaarlandGermany. in 1987 and became scientific assistant at the Lehrstuhl fur Energieversorgung of this University. After receiving his Dr.-Ing. degree in 1990. he presently works as development engineer of the department of protection systems in the power transmission and distribution division of AEG at Frankfurt a. M./Germany. (AEG Aktiengesellschaft Lyoner Str. 44-48. D-6000 Frankfurt 7 I T + 49 69/66 40 16 I 7) Prof. Dr.-lng. Hans-Jurgen Koglin (1937). VDE holds the Lehrstuhl fur Energieversorgung of the University of SaarlandGermany since 1983. After the study of Electrical Engineering (power engineering) at the Technische Hochschule DarmstadtIGermany. he worked as a scientific assistant at the “Institut fur Elektrische Enerpieversorgung” of this Unive:rsity. After receiving his Dr.-lng. degree he tirst worked as assistant professor later on as full Professor at the Technische Hochschule Darmstadt (Department “Systemfuhrung in Energieversorgungsnetzen”). He is member i n several national and international committees. His most important research activities are: reliability evaluation computer-optimized network development planning digital network protection systems substation control system state estimation. corrective switching visibility of overhead lines. (Universitat des Saarlandes Lehrstuhl fur Energieversorgung Im Stadtwald D-6600 Saarbriicken I I T + 4 9 6 8 113 023979) Dr.-Ing. Peter Schegner (1955) VDEis head of the development department of protection systems in .the power transmission and distribution division of AEG at Frankfurt a. M./Gerrnany. He studied Electrical Power Engineering at the Technische Hochschule Darmstadt/Genany and worked as system engineer in the field of power system control. He became a member of the scientific staff at the Universitiit des Saarlandes receiving his degree with a thesis on the earthfault distance protection. (AEG Aktiengesellschaft

Through the analysis of transient signals after the occurrence of an earthfault it is possible to evaluate fault direction and fault distance. The faulty line is simulated by using a three phase Tl‐model. The result is a differential equation of a higher order, which only consists of voltages and currents, which are measured at the installation point of the relay. If the capacities of the part of the network without earthfault are considerably larger than those of the faulty line, the line capacities of the faulty line can be ignored in the differential equation. This results in afirst‐jorder differential equation, which can be solved by integration in the time domain. A second algorithm takes the line capacities into consideration. The derivatives of the input signals are calculated in the frequency domain. A third algorithm calculates the equivalent fault inductivity in the frequency domain by complex division. The last algorithm deals with the line capacities by using correction factors. The mode of operation of the earthfault distance algorithms presented here will be shown with the example of a 22‐kV‐overhead line network. Copyright © 1991 John Wiley & Sons, Ltd.

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