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Fault tolerant component management platform over Data Distribution Service

IFAC Proceedings Volumes 2012年第4期45卷 218-223页

作者： Aitor Agirre Elisabet Estévez Marga Marcos Ikerlan-IK4 Research Alliance Arizmendiarrieta 2 20500 Arrasate Spain Dept. Of Electronics and Automatic Engineering EPS Jaén Universidad de Jaén Jaén Spain Dept. Of Automatic Control and Systems Engineering ETSI Bilbao UPV/EHU Bilbao Spain

Distributed Real Time systems (DRTS) are evolving to a higher level of complexity in terms of heterogeneity, dynamism and QoS constraints, as they must interact with an increasingly demanding environment. In an scenario with distributed applications running over different hardware platforms and networks, middleware technologies that provide real-time or QoS support are gaining importance, as they ease the development and deployment of complex distributed applications in heterogeneous networks while ensuring certain time and QoS constraints. In this sense, distribution middleware technologies like Data Distribution Service (DDS) have emerged, adding extensive QoS support to traditional middleware advantages. This paper proposes a component based applications management platform built on top of DDS that provides an easy way to deploy, configure and manage component based distributed applications, while ensuring the fulfillment of certain QoS aspects.

关键词： Middleware QoS DDS Fault-tolerance Distributed systems

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative engineering systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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Modeling and control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative engineering systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. controller is designed based on feedback linearization to track desired trajectories. controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Frequency dependent network equivalent based electromagnetic and electromechanical decoupled hybrid simulation

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2012年第16期32卷 107-114页

作者： Zhang, Yi Wu, Wenchuan Zhang, Boming Gole, Aniruddha M. State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China Department of Electrical and Computer Engineering University of Manitoba Winnipeg R3T 5V6 Canada

Neither electromechanical transient stability analysis (TSA) program nor electromagnetic transient (EMT) programs can be used individually for the transient stability studies of the large scale AC/DC systems. This paper presented an electromagnetic and electromechanical hybrid simulation system, based on a frequency dependent network equivalent. Firstly, the framework and the main modules of the proposed hybrid simulation system were introduced. Secondly, the methods to calculate the equivalents of the electromagnetic side and the electromechanical side were introduced. The discussion on the difference between the traditional method and frequency dependent network equivalent (FDNE) and the flowchart of the hybrid simulation were also given. In the last part of the paper, AC system and AC-DC hybrid system are both used as examples to demonstrate the accuracy of the proposed hybrid simulation system's simulation results. © 2012 Chinese Society for Electrical engineering.

关键词： Hybrid systems

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Partially Decentralized controller Design via Model Predictive control

Partially Decentralized Controller Design via Model Predicti...

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第23届过程控制会议

作者： HaoYuchun Li Qiang Tan Wen Li Donghai School of Control & Computer Engineering North China Electric Power University Beijing 102206 Chi State Key Lab of Power Systems Dept. of Thermal Engineering Tsinghua University Beijing 100084 C

An expansion procedure to design partially decentralized controllers via model predictive control is proposed in this paper. Partially decentralized control is a control structure that lies between a fully decentralized structure and a fully centralized one, and has the advantage of achieving comparable performance as a fully centralized controller but with simpler structure. The proposed method follows the expansion method proposed in a previous paper where internal model control (IMC) was used to design controllers for non-square subsystems. The method requires computing the pseudo-inverse of a non-square matrix via pseudo-inverse factors. Instead, the proposed method will use dynamic model control (DMC) to design PID controllers for non-square sub-systems without using additional factors. Simulation results show that the proposed method is simple and can achieve better performance than fully decentralized control.

关键词： Partially decentralized control Non-square system Model predictive control Internal model control

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Design of Partially Decentralized controllers via GPC

Design of Partially Decentralized Controllers via GPC

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中国自动化学会第二十七届青年学术年会

作者： HAO Yuchun TAN Wen LI Donghai School of Control & Computer Engineering North China Electric Power University Beijing 102206 Chi State Key Lab of Power Systems Dept. of Thermal Engineering Tsinghua University Beijing 100084 C

Partially decentralized control is a control structure that lies between a fully decentralized structure and a fullycentralized one, and has the advantage of achieving comparable performance as a fully centralized controller but with simplerstructure. This paper proposes an expansion procedure to design partially decentralized controllers via generalized predictivecontrol (GPC). The proposed method does not need to compute the pseudo-inverse of a non-square system thus overcomes thedrawbacks of the existing expansion method proposed in a previous paper. Simulation results show that the proposed method issimple and can achieve better performance than the previous method.

关键词： Partially decentralized control Non-square system Generalized predictive control Internal model control

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Power management of the third generation intel core micro architecture formerly codenamed ivy bridge

Power management of the third generation intel core micro ar...

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IEEE Hot Chips Symposium (HCS)

作者： Sanjeev Jahagirdar Varghese George Inder Sodhi Ryan Wells School of Electrical Science IIT Bhubaneswar Dept. of Computer Engineering Guangxi University of Technology Liuzhou China King's College London Dept. of Electronic Information and Control Engineering Guangxi University of Technology Liuzhou China INSA Rouen Cisco Systems and CTU Prague

ISBN: (纸本)9781467388801

This article consists of a collection of slides from the author's conference presentation on Ivy Bridge, power management applications of the third generation core Intel micro architecture. Some of the specific topics discussed include: an overview of the Ivy Bridge architecture and supported applications; power scaling and management facilities; core product features; power efficiency; voltage control and optimization technqiues; power sharing capabilities; and system architecture.

关键词： Power system management Network architecture Microarchitecture Program processors Manufacturing processes Next generation networking Fabrication

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Studying robot-environment interaction via transparent controllers

Studying robot-environment interaction via transparent contr...

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IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

作者： Akanyeti, O. Fiorini, P. Billings, S.A. Dept. of Computer Science University of Verona Italy Dept. of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781457711589

In this paper we address the question of "Why is it that a mobile robot, programmed in a certain way and placed in some environment to execute a program, behaves in the way it does?". We present three real world experiments in which we first obtain transparent controllers to express sensor-motor couplings of a mobile robot. We then use these models to analyze the robot behaviour formally;in particular to understand how the sensor readings are related to motor commands, to evaluate the derived controllers from a mathematical point of view and even to predict the behaviour of the robot in untested environments. © 2011 IEEE.

关键词： Mobile robots

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Wide Area control Framework Design Considering Different Feedback Time Delays

Wide Area Control Framework Design Considering Different Fee...

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IEEE Power and Energy Society General Meeting

作者： Gang Chen Yuanzhang Sun Vaithianathan "Mani" Venkatasubramanian Lin Cheng Jin Lin Anjan Bose Weixing Zhao Cheng Lin State Key Lab. of Power Systems Dept. of Electrical Engineering Tsinghua University Beijing 100084 China School of Electrical Engineering and Computer Science Washington State University Pullman WA 99164-2752 USA Guizhou Electric Power Grid Dispatching and Control Center Guiyang Guizhou 550002 China

ISBN: (纸本)9781467327275

In this paper, a framework for a real-time wide area controller is established for damping small-signal instability related events in interconnected power systems. Offline designing is performed to design the centralized controller for each inter-area mode of the power system. Residue approach is used to select the most effective stabilizing signals and controller locations. Different constant time delays are taken into controller parameters design. Thus an offline controller database is formed, including different controllers of each mode. The parameters of each controller are different for various ranges of time delay. The damping and other mode information will be identified by online multi-Prony analysis. When an inter-area mode is detected with weak or negative damping, say less than 3%, the corresponding controller for the detected mode will be initiated and deployed for enhancing the damping of the problematic mode. The time delay, which is used to select a suitable set of parameters for a chosen controller, could be calculated online, using the time stamps of the actuator and feedback signal. The paper proposes the framework of the controller with preliminary discussions on the various components of the controller, including: 1) the offline controller database, 2) the online detection of undamped oscillations, and 3) the online corrective control actions at the actuator. The 4-machine 2-area case study results demonstrated the advantage of the proposed method.

关键词： Small signal stability phasor measurement units (PMUs) power system stabilizer (PSS) wide area control damping controller time delay controllers timestamp time delay undamped oscillations central controller OFF LINE Frameworks actuators

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Event-based Patient Motion Detection and Compensation in Image-Guided Robotics

Event-based Patient Motion Detection and Compensation in Ima...

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IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Tamas Haidegger Peter Kazanzides Balazs Benyo Zoltan Benyo Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Johns Hopkins University Center for Computer-Integrated Surgical Systems and Technology

ISBN: (纸本)9781457711992

We report a generalized approach to deal with patient motion in robotic image-guided surgery, along with in silico and dry laboratory tests on a neurosurgical robot setup. External patient motion events (excluding physiological motion) can occur during surgery despite body fixation, and can endanger the outcome of the surgery, as they invalidate the registration between the robot and the patient. The core of the compensation algorithm is to rely on the combination of the robot joint encoders, tracking data and the internal coordinate frame of the intra-operative navigation system to ensure accurate execution of the pre-operative plan. The method allows for the continuous correction of the registration through identifying the actual surgical event in the operating room. From the control point of view, the intra-operative events have been categorized as robot motion, camera motion, patient motion and the combinations of these. The registration update is based on the use of the most reliable reference frame and extending-window averaging to compensate for the occurred patient motion. Simulation results were performed on a generic image-guided robot model, and on a skull base surgery robot. Patient motion events were detected in 80% of the cases, which already leads to a gradual improvement of the procedure. The proposed structure allows for a more generic, probability-based handling of the operating room events that may lead to safer and more accurate surgical treatment in the future.

关键词： Patient Motion Artifact compensated control point Registration Robot Operating rooms Surgery REFERENCE FRAMES

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