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2003 European control Conference, ECC 2003

作者： Latif-Shabgahi, G. Hirst, A.J. Bennett, S. Department of Telematics Open University Walton Hall Milton KeynesMK7 6AA United Kingdom Automatic Control and Systems Engineering Dept. University of Sheffield SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417379

Fault masking is a widely used strategy for increasing the safety and reliability of computer control systems. The approach uses some form of voting to arbitrate between the results of hardware or software redundant modules for masking faults. Several voting algorithms have been used in fault tolerant control systems;each has different features, which makes it more applicable to some system types than others. This paper introduces a novel family of weighted average voters suitable for redundant sensor (and other inertial measurement unit) planes, at the interface level, of control systems. It uses two tuneable parameters, each with a ready interpretation, to provide a flexible voting performance when using the voter in different applications. The weight assignment technique is transparent to the user because the impact of the degree of agreement between any voter input and the other inputs is directly reflected in the weight value assigned to that input. The voter can be tuned to behave as the well-known inexact majority voter that is generally used in safety-critical control systems at different voting planes. We evaluated the performance of four versions of the novel voter through a series of fault injection experiments, and compared the results with those of the well-known Lorczak's weighted average voter. The experimental results showed that the novel voter gives more correct outputs (1%-12% higher reliability) than the Lorczak's voter in the presence of small permanent and transient errors. With large errors, lower-order versions of the novel voter give better performance than the ones with higher orders. © 2003 EUCA.

关键词： computer control systems

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H2 and H∞ Robust Nonrational Filtering for Linear Delay Systems

H2 and H∞ Robust Nonrational Filtering for Linear Delay Sys...

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42nd IEEE Conference on Decision and control

作者： De Oliveira, Maurício C. Geromel, José C. Sch. of Elec./Computer Engineering University of Campinas Av. Albert Einstein 400 Campinas SP 13083-970 Brazil Department of Telematics Brazil Dept. of Energy Control and Systems Brazil

ISBN: (纸本)0780379241

This paper addresses the problem of robust filtering for uncertain linear signal models affected by time delays in the state. Uncertainty is structured and the model is assumed to lie in a given bounded polyhedral set. The main innovation is the use of a nonrational filter, that is, a filter that also contains delays in the filter state. Robust filtering performance is evaluated using the H2 or the H∞ norm. The performance conditions are delay independent, and provide convex filtering design problems which are convex optimization problems with linear matrix inequalities constraints.

关键词： Linear systems

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A μ approach to robust stability analysis of nD discrete-time systems

A μ approach to robust stability analysis of nD discrete-ti...

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Fourth International Conference on control and Automation

作者： Xu, Li Wu, Qinghe Anazawa, Yoshihisa Saito, Osami Dept. of Electronics and Information Systems Akita Prefectural University 84-4 Tsuchiya-Ebinokuchi Honjo Akita 015-0055 Japan Department of Automatic Control Beijing Institute of Technology Beijing 100081 China Faculty of Engineering Chiba University Inage-ku Chiba 263-8522 Japan

ISBN: (纸本)078037777X

This paper considers the stability analysis problem of nD discrete-time systems. It is shown that the problems of stability test and stability margin computation for an nD system described by Roesser model can be recast into μ analysis problems in a unified way, thus can be solved effectively by using the commercially available software package. © 2003 IEEE.

关键词： Discrete time control systems

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Robust higher-order iterative learning control for a class of nonlinear discrete-time systems

Robust higher-order iterative learning control for a class o...

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System Security and Assurance

作者： Kim, Yong-Tae Lee, Heyoung Noh, Heung-Sik Bien, Z. Zenn Information and Control Eng. Hankyong National Univ. Hankyong Korea Republic of Dept. Contr. and Instrum. Eng. Seoul National Univ. of Technology Seoul Korea Republic of Dept. of Computer Engineering Hyupsung University Hyupsung Korea Republic of Dept. of Elec. Eng. and Comp. Sci. KAIST Korea Republic of

In this paper is proposed a robust higher-order iterative learning control (ILC) algorithm for discrete-time systems. In contrast to conventional discrete-time learning methods, the proposed learning algorithm is constructed based on both time-domain performance and iteration-domain performance. Also, the proposed learning algorithm use more than one past error in the iteration-domain. It is proved that the proposed method has robustness in the presence of external disturbances and, in absence of all disturbances, the convergence of the proposed learning algorithm is guaranteed. A numerical example is given to show the robustness in the presence of state disturbance and convergence property according to parameters change.

关键词： Discrete time control systems

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Dynamic neural networks for actuator fault diagnosis: Application to the DAMADICS benchmark problem 5

Dynamic neural networks for actuator fault diagnosis: Applic...

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5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2003

作者： Patan, Krzysztof Parisini, Thomas Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 Zielona Góra65-246 Poland Dept. of Electrical Electronic and Computer Engineering DEEI-University of Trieste Via Valerio 10 Trieste34127 Italy

The paper presents results achieved during realization of the international project DAMADICS (Development and Application of Methods for Actuator Diagnosis in Industrial control Systems). The proposed fault detection and isolation system is designed using a bank of dynamic neural networks. Each network is trained using a stochastic approximation method, which can be viewed as a fast alternative to back-propagation based algorithm. Simulation results are carried out using the real process data recorded at the Lublin Sugar Factory, Poland. © 2003 International Federation of automatic control.

关键词： Failure analysis

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Fault injection system for automatic testing system

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Journal of Harbin Institute of Technology(New Series) 2003年第3期10卷 321-324页

作者：王胜文洪炳熔 Dept. of Computer Science and Engineering Harbin Institute of Technology Harbin 150001 China Dept. of Computer Science and Engineering Harbin Institute of Technology Harbin 150001 Chinaonsidering the deficiency of the means for confirming the attribution of fault redundancy in the research of Automatic Testing System(ATS) a fault-injection system has been proposed to study fault redundancy of automatic testing system through compurison. By means of a fault-imbeded environmental simulation the faults injected at the input level of the software are under test. These faults may induce inherent failure mode thus bringing about unexpected output and the anticipated goal of the test is attained. The fault injection consists of voltage signal generator current signal generator and rear drive circuit which are specially developed and the ATS can work regularly by means of software simulation. The experimental results indicate that the fault injection system can find the deficiency of the automatic testing software and identify the preference of fault redundancy. On the other hand some soft deficiency never exposed before can be identified by analyzing the testing results.

Considering the deficiency of the means for confirming the attribution of fault redundancy in the re-search of automatic Testing System(ATS) , a fault-injection system has been proposed to study fault redundancyof automatic testing system through compurison. By means of a fault-imbeded environmental simulation, thefaults injected at the input level of the software are under test. These faults may induce inherent failure mode,thus bringing about unexpected output, and the anticipated goal of the test is attained. The fault injection con-sists of voltage signal generator, current signal generator and rear drive circuit which are specially developed,and the ATS can work regularly by means of software simulation. The experimental results indicate that the faultinjection system can find the deficiency of the automatic testing software, and identify the preference of fault re-dundancy. On the other hand, some soft deficiency never exposed before can be identified by analyzing the tes-ting results.

关键词： Fault injection comparing method rear drive ATS

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Fault detection and isolation on flexible-joint manipulators

Fault detection and isolation on flexible-joint manipulators

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2003 European control Conference, ECC 2003

作者： Vasegh, N. Yazdanpanah, M.J. Dept. of Electrical Engineering K. N. Tossi University of Technology University of Tehran P.O. Box 14395/515 Tehran Iran Intelligent Control and Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran P.O. Box 14395/515 Tehran Iran

ISBN: (纸本)9783952417379

In this paper, first we survey Fault Detection and Isolation (FDI) for nonlinear systems. A necessary condition for the problem to be solvable is derived in terms of an unobservability distribution, which is computable by means of suitable algorithms. Then we apply this method on m-link manipulators with flexible joints in order to detect actuator faults. The simulation result for the case of a single-link flexible joint manipulator reveals the effectiveness of approach. © 2003 EUCA.

关键词： Fault detection

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A simulator for line-of-sight missile control and guidance systems: Object-oriented design

A simulator for line-of-sight missile control and guidance s...

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2003 IEEE Aerospace Conference

作者： Dimirovski, Georgi M. Mohenski, Darko D. Deskovski, Stoyce M. Dogus University Dept. of Computer Engineering and Information Technologies Acibadem Zeamet Sk. No: 21 Kadikoy TR-8 1080 Istanbul Turkey SS Cyril and Methodius University Institute of Automation and Systems Engineering at FEE Karpos 2 Rugjer Boskovic b.b. MK-1000 Skopje Macedonia Dept. of Information and Control Systems Military Academy of RM General M. Apostolski MK-1000 Skopje Macedonia

ISBN: (纸本)078037651X

A standard PC platform based simulator system for personnel training in anti-tank guided missile (ATGM) systems has been designed and implemented;its operation is managed through instructor-trainee interaction. It makes use of object-oriented simulation modeling, 6 degree-offreedom (6DOF) missile model and mask modeling of terrain and weather conditions. The main topic of research are the short-range and line-of-sight (CLOS) missiles as well as their guidance and control and target selection and tracking in combat situation. The simulation model specifications are built around the set of concurrent cooperating objects, including representation model of the system's environment. The set of compatible models and software implementations for missiles and moving ground targets, involving their interrelated kinematics, has been elaborated by own research entirely. An appropriate designed user-system interface employing Visual Basic enhances the instructor-trainee co-operation. Its significance stems fiom being usable for personnel training and simulating all typical combat situations given country's landscapes, and being amenable to adjustments to serve a combat command and control instrument if endowed with some hardware-in-the-loop (HIL) elements and interface to launching platform. In addition, it is aimed for investigating new tracking algorithms in multi-target environment. © 2003 IEEE.

关键词： Target tracking

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Dynamic analysis of assembly process with passive compliance for robot manipulators

Dynamic analysis of assembly process with passive compliance...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： K.-L. Du Biao-Biao Zhang Xinhan Huang Jianyuan Hu Dept. of Electrical and Computer Engineering Concordia University Montreal Canada School of Aerospace and Mechanical Engineering Australian Defence Force Academy Canberra Australia Dept. of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

Assembly automation has become a research highlight for years. Dynamics of the most fundamental peg-in-hole mating, which represents an important topic of future research, is, however, far from being resolved. To this end, the overall part-mating dynamics has been developed, and simulations have been implemented. The sensitivity analysis of each parameter on the assembly process has been made. The dynamic properties of assembly with the RCC have been concluded, which helps to implement active control. By selecting proper parameters of the dynamic remote center compliance, one can optimize assembly proceeding.

关键词： Manipulator dynamics Robotic assembly Aerodynamics Jamming Australia automatic control Force control Robotics and automation Robots Aerospace control

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Area-contact haptic simulation

Area-contact haptic simulation

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International Symposium on Surgery Simulation and Soft Tissue Modeling, IS4TM 2003

作者： Kim, Sang-Youn Park, Jinah Kwon, Dong-Soo Teloperation and Control Laboratory Dept. of Mechanical Engineering KAIST Guseong-Dong 373-1 Yuseung-gu Daejeon305-701 Korea Republic of Computer Graphics and Visualization Laboratory School of Engineering ICU Hwaam-Dong 58-4 Yugeong-gu Daejeon305-732 Korea Republic of

ISBN: (纸本)3540404392

This paper presents the haptic interaction method when the interaction occurs at several points simultaneously. In many virtual training systems that interact with a virtual object, the haptic interface is modeled as a point. However, in the real world, the portion interacting with real material is not a point but rather multiple points, i.e., an area. In this paper, we address an areabased haptic rendering technique that enables the user to distinguish hard regions from softer ones by providing the distributed reflected force and the sensation of rotation at the boundary. We have used a shape retaining chain linked model that is suitable for real-time applications in order to develop a fast areabased volume haptic rendering method for volumetric objects. We experimented with homogeneous and non-homogeneous virtual objects consisting of 421,875 (75x75x75) volume elements. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Haptic interfaces

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