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International Conference on Clean Electrical Power (ICCEP)

作者： N. Nanayakkara M. Nakamura Department of Electrical Engineering University of Moratuwa Sri Lanka Department of Advanced Systems Control Engineering Saga University Japan

Development partners of South Asian and African countries have identified off-grid hydro power project development as an important area of project financing. Standard practice of project execution cannot be adopted for community based projects due to their inherent nature of ensuring sustainability. This paper gives an insight into implementation modalities depending on the nature of the country and social structure of the community, which will help to formulate the best strategy for project implementation and financing, while ensuring the successful completion of the project and sustainable economy after commissioning of the project. Based on the success and failed stories in project implementation in Sri Lanka and Rwanda, authors have identified nine important variables as inputs to the model, and those variables will be given a numeric value after having done a thorough social survey of the village communities and the country as a whole. Depending on the significance of those variables, the derived values are multiplied by a scale factor and finally a cost function is obtained. Further the values are plotted in a spider network constructed from nine variables. The decision to adopt the best implementation model and financing mechanism can be decided by the final output of the cost function and template of the spider network formed by nine variables. Since such an exercise has never been attempted before, this paper will be a good start for further research, as success or failure of a big amount of fund disbursement for hundreds of community based projects in a country or a region highly depend on the modalities for project execution, measures for sustainability and financing mechanism.

关键词： Best practices Business Cost function Sustainable development Power generation economics Power generation Isolation technology Government Energy consumption control systems

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A methodology for maintenance-interval scheduling of equipment considering maintenance effect

A methodology for maintenance-interval scheduling of equipme...

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2007 International Conference on Clean Electrical Power, ICCEP '07

作者： Zhang, T. Nakamura, M. Hatazaki, H. Department of Automation Tsinghua University Beijing 100084 China Department of Advanced Systems Control Engineering Saga University Hongomachi 1 Saga 840-8502 Japan Kyushu Electric Power Co. Inc. Fukuoka Japan

ISBN: (纸本)1424406323

This paper presents a methodology for maintenance-interval scheduling of equipment considering maintenance effect. By means of an operable ordering list of maintenance effects, all elements in a system can be ranked. For different purpose, maintenance intervals of elements can be scheduled as below. In order to reduce maintenance cost remarkably within a scale of system availability decrease, maintenance intervals of some elements with smaller maintenance effects are lengthened to decrease the number of system maintenance;In order to keep original system availability while reducing maintenance cost, maintenance intervals of some elements with larger maintenance effects are shortened to increase system availability, and at the same time maintenance intervals of some elements with smaller maintenance effects are lengthened to decrease the number of system maintenance. Based on this method, the maintenance intervals of equipments in thermal power stations are scheduled by use of the actual data from Kyushu Electric Power Co. of Japan, and thereby the effectiveness of the proposed method is verified. The proposed method can be adopted for many kinds of equipments or systems. © 2007 IEEE.

关键词： Electric equipment

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A fuzzy logic based approach to the SLAM problem using pseudolinear models with two sensors data association

A fuzzy logic based approach to the SLAM problem using pseud...

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International Conference on Information and Automation for Sustainability (ICIAfS)

作者： Chandima Dedduwa Pathiranage Lanka Udawatta Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan Department of Electrical Engineering Faculty of Engineering University of Moratuwa Sri Lanka

ISBN: (纸本)9781424418992;9781424419005

This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using a pseudolinear measurement model of nonholonomic mobile robots. Takagi-Sugeno fuzzy model based on observation for nonlinear system is adopted to represent the process and measurement models of the vehicle-landmarks system. The complete system of the vehicle-landmarks model is decomposed into several linear models. Using the Kalman filter theory, each local model is filtered to find the local estimates. The linear combination of these local estimates gives the global estimate for the complete system. The simulation results prove that the new approach results in more anticipated performances, though nonlinearity is directly involved in the Kalman filter equations, compared to the conventional approach.

关键词： Fuzzy logic Simultaneous localization and mapping Motion control Fuzzy systems Mobile robots State estimation Vehicles Error correction Data engineering Nonlinear systems

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New feedback-feedforward configuration for the iterative learning control of a class of discrete-time systems

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Zidonghua Xuebao/Acta Automatica Sinica 2007年第3期33卷 323-326页

作者： Hou, Zhong-Sheng Xu, Jian-Xin Advanced Control Systems Lab. School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

This paper presents a new feedback-feedforward configuration for the iterative learning control (ILC) design with feedback, which consists of a feedback and a feedforward component. The feedback integral controller stabilizes the system, and takes the dominant role during the operation, and the feedforward ILC compensates for the repeatable nonlinear/unknown time-varying dynamics and disturbances, thereby enhancing the performance achieved by feedback control alone. As the most favorable point of this control strategy, the feedforward ILC and the feedback control can work either independently or jointly without making efforts to reconfigurate or retune the feedforward/feedback gains. With rigorous analysis, the proposed learning control scheme guarantees the asymptotic convergences along the iteration axis.

关键词： Learning systems

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PROBABILITY-GUARANTEED ROBUST FULL-ORDER AND REDUCED-ORDER H ∞ -FILTERING

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IFAC Proceedings Volumes 2007年第20期40卷 326-331页

作者： S. Boyarski U. Shaked Advanced Systems Division Control Department Israel Military Industries Ramat-Hasharon 47100 Israel Department of Electrical Engineering-Systems Tel-Aviv University Tel-Aviv 69978 Israel

This paper addresses a robust H ∞ Linear Time-Invariant (LTI) filter synthesis problem for an affinely parameter-dependent LTI system, under the requirement that the filtering performance attained over the uncertainty polytope is guaranteed to a prescribed probability. The solution is based on a novel filtering-type Linear Matrix Inequality (LMI) formulation of the Bounded-Real Lemma (BRL) that guarantees an upper bound on the disturbance effect on the estimation error. The approach applies parameter-dependent Lyapunov functions and provides general full-order stationary filtering estimates; filters of reduced order are also obtained. The core of the probability aspect is a search for a truncated parameters- polytope which provides both the required probability and the best robust filtering performance level. The search for an appropriate truncated parameter-box - that has already been used for probabilistic performance analysis, state-feedback control synthesis, and structured disturbances modeling - leads to Bi-Linear Matrix Inequalities (BLMIs) which are solved by (convex) iterations. The probability requirement is expressed as a set of simple LMIs by recursively using a reduction lemma; these LMIs are concurrently solved with the above BLMIs. The features of the proposed probability-guaranteed robust filtering approach are demonstrated via an example.

关键词： Robust estimation LMI polytopic uncertainty H ∞ filtering probabilistic performance

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SIMPLIFIED ADAPTIVE control WITH GUARANTEED H 8 PERFORMANCE

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IFAC Proceedings Volumes 2007年第13期40卷 351-356页

作者： R. Ben Yamin I. Yaesh U. Shaked Advanced Systems Division Control Department I.M.I Ramat-Hasharon 47100 Israel Department of Electrical Engineering-Systems Tel-Aviv University Tel-Aviv 69978 Israel

Robust simplified adaptive controllers for continuous-time systems with uncertainties and disturbances are considered. Sufficient conditions for closed-loop stability and prescribed H ∞ disturbance attenuation level of the proposed simplified adaptive control scheme, are introduced, under an almost-strictly-positive- realness requirement on the plant. A numerical example is given, which demonstrates the proposed method.

关键词： H ∞ control adaptive control Robust SPR SAC strictly positive real simplified adaptive control systems

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Determination of target position of meal assistance orthosis using EOG signal and dish image

Determination of target position of meal assistance orthosis...

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SICE Annual Conference

作者： Satoru GOTO Akinori YAMADA Wataru HASHIMOTO Takenao SUGI Masatoshi NAKAMURA Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Electrical and Electronic Engineering Saga University Honjomachi Saga Japan

ISBN: (纸本)4907764278

Target position of a meal assistance orthosis is determined by using electrooculogram (EOG) signals and dish image. The meal assistance orthosis supports meal taking of disabled persons who have partly or completely lost the ability of moving their upper limbs by themselves independently. Scooping points on dishes can be determined by using image processing of the dish image taken by a video camera. Human intention, i.e., selection of dish, can be extracted from EOG signals which are measured by electrodes on the face. Target position of the meal assistance orthosis, i.e., the scooping point of the selected dish can be determined by the combination of the scooping point determination and the dish selection. The effectiveness of the proposed method of the determination of the target position is assured by experimental works on normal persons.

关键词： Electrooculography Humans Image processing Manipulators Cameras Robots control engineering Electrodes Face Signal processing

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Implementation of a synchronous learning environment

Implementation of a synchronous learning environment

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MIPRO 2007 - 30th Jubilee International Convention: Computers in Education

作者： Shinde, Prashant Kuljaca, Ognjen Horvat, Krunoslav Department of Advanced Technologies Systems Research Institute Alcorn State University 1000 ASU Drive #360 Alcorn State MS 39096 United States Brodarski Institute Control Engineering Department Av. V. Holjevca 20 10020 Zagreb Croatia

ISBN: (纸本)9789532330298

Alcorn State University (ASU) implemented Elluminate Live! and Blackboard Learning System to deliver online courses. Blackboard provides an asynchronous learning environment and Elluminate Live! offers a synchronous learning environment where students can "enter" the virtual classroom using the University provided username/password and actively participate in real-time in classroom proceedings. Faculty members can record the classroom sessions which are available to students for later viewing. The synchronous environment technology works efficiently over low speed dialup links and high speed LAN links and is integrated with an existing asynchronous Blackboard Learning System. The system was also tested with Brodarski Institute, Croatia for on-line conferencing and employee education. © 2007 by MIPRO. All rights reserved.

关键词： Students

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High accurate geometric correction for NORA AVHRR data considering elevation effect

High accurate geometric correction for NORA AVHRR data consi...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： An Ngoc Van Yoshimitsu Aoki Functional Control Systems Course Shibaura Institute of Technology Tokyo Japan Department of Information Science and Engineering Shibaura Institute of Technology Tokyo Japan

This paper describes a high accurate geometric correction method for NOAA AVHRR data considering elevation effect. NOAA data in map coordinate system is divided into rough and flat blocks to identify the variation of elevation. GCP template matching and affine coefficients are then used to correct residual errors in image coordinate system. In order to correct more residual errors, appropriate flat blocks are combined with GCP templates. Finally, corrected data is transformed into map coordinate system by bilinear interpolation. Because the sizes of rough blocks are smaller, the errors of bilinear interpolation are reduced.

关键词： Error correction Computer errors Interpolation Satellite broadcasting Earth Pixel control systems Paper technology Information science Radiometry

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Hyperbolic tangent function based force-position compliant controller for robotic devices

Hyperbolic tangent function based force-position compliant c...

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International Conference on control, Automation and systems ( ICCAS)

作者： S. R. Munasinghe M. Nakamura Department of Electronic and Telecommunication Engineering University of Moratuwa Sri Lanka Department of Advanced Systems Control Saga University Saga Japan

A new type of force-position compliant control is proposed, where hyperbolic tangent function is used to dynamically adjust the gain of the position feedback loop so that to control the contact force safely and according to a given pattern. The proposed compliant controller uses a high gain in the position control loop when the robotic device is in free space motion, and as and when it comes into contact with the environment, the gain of the position loop is lowered according to the roll-off of inverse tangent function. The controller is tunable with only one parametery, and is capable of mimicking a wide range of force control behaviors. In this paper we apply the proposed controller to mimic human compliant motion in gripping and lifting objects. And, we have verified that the human compliant behavior can be satisfactorily realized by the proposed compliant controller.

关键词： Force control Robot control Force feedback control systems Telecommunication control Humans Automatic control Motion control Position control Robotic assembly

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