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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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AN INTELLIGENT TUTORING SYSTEM BASED ON A DOMAIN ONTOLOGY FOR THE DESIGN OF LEAD-LAG controlLERS

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IFAC Proceedings Volumes 2006年第6期39卷 105-110页

作者： Isaías García Carmen Benavides José R. Villar Francisco Rodríguez Héctor Aláiz Ángel Alonso Systems Engineering and Control Group Electrical and Electronic Engineering University of León Edificio Tecnológico Campus de Vegazana s/n 24071 León (SPAIN) Science and Artificial Intelligence Group Dept. of Computer Science Edificio departamental 1 Campus de Viesques s/n 33204 Gijón Asturias (SPAIN)

The modeling of domains is today a technique with growing acceptance into the software community. Domain models allow the information to be represented in the computer at higher abstraction levels than in the usual applications, so improving the human to machine and machine to machine interactions. This paper deals with the application of such modeling paradigm to the control engineering education field, showing how the knowledge of this domain can be represented in a conceptual structure called ontology which is used as the base for building an Intelligent Tutoring System, a software tool used in the emerging field of e-learning.

关键词： Intelligent Tutoring Systems ontologies conceptual modeling control engineering education

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A safety assessment methodology for a digital reactor protection system

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International Journal of control, Automation and Systems 2006年第1期4卷 105-112页

作者： Lee, Dong-Young Choi, Jong-Gyun Lyou, Joon Instrumentation and Control - Human Factors Div. Korea Atomic Energy Research Institute 150 Deogjin-dong Yuseong-gu Daejeon 305-353 Korea Republic of Dept. of Electrical and Computer Engineering Chungnam National University 220 Gung-dong Yuseong-gu Daejeon 305-764 Korea Republic of Korea Atomic Energy Research Institute Department of Electrical and Computer Engineering Chungnam National University

The main function of a reactor protection system is to maintain the reactor core integrity and the reactor coolant system pressure boundary. Generally, the reactor protection system adopts the 2-out-of-m redundant architecture to assure a reliable operation. This paper describes the safety assessment of a digital reactor protection system using the fault tree analysis technique. The fault tree technique can be expressed in terms of combinations of the basic event failures such as the random hardware failures, common cause failures, operator errors, and the fault tolerance mechanisms implemented in the reactor protection system. In this paper, a prediction method of the hardware failure rate is suggested for a digital reactor protection system, and applied to the reactor protection system being developed in Korea to identify design weak points from a safety point of view.

关键词： Digital devices

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards Automation Software tools control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

关键词： Earthquake sliding mode control structural systems vibration control

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Introducing a new mathematical abstraction for modeling real time systems

Introducing a new mathematical abstraction for modeling real...

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作者： Deligiannis, Vasileios Manesis, Stamatis Electrical and Computer Engineering Dept. Division of Systems and Control University of Patras Greece

ISBN: (纸本)008045108X

Due to the increasing complexity of industrial production systems, there exists a need for the development of efficient formal approaches for their analysis and control. Various methods have been proposed and examined from researchers, without being widely adopted for direct industrial use. in general, an industrial production line can be modelled as a Discrete Event System, but a more accurate representation would result, if we considered it as a real-time system. This paper presents a new mathematical abstraction for modelling real-time systems. in comparison with the conventional methods, the proposed method introduces new formulation parameters and handles variables in a different manner. It gives the opportunity to handle both discrete and real valued variables as inputs, outputs or both. A formal definition of the method is given and some examples of computations or runs of two typical examples are also presented. Copyright © 2005 IFAC.

关键词： Discrete event simulation

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Cooperative control of Large Systems

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Lecture Notes in control and Information Sciences 2005年 309卷 119-136页

作者： Khatir, Maziar E. Davison, Edward J. Systems Control Group Dept. of Electrical and Computer Engineering University of Toronto Toronto ON M5S 3G4 Canada

ISBN: (纸本)3540228616

"Cooperative control" is a term which is used to capture those problem areas in which some type of repetition of identical or non-identical subsystems, which are interconnected together, occurs. Such systems are often found in nature, i.e. in the motion of clusters of birds, fish, insects, etc. moving together, in the cell structure of mammals and life-forms, and also in the man-made systems such as in transportation systems. In such systems, a decentralized control configuration is often applied to control the overall system, so that some common objective is achieved. It is perhaps too early to be able to list the fundamental problems arising in this problem area;there is however one important application area in which an understanding of the behaviour of the near-identical objects is desirable, and that is with respect to disease processes associated with the abnormal behaviour of certain organs of the human body. This paper gives a review of such typical example systems for the case of: "fish-like" objects interacting in water. vehicles which have the front wheel drive / steering interacting in a string formation. analyzing the behaviour of intestinal slow-wave patterns which occur in the human body. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Fish

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Evaluation of suboptimal real-time control results for model predictive control using improved initial conditions

Evaluation of suboptimal real-time control results for model...

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2005 IEEE International Conference on control Applications, CCA

作者： Milman, Ruth Davison, Edward Joseph Systems Control Group Dept. of Electrical and Computer Engineering University of Toronto

ISBN: (纸本)0780393538

In the Model Predictive control (MPC) framework a controller is computed using a finite horizon optimal control cost. When linear constraints are imposed on the system with a quadratic cost function, then the MPC problem can be reformulated as a constrained quadratic programming (QP) problem. In this paper active set methods are used in order to solve the QP problem associated with MPC, and it is shown that it is possible to use information from the previous sample interval in order to provide improved initial conditions for the QP problem which is applied to the subsequent sample interval. Simulations show that when real-time considerations force the used of suboptimal intermediate control values, then improved initial conditions can allow for control values which are closer to the true optimal solution than obtained when using standard initial conditions. These ideas can allow for the implementation of MPC schemes on a greater number of real industrial applications, where standard MPC control cannot be applied due to the excessive CPU time requirements. © 2005 IEEE.

关键词： Real time systems

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A solar-powered battery charger with neural network maximum power point tracking implemented on a low-cost PIC-microcontroller

A solar-powered battery charger with neural network maximum ...

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Sixth International Conference on Power Electronics and Drive Systems, PEDS 200

作者： Petchjatuporn, Panom Ngamkham, Wannaya Khaehintung, Noppadol Sirisuk, Phaophak Kiranon, Wiwat Control and Instrumentation Engineering Dept. Mahanakorn University of Technology Bangkok Thailand Computer Engineering Dept. Mahanakom University of Technology Bangkok Thailand Telecommunication Engineering Dept. Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)0780392965

This paper presents the development of a maximum power point tracking algorithm using an artificial neural network for a solar power system. By applying a three layers neural network and some simple activation functions, the maximum power point of a solar array can be efficiently tracked. The tracking algorithm integrated with a solar-powered battery charging system has been successfully implemented on a low-cost PIC16F876 RISC-microcontroller without external sensor unit requirement The experimental results with a commercial solar array show that the proposed algorithm outperforms the conventional controller in terms of tracking speed and mitigation of fluctuation output power in steady state operation. The overall system efficiency is well above 91%. © 2005 IEEE.

关键词： Microcontrollers

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