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An assembly problem with mobile robots

An assembly problem with mobile robots

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Romania Dept. of Computer Science and Systems Engineering University of Zaragoza Spain

This paper proposes a solution for solving a specific problem that requires a team of identical robots to collect in a specific order different types of resources scattered throughout an environment. A Petri net with outputs models the environment, the team possible movements and the regions with resources. An iterative solution plans the team such that each robot collects and assembles resources in the required order. Each iteration step is based on a linear programming problem that is guaranteed to return a feasible firing vector for the Petri net system. A pseudocode description of the procedure is given and a simulation example is included.

关键词： Silicon Vectors Assembly Mobile robots Planning Modeling

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A ΓZ-source based hybrid power converter for battery-fuel cell hybrid electric vehicle

A ΓZ-source based hybrid power converter for battery-fuel c...

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UKACC International Conference on control (control)

作者： Jun Cai Qing-Chang Zhong David Stone Dept. Automatic Control and Systems Engineering University of Sheffield Sheffield UK Dept. Electronics and Electrical Engineering University of Sheffield Sheffield UK

Low cost and high reliability are the main issues considered in power converter design for hybrid electric vehicle. In this paper, a hybrid power converter is proposed for the power flow control of the battery-fuel cell hybrid electric vehicle. The converter consists of a unidirectional Γ Z-source converter and a bidirectional DC-DC converter. By controlling the voltage of the Z source capacitor and the modulation index of the inverter, the power flow between the fuel cell, battery and the load can be controlled flexibly. The different operation modes of the system and the power flow control strategies are analysed. To verify the validity of the proposed power converter topology and the control methods, system simulation model is developed in Matlab/Simulink environment. In addition, the simulation model is also implemented in the RT-LAB real-time simulator. The simulation results demonstrated the feasibility of the proposed methods.

关键词： Inverters Batteries Fuel cells Hybrid power systems Load modeling control systems Real-time systems

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MATLAB tools for the analysis of Petri net models

MATLAB tools for the analysis of Petri net models

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jorge Júlvez Mihaela H. Matcovschi Octavian Pastravanu Dept. of Computer Science and Systems Engineering Univ. of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University “Gh. Asachi” of Iasi Romania

The paradigm of Petri nets offers a rich modeling power that has been successfully exploited in many different application domains as manufacturing, logistic, traffic, computer and biological domains. In order to develop and analyze Petri models in an efficient and systematic way, appropriate software tools are required. Among the existing software platforms for scientific software development, MATLAB places at the user's disposal a large set of toolboxes with an inutitive graphical interface. This paper describes some of the existing Petri net toolboxes that have been developed on MATLAB, and that cover the needs for the modeling and analysis of discrete, continuous and hybrid systems.

关键词： Computational modeling Semantics Servers Petri nets MATLAB Analytical models

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Recursive estimation of selective catalyst reduction system parameters using modified Gauss-Newton method

Recursive estimation of selective catalyst reduction system ...

引用

2014 American control Conference, ACC 2014

作者： He, Fei Guan, Xiaohong Grimble, Mike Sun, Min Clegg, Andy Industrial Control Centre Dept. of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XQ United Kingdom Industrial Systems and Control Ltd Culzean House 36 Renfield Street Glasgow G2 1LU United Kingdom Powertrain Advanced Controls General Motors United States Dept. of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom

ISBN: (纸本)9781479932726

Selective catalytic reduction (SCR) system is a complex chemical process which is used to treat exhaust gas in many applications, e.g. diesel engines in automobiles. An SCR model was constructed by General Motors (GM) and the problem considered was to estimate the unknown kinetic parameters on-line taking into account aging effects. There are a number of application constraints that must be taken into consideration, including inaccessible model structure, parametric identifiability difficulties and limited measurement data. In this work, the complexity and identifiability of this estimation problem is investigated through global sensitivity analysis and cost-function based analysis methods. One of the problems is to determine the parameters where the model is most sensitive and should thus be estimated onboard. A modified Gauss-Newton method was proposed and evaluated for this estimation problem. Simulation studies have confirmed that sensitive kinetic parameters of the SCR model can be estimated and tracked recursively using the proposed method. © 2014 American automatic control Council.

关键词： Selective catalytic reduction

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Design of robust observers for positive delayed interval systems

Design of robust observers for positive delayed interval sys...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Ines Zaidi Mohamed Chaabane Fernando Tadeo Dept. of Systems Engineering and Automatic University of Valladolid Valladolid Spain Dept. of Control of Industrial Processes University of Sfax Sfax Tunisia

This paper is concerned with the design of positive observers for positive interval systems with time delay. For that, a solution based on LMI programming is provided to the problem of designing observers that ensure guaranteed bounds on the estimated states that are nonnegative whenever the initial conditions are nonnegative. Furthermore, it is revealed that an unstable positive system cannot be positively stabilized without taking into account the positivity of the dynamic errors. Then, the problem of positive stabilization by dynamic feedback controllers based observer is investigated, taking into account that the positivity of the error signals is necessary to stabilize a positive system and keep it positive at the same time. We derive then necessary and sufficient conditions for the existence of positive observers and show that the solvability can be decided via LMI (Linear Matrix Inequalities) programming techniques.

关键词： Indexes control systems Delays Artificial intelligence

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QoS aware platform for dependable sensory environments

QoS aware platform for dependable sensory environments

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IEEE International Conference on Multimedia and Expo Workshops (ICMEW)

作者： Aitor Agirre Jorge Parra Elisabet Estévez Marga Marcos IK4-Ikerlan Arrasate Spain Dept. of Electronics and Automatic Engineering Universidad de Jaén Jaén Spain Dept. of Automatic Control and Systems Engineering UPV/EHU Bilbao Spain

ISBN: (纸本)9781479947164

Sensory environments for healthcare are commonplace nowadays. A patient monitoring system in such an environment deals with sensor data capture, transmission and processing in order to provide on-the-spot support for monitoring the vulnerable and critical patient. A fault in such a system can be hazardous on the health of the patient. Therefore, such a system must be dependable and ensure reliability, fault-tolerance, safety and other critical aspects, in order to deploy it in real scenario. This paper encounters some of these issues and proposes a component platform to develop a flexible framework with specific support for fault tolerance and safe inter-component communication related QoS aspects. The platform adopts the Service Component Architecture (SCA) model and defines a Data Distribution Service (DDS) binding, which provides the fault tolerance and the required safety-ensuring techniques and measures, as defined in the IEC 61784-3-3 standard.

关键词： Safety Quality of service Fault tolerance Fault tolerant systems Middleware Standards Medical services

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A Single-phase Rectifier with a Neutral Leg to Reduce DC-bus Voltage Ripples

A Single-phase Rectifier with a Neutral Leg to Reduce DC-bus...

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IEEE Energy Conversion Congress and Exposition

作者： Wen-Long Ming Qing-Chang Zhong Wanxing Sheng Dept. of Automatic Control and Systems Engineering The University of Sheffield United Kingdom Dept. of Power Distribution China Electric Power Research Institute Beijing 100192 China

ISBN: (纸本)9781479957774

The voltage ripples of the half-bridge rectifier lead to the requirement on bulky electrolytic capacitors and voltage difference on the split capacitors. In this paper, a topology for a single-phase rectifier is proposed to reduce the DC-bus voltage ripples and voltage difference without using electrolytic capacitors. The proposed rectifier contains two legs: 1) A rectification leg to maintain the DC-bus voltage and to draw a clean input current with unity power factor;2) A neutral leg to reduce DC-bus voltage ripples and the voltage difference. The two legs are independently controlled and the resulted high performance of the system is achieved. In order to test the system, real-time simulations were conducted and associated results are presented to demonstrate that the system is able to considerably reduce the DC-bus voltage ripples. With the derived system, the total required DC-bus capacitors can be reduced a lot when achieving the same level of voltage ripples.

关键词： Capacitors Voltage control Topology Integrated circuit modeling Legged locomotion Real-time systems

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ANFIS based Jacobian for a parallel manipulator mobility assistive device 10

ANFIS based Jacobian for a parallel manipulator mobility ass...

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10th UKACC International Conference on control, control 2014

作者： Asker, Ahmed Salah, Omar Fath El-Bab, Ahmed M. R. Ramadan, Ahmed A. Assal, Samy M. F. Sessa, Salvatore Abo-Ismail, Ahmed School of Innovative Design Engineering Egypt-Japan University for Science and Technology E-JUST New-Borg-El-Arab-City-Alexandria Egypt Mechanical Engineering Dept Faculty of Engineering Assiut University Assiut Egypt Dept. of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Tanta Egypt Computer and Automatic Control Dept Faculty of Engineering Tanta University Tanta Egypt Graduate School of Creative Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781479950119

Nowadays parallel manipulators are used widely in bioengineering applications;this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. computer simulations show relatively good results of the proposed system. © 2014 IEEE.

关键词： Inverse kinematics

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Multiple land mines localization using a wireless sensor network

Multiple land mines localization using a wireless sensor net...

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International Conference on Information Fusion

作者： Haj Chhadé Hiba Abdallah Fahed Mougharbel Imad Gning Amadou Mihaylova Lyudmila Julier Simon University of Technology of Compiègne Compiègne France Lebanese University Beyrouth Lebanon University College London Dept. of Computer Science London UK Dept. of Automatic Control and Systems Engineering Sheffield University of Sheffield UK University College London Dept. of Computer Science London UK

This paper considers the problem of localization of multiple land mines using information collected by a network of wireless sensors deployed in the area of interest. These sensors detect the concentration of explosive vapours, emanating from buried land mines, in the air and have a wireless transmission system for exchanging information with a treatment or fusion centre. One of the key contribution of this paper is to locate and estimate the emission rate of multiple land mines. Using a model for the transport of the explosive chemicals in the air, we formulate the inverse problem consisting in determining sequentially the positions and emission rates of the land mines knowing concentration measurements provided by the sensors. To solve the inverse problem, we present a first solution based on a Least Squares optimization approach and a second solution based on probabilistic Bayesian techniques using a Markov Chain Monte Carlo sampling scheme. These two approaches are tested and compared on simulated data.

关键词： Landmine detection Sensors Inverse problems Wireless sensor networks Chemicals Vectors Explosives

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Identification of contact conditions between fingers and a grasped object by active force sensing

Identification of contact conditions between fingers and a g...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Takayoshi Yamada Shotaro Nakanishi Hidehiko Yamamoto Rolf Johansson Dept. of Mechanical Engineering Gifu University Gifu Japan Dept. of Human and Information Systems Gifu University Dept. of Mechanical Eng. Gifu University Dept. of Automatic Control eLLIIT Excellence Center at Lund University

ISBN: (纸本)9781479957378

In this paper, we discuss an identification of contact conditions by active force sensing. The contact conditions include not only contact location but also contact type and contact direction. The contact type is point, soft-finger, line or planar contact with friction. In our previous papers, the contact conditions between a grasped object and its external environment was treated. This paper identifies the contact conditions between fingers and a grasped object by using six-axis force sensors. Each finger has less than six degrees of freedom. Sensing strategies are provided. The experiment system is introduced and our proposed method is verified.

关键词： Shape Force Thumb Robot sensing systems Eigenvalues and eigenfunctions Force sensors

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