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2011 World Congress on Information and Communication Technologies, WICT 2011

作者： Banerjee, Tribeni Prasad Saha, Suman Das, Swagatam Abraham, Ajith Dept. of Electronics and Telecommunication Engineering Jadavpur University Kolkata 700 032 India CSIR-Central Mechanical Engineering Research Institute Drives and Control System Laboratory Durgapur-713209 West-Bengal India Scientific Network for Innovation and Research Excellence WA United States EU Center of Excellence Faculty of Electrical Engineering and Computer Science VSB - Technical University of Ostrava Czech Republic

ISBN: (纸本)9781467301251

The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. This is for controlling the velocity of worm gear so that the friction torque due to uneven rotational speed can be avoided. Because with the friction and stiction and backlash the valve system performance is reduced and more and more unstable this leads the system to failure. The proposed controller can provide robustness against the uncertain loading torque and system parameter. © 2011 IEEE.

关键词： controllers

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Direct Geometrico-Static Problem of Under-Constrained Cable-Driven Parallel Robots with Three Cables

Direct Geometrico-Static Problem of Under-Constrained Cable-...

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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Marco Carricato Jean-Pierre Merlet Dept. of Mechanical Engineering (DIEM) University of BolognaBolognaItaly COPRIN Project French National Institute for Research in Computer Science and Control (INRIA)Sophia

This paper studies under-constrained cable-driven parallel robots with three cables. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be tackled simultaneously. In this contribution, a general elimination procedure is provided that solves the direct geometrico-static problem, which consists in determining the platform posture and the cable tensions when the cable lengths are assigned. The problem is proven to have up to 156 complex solutions.

关键词： Polynomials Manipulators Bismuth Robot kinematics Generators

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Increasing Efficiency of Optimization-based Path Planning for Robotic Manipulators

Increasing Efficiency of Optimization-based Path Planning fo...

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IEEE Conference on Decision and control

作者： Hao Ding Gunther Reissig Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany Chair of Control Eng. (LRT-15) Dept. Aerospace Eng. University of the Federal Armed Forces Munich D-85577 Neubiberg (Munich) Germany

ISBN: (纸本)9781612848006

Path planning for robotic manipulators interacting with obstacles is considered, where an end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constraints are to be obeyed. The obstacles can be time-varying in their positions, but the positions should be known or estimated over the prediction horizon for planning the path. This non-convex optimization problem can be approximated by Mixed Integer Programs (MIPs), which usually leads to a large number of binary variables, and hence, to inacceptable computational time for the planning. In this paper, we present a geometric result whose application drastically reduces the number of binary decision variables in the aforementioned MIPs for 3D motion planning problems. This leads to a reduction in computational time, which is demonstrated for different scenarios.

关键词： Path planning Robot Manipulator million instructions per second Manipulators computational time Mixed integer binary decision kinematics

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Reconstructing static scene viewed through smoke using video

Reconstructing static scene viewed through smoke using video

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2011 18th IEEE International Conference on Image Processing, ICIP 2011

作者： Kiss, Ákos Szirányi, Tamás Budapest University of Technology and Economics Dept. of Control Engineering and Information Technology Magyar tudósok körútja 2 H-1117 Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Distributed Events Analysis Research Group Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781457713033

In this paper we present a method for reconstructing static scene viewed through thick smoke using multiple images. Based on spatiotemporal statistical approach our method works well on noisy videos containing swirling smoke. We apply statistical analysis on regions of color input images, and show the way to reconstruct scene by transforming images to alter mean and deviation locally. We introduce a method to extract necessary parameters using multiple frames of a video. We verify our method with the widely used physical model of aerosols, highlighting some differences from removing haze and fog - a widely studied area. Furthermore, our approach eliminates the need for complex optimization, making real-time processing possible. Results show that our method is capable of reconstructing scene in challenging cases. © 2011 IEEE.

关键词： Smoke

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A new adaptive fuzzy sliding mode control using fuzzy self-tuning for 3 DOF planar robot manipulators

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Applied Intelligence 2011年第4期37卷 613-613页

作者： Amer, A. F. Sallam, E. A. Elawady, W. M. Automatic Control Engineering Dept. Faculty of Engineering Arab Academy for Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dept. Faculty of Engineering Tanta University Tanta Egypt

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Sliding mode simulation and robustaness controller

Sliding mode simulation and robustaness controller

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International Conference on engineering and Industries (ICEI)

作者： Ali Amer Ahmed R. B Ahmad Saadi A. Alobaidi Abid Yahya L. A. Hassnawi Z. G. Ali Hazim H. Tahir School of Computer and Communication Engineering University Malaysia Perlis Malaysia Head of Computer Techniques Eng. Dept. Dijlah University College Baghdad Iraq Mechatronics Department Control and Mechatronics Research Ministry of Science and Technology Baghdad Iraq

Thailand has exported longan to international market more than four decades, and China is the main international market. After Thailand and China agreed the ASEAN framework under Free Trade Agreement (FTA) since 2003, the average volume and value of longan export per year during 2004-2010, grow up to 200,000 tons and 2,737 million Baht respectively. And the average of growth rate per year of volume and value is 18%, 15%. Therefore, the objectives of the research aim to investigate the supply chain performance, collaborative supply chain of exported longan and impact factors under Thailand-China FTA. The results are based upon empirical studies, a grower and an exporter. The questionnaires developed by Q-sort technique, have been intensively employed in order to collect data. As a significant result; this paper finds exporters have high level out of eight factors, it illustrates that good competence in business for this part of supply chain as well as are well-packed and much stronger than the grower. Nevertheless, the results from regression analysis also confirm the relationship of factors in all four models. From these experimental results, both international business and agriculture business have to be emphasized in order to manage longan export.

关键词： Equations Mathematical model Switches DC motors Trajectory Dynamics

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Robust Tracking by Reduced-order Disturbance Observer: Linear Case

Robust Tracking by Reduced-order Disturbance Observer: Linea...

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IEEE Conference on Decision and control

作者： Juhoon Back Hyungbo Shim Nam H. Jo Jung-Su Kim School of Robotics Kwangwoon University Seoul Korea School of Electrical Engineering and Computer Science Seoul National University Seoul Korea School of Electrical Engineering Soongsil University Seoul Korea Dept. of Control and Instrumentation Engineering Seoul National University of Science and Technology Seoul Korea

ISBN: (纸本)9781612848006

The disturbance observer (DOB) is one of the widely-used control methods for robust tracking under plant uncertainties and external disturbances. Typically it is implemented by two (so-called) Q-filters as well as an inverse model for the nominal plant. Observing that these two Q-filters have identical dynamics, we propose a reduced-order implementation of the conventional DOB configuration. Moreover, we analyze this newly proposed configuration and claim that the robust stability condition, which has been found for the conventional configuration, still holds for the reduced-order case, and the robust transient performance can also be maintained as before with a saturation function introduced in the feedback loop.

关键词： disturbance observer Feedback loop Inverse method control Methods Steady state tracking Transient performance external disturbance

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Low Frequency Current Reduction using a Quasi-Notch Filter operated in Two-Stage DC-DC-AC Grid-Connected Systems

Low Frequency Current Reduction using a Quasi-Notch Filter o...

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2011 IEEE Energy Conversion Congress and Exposition (ECCE 2011)

作者： Hong-Ju Jung Keun-Soo Ha Byeong-Mun Song Jih-Sheng Lai Dong-Seok Hyun Rae-Young Kim Dept. of Electrical Engineering Hanyang University Korea Advanced Control Group LG Electronics Inc. Korea Dept. of Electrical and Computer Engineering Baylor University USA Dept. of Electrical and Computer Engineering Virginia Tech USA

ISBN: (纸本)9781457705427

For a single-phase grid-connected power system, output power is pulsated instantaneously with a double-fundamental frequency. Accordingly, the current drawn from renewable energy sources tends to be pulsated and contains low frequency ripple components, which causes several issues including a power harvesting deterioration and energy source's life shortening. This paper proposes a novel power pulsation decoupling scheme to reduce low frequency ripple current with a fast voltage loop. Proper control design based the small-signal model of two-stage dc-dc-ac converter is presented in a frequency domain analysis, and its experimental waveforms are provided to verify the effectiveness.

关键词： Voltage control Gain Renewable energy resources Inverters Frequency control Power system dynamics

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controlling combustion phasing of recompression HCCI with a switching controller

Controlling combustion phasing of recompression HCCI with a ...

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作者： Liao, Hsien-Hsin Ravi, Nikhil Jungkunz, Adam F. Widd, Anders Gerdes, J. Christian Dept. of Mechanical Engineering Stanford University CA United States Dept. of Automatic Control Lund University Sweden

ISBN: (纸本)9783902661722

Homogeneous charge compression ignition (HCCI) is more efficient and produces significantly less NOx emissions compared to spark ignitions. Using an exhaust recompression strategy to achieve HCCI, however, produces cycle-to-cycle coupling which makes the problem of controlling combustion phasing more difficult. In the past, a linear feedback controller designed with a single linearized model is effective in controlling combustion phasing around an operating point. However, HCCI dynamics can change dramatically around different operating points such that a single linearization is insufficient to approximate the entire operating range. Further investigation shows that the operating range can be roughly divided into three regions where a linear model can capture the qualitative system behavior in each of the regions. As a result, a three zone switching linear model approximates recompression HCCI dynamics far better than a single linearization. This new model structure also suggests that two of the three regions need completely opposite control actions. Therefore, the approach of using a static feedback control based on a single linearziation cannot be appropriate over the entire operating range. We propose a switching controller based on the switching linear model and achieve very good performance in controlling HCCI combustion phasing throughout the entire operating region. Lastly, a semi-definite programming (SDP) formulation of finding a Lyapunov function for the switching linear model is presented in order to guarantee stability of the switching control scheme. © 2010 IFAC.

关键词： Linearization

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RETRACTED ARTICLE: Dynamic feedback equalization algorithm for minimum weight

RETRACTED ARTICLE: Dynamic feedback equalization algorithm f...

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作者： Song, Shouyun Xu, Junpeng Cong, Qing Dept. of Automatic Control Department Henan Mechanical and Electrical Engineering College Xinxiang Henan China Dept. of Mechanical Engineering Henan Institute of Science and Technology Xinxiang Henan China Dept. of Computer and Information Technology Henan University Kaifeng Henan China

ISBN: (纸本)9781424455386

the paper analyzes the existing Linux virtual server (LVS) cluster load balancing algorithm and its inadequacies that not real-time dynamic full makes an appraisal to the load on the each server node, designs a new Dynamic Feedback Equalization Algorithm for Minimum Weight. The algorithm considers real-time load and response capacity of each server node, makes pre-load rate of the server combined with response time, dynamic generates server node weights by real-time feedback and conducts adjust to the load balancing of server cluster by using Minimum weight balancing algorithm. This algorithm has done a comparison with the Weighted Least Connections, theory analysis and experimental results show that the improved dynamic load balancing algorithm is more effective than Weighted Least Connections. © 2010 IEEE.

关键词： Clustering algorithms

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