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IEEE Annual Conference on Decision and control

作者： Cristian Mahulea Marius Kloetzer Aragon Institute of Engineering Research (I3A) University of Zaragoza Maria de Luna 1 50018 Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University "Gheorghe Asachi" of Iasi Romania

ISBN: (纸本)9781467360890

This research proposes an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The specification consists of logical requirements over some regions of interest for the agents' trajectories and for their final states. A Petri net (PN) with outputs models the movement capabilities of the team and the active regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities are formulated as linear constraints on PN markings, and the evaluations of the binary variables are linked with PN markings via linear inequalities. This allows us to solve a Mixed Integer Linear Programming problem whose solution yields robotic trajectories satisfying the task.

关键词： Mobile robots Specifications Automated methods Pigmentation Mixed integer linear programming trajectory

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Faults and fault propagation modeling in manufacturing systems based on colored petri nets 28

Faults and fault propagation modeling in manufacturing syste...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Gerzson, Miklós Leitold, Adrien Hangos, Katalin M. Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel fault integration method is proposed in this paper for manufacturing system models given in the form of timed colored Petri nets. The faults are assumed to have a stochastic nature and are represented in the form of transitions firing in stochastic way with known fault probabilities in the system model. A novel fault effect propagation method was also developed, that can be used to compute the probabilities of the possible faulty and non-faulty intermediate and final states of the system using the probabilities of faults and the occurrence graph. The faultless and fault containing models were implemented in CPNTools both for non-timed and timed cases. A software module was also developed for the proposed probabilistic fault propagation analysis. The proposed methods and tools were demonstrated using a simple case study.

关键词： Manufacture

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On-line qualitative model-based diagnosis of technological systems using colored petri nets 28

On-line qualitative model-based diagnosis of technological s...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Leitold, Adrien Gerzson, Miklós Pózna, Anna I. Hangos, Katalin M. Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel on-line diagnosis method is proposed in this paper that uses a qualitative dynamic model of the system and its colored Petri nets model. The model contains both the normal and the possible faulty operational modes of the system. The deviation between the normal and faulty modes is characterized based on P-HAZID tables. The actual system state can be searched on the occurrence graph constructed in advance. Starting from this node the possible consequences and root causes can be determined on-line with traversing on the graph. The proposed method is illustrated on simple case studies.

关键词： Petri nets

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Percentile-based contention window design for random access MIMO interference networks

Percentile-based contention window design for random access ...

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IEEE International Conference on Communications Workshops, ICC

作者： Zhenzhe Sun Chengnian Long Mary Ann Weitnauer Shanghai Jiao Tong University Shanghai CN Dept. of Automation Key Lab. of System Control and Information Processing Ministry of Education School of Electronic and Computer Engineering Georgia Institute of Technology Atlanta Georgia

This paper describes a new method for how interfering MIMO links might transmit more effectively in a random access network. We assume perfect transmitter-side channel state information, zero-forcing pre-coding to guarantee no interference on links that have already won access, and zero-forcing receiver processing at the still-contending links to suppress interference from the links that have already won. We define an effectiveness metric, the Instantaneous Equivalent SNR Percentile (IESP), in which the Equivalent SNR is the SNR of a single-input-single-output (SISO) link that would have the same capacity of a MIMO link after its interference constraints have been met and the IESP is the percentile of the Equivalent SNR, assuming independent Rayleigh fading. We propose that fairness among heterogeneous contending links be realized by giving the shorter contention window to the link with the higher IESP based on its own distribution, enabling links with few antennas to compete with links that have many antennas. Through simulation of the sum capacity of the winning set of links, the proposed contention window design is shown to provide a higher sum capacity than contention based on equal-sized windows.

关键词： Signal to noise ratio Receivers MIMO Interference Vectors Transmitters Frequency modulation

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Second-order sliding-mode controller for higher-order DC-DC converters

Second-order sliding-mode controller for higher-order DC-DC ...

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IEEE Workshop on Computers in Power Electronics

作者： Ramon Leyva Dragan Maksimovic Rui Ling Dept. Electronic Electrical and Automatic Control Engineering Universitat Rovira i Virgili Tarragona. Spain Colorado Power Electronics Center ECEE Department University of Colorado Boulder Boulder CO College of Automation Chongqing University Chongqing China

The paper adapts the second-order sliding mode (SOSM) control technique to higher-order dc-dc converters. In particular, the paper presents an adaptation of this control technique for buck converters with input filter. The approach consists of regulating the converter output voltage by means of a state-machine similar to the basic SOSM controller, which is shown to perform well as long as the input filter is properly damped, thus ensuring the overall converter stability. Stability and fast dynamic responses are verified by simulations on a 5 V-to-1.3 V point-of-load buck converter with a damped LC input filter.

关键词： Switches Damping Power harmonic filters Trajectory Capacitors Integrated circuit modeling

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Hardware implementation on FPGA of two modulation techniques for three phase inverters

Hardware implementation on FPGA of two modulation techniques...

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2013 IEEE 9th International Conference on Intelligent Computer Communication and Processing, ICCP 2013

作者： Alecsa, B. Onea, A. Dept. of Automatic Control and Computer Engineering Technical University of Iaşi Iaşi Romania

ISBN: (纸本)9781479914937

This paper presents two modern modulation techniques applied to three phase inverters from a hardware implementation point of view. The considered techniques are the sinusoidal pulse width modulation with zero sequence injection and the space vector modulation. Both these techniques conduct to the same result regarding supply voltage usage efficiency and harmonic content of the resulted signals. The implementation was developed in Matlab-Simulink using the system Generator software, and validated through simulation. Both the modulation algorithms were implemented in hardware on a low cost FPGA, and the resulted designs are compared for resource usage efficiency, obtained speed and easiness of integration within a complex AC drive control system. © 2013 IEEE.

关键词： Pulse width modulation

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Algebraic synthesis for online adaptation of dependable discrete control systems

Algebraic synthesis for online adaptation of dependable disc...

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4th IFAC Workshop on Dependable control of Discrete systems, DCDS 2013

作者： Hillmann, Christian Stursberg, Olaf Dept. of Electrical Engineering and Computer Science Control and System Theory University of Kassel Germany

Common practice in industrial design of discrete controllers as well as in most synthesis procedures advocated for discrete control in academia is to create the control logic and to transfer it into a PLC language before process start-up. Changes in the operational constraints of the controlled process (e.g. of available resources, nominal set-points, occurrences of failures) have to be accounted for by dedicated alternative routines, i.e. dependability is restricted to variations which are envisaged during design. In contrast, the approach proposed in this paper operates online on a model of the uncontrolled process to compute a control strategy that is adapted to the current set of constraints. By using algebraic computations largely resembling techniques for discrete-time continuous-valued controllers, perceived process variations (including newly defined control-goals) are first assessed with respect to the existence of a feasible successful control strategy, before such a dependable and optimal strategy is computed. © 2013 IFAC.

关键词： Product design

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Robust walking of biped robot on uneven terrain using effect of wobbling mass

Robust walking of biped robot on uneven terrain using effect...

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IEEE International Conference on Robotics and Biomimetics

作者： Terumitsu Hayashi Masaki Yamakita Yuta Hanazawa Fumihiko Asano Dept. of Mechanical and Control Engineering Tokyo Institute of Technology Meguro-ku Tokyo JAPAN Faculty of Engineering Department of Applied Science for Integrated System Engineering Kyushu Institute of Technology Kita-Kyushu Fukuoka Japan School of Information Science Japan Advanced Institute of Science and Technology Nomi Ishikawa JAPAN

ISBN: (纸本)9781479973989

Many studies about improving the performance of biped robots, especially energy efficiency and waking speed have been done. These properties, however, are secondary to the robot ability to prevent falling down on irregular grounds. In this paper, we propose a novel method which uses an active up-and-down wobbling mass to improve walking ability and robustness of biped robot on uneven terrain. We will show improvements that the number of walk steps is increased in numerical simulations using the proposed method. We also evaluate quantitatively walking ability of biped robot on uneven terrain using a performance measure called Gait Sensitivity Norm (GSN) and H ∞ norm. Furthermore, we show the effectiveness of H ∞ norm measure which cannot be evaluated by GSN in a walking example.

关键词： Legged locomotion Limit-cycles Trajectory Robustness Mathematical model Sensitivity

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Bayesian inference and learning in Gaussian process state-space models with Particle MCMC

Bayesian inference and learning in Gaussian process state-sp...

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27th Annual Conference on Neural Information Processing systems, NIPS 2013

作者： Frigola, Roger Lindsten, Fredrik Schön, Thomas B. Rasmussen, Carl E. Dept. of Engineering University of Cambridge United Kingdom Div. of Automatic Control Linköping University Sweden Dept. of Information Technology Uppsala University Sweden

State-space models are successfully used in many areas of science, engineering and economics to model time series and dynamical systems. We present a fully Bayesian approach to inference and learning (i.e. state estimation and system identification) in nonlinear nonparametric state-space models. We place a Gaussian process prior over the state transition dynamics, resulting in a flexible model able to capture complex dynamical phenomena. To enable efficient inference, we marginalize over the transition dynamics function and, instead, infer directly the joint smoothing distribution using specially tailored Particle Markov Chain Monte Carlo samplers. Once a sample from the smoothing distribution is computed, the state transition predictive distribution can be formulated analytically. Our approach preserves the full nonparametric expressivity of the model and can make use of sparse Gaussian processes to greatly reduce computational complexity.

关键词： Dynamical systems

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Steelmaking plant technology for steelmaking operations

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Nippon Steel Technical Report 2013年第104期 74-82页

作者： Mimura, Yoshihito Kinoshita, Junichi Umetsu, Kenji Seki, Takeshi Shia, Yoshiaki Ishimori, Yuichi Ohshita, Isao Matsuishi, Nagayuki Higashi, Hirofumi Wakida, Shuji Plant Engineering Div. Plant Engineering and Facility Management Center 20-1 Shintomi Futtsu Chiba 293-8511 Japan Steelmaking Technology Dept. Plant Engineering Div. Plant Engineering and Facility Management Center Japan Electrical and Instrument Maintenance Technology Dept. Systems and Control Engineering Div. Plant Engineering and Facility Management Center Japan Continuous Casting Plant Engineering Dept. Plant Engineering Div. Plant Engineering and Facility Management Center Japan Mechanical Maintenance Technology Dept. Mechanical Engineering Div. Plant Engineering and Facility Management Center Japan Mechanical Technology Dept. Equipment Div. Japan System and Control Technology Dept. Systems and Control Engineering Div. Plant Engineering and Facility Management Center Japan Structural Engineering Dept. Civil Engineering Div. Plant Engineering and Facility Management Center Japan Engineering and Development Section Steel Plant Engineering Dept.-II Plant and Machinery Div. Japan

Steelmaking technology have been developed by some needs and environmental changes. Among them, in steelmaking plant, more technology have been preceded by production of high quality products, approach for global environmental affairs and application of information technology and computer technology. From these viewpoints, some aspects and results of recent steelmaking plant technology will be described in this paper.

关键词： Steelmaking

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