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IEEE-RAS International Conference on Humanoid Robots

作者： Nguyen Thanh Phuong Dae Won Kim Hak Kyeong Kim Sang Bong Kim Automatic Control Dept. Ky Thaut Cong Nghe University Vietnam School of Mechanical Engineering Pukyong National University South Korea

ISBN: (纸本)9781424428212

This paper proposes an optimal control method for a 10 degree of freedom (DOF) biped robot with stable walking gait. The biped robot is modeled as a 3D inverted pendulum. From dynamic model of the 3D inverted pendulum and under the assumption that center of mass (COM) of the biped robot moves on a horizontal constraint plane, zero moment point (ZMP) equations of the biped robot depending on the coordinate of the center of the pelvis link obtained from the dynamic model of the biped robot are given based on the DdasiaAlembertpsilas principle. A walking pattern is generated based on ZMP tracking control systems that are constructed to track the ZMP of the biped robot to zigzag ZMP reference trajectory decided by the footprint of the biped robot. An optimal tracking controller is designed to control the ZMP tracking control system. From the trajectory of the COM of the biped robot and an arc reference input of the swinging leg, the inverse kinematics solved by the solid geometry method is used to compute the angles of each joint of the biped robot. The simulation and experimental results show the effectiveness of this proposed control method.

关键词： Legged locomotion Optimal control Robot kinematics control systems Equations Pelvis Trajectory Leg Solids Computational geometry

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Long-term service experience with advanced austenitic alloys in Eddystone Power Station

Long-term service experience with advanced austenitic alloys...

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Pressure Vessels and Piping Conference of the American-Society-of-Mechanical-Engineers

作者： Okada, H. Igarashi, M. Yamamoto, S. Miyahara, O. Iseda, A. Komai, N. Masuyama, F. Corporate Research and Development Laboratories Sumitomo Metal Industries Ltd. Quality Control and Technical Service Dept. Steel Tube Works Sumitomo Metal Industries Ltd. Tubular Products Technology Department Sumitomo Metal Industries Ltd. Nagasaki Research and Development Center Mitsubishi Heavy Industries Ltd. Kyushu Institute of Technology Dept. Applied Science for Integrated System Engineering

ISBN: (纸本)9780791842874

A service exposure test of advanced austenitic alloys was performed at Eddystone Power Station Unit 1. The alloys tested were TP347HFG;SUPER304H and HR3C as well as 17-14CuMo as a reference material. They were installed in the final super-heater section in 1991 and were removed in 2004. The service exposure duration is 75,075 h with the steam temperature and pressure estimated 615 degrees C and 35 MPa, respectively. Post exposure examination has proved no marked hot-corrosion and steam oxidation have occurred for the TP347HFG SUPER304H and HR3C specimens, while severe hot-corrosion and exfoliation of steam-oxide films was pronounced in 17-14CuMo specimens. It is also found that HR3C exhibits the highest tensile strength with a lowest ductility and TP347HFG does vice versa, while the strength of SUPER304H is equivalent to that of 17-14CuMo with much better ductility. Short-term creep rupture strengths of these alloys have been reduced to some extent after the long-term service exposure and a longer-term creep rupture testing has been in progress. Microstructural evolution of the TP347HFG, SUPER304H and HR3C as well as 17-14CuMo during the long-term service exposure have been analyzed using a detailed TEM examination and the chemical analysis of extraction residue of the exposed specimens.

关键词： Austenitic stainless steel

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Investigation of the accuracy improvement of advanced dominant eigenvalue estimation method for electric power systems

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IEEJ Transactions on Power and Energy 2008年第2期128卷 407-415+4页

作者： Sekoguchi, Masahiro Fukui, Chihiro Matori, Iwao Makino, Junichi Hanamoto, Konosuke Katayama, Takashi Takahashi, Choei Shirasaki, Takashi Information and Control Systems Division Hitachi Ltd. 5-2-1 Omika-cho Hitachi 319-1293 Japan R and D Center Tohoku Electric Power Co. Inc. 7-2-1 Nakayama Aoba-ku Sendai 981-0952 Japan Power System Engineering Dept. Tohoku Electric Power Co. Inc. 1-7-1 Honcho Aoba-ku Sendai 980-8550 Japan

The authors have been developing an estimation method of a dominant eigenvalue in large scale power systems using the measured data of the power system. A dominant eigenvalue means the eigenvalue due to long cycle oscillation mode between large scale power systems and has an important information on stability. This paper describes the basic principle of eigenvalue estimation method, the analysis of factors giving influence to accuracy and the accuracy improvement method. The result from the basic principle of eigenvalue estimation method shows that the estimated eigenvalue fluctuates in certain time domains and the accuracy is not satisfactory. The studies were made and it was clarified that frequencies lower than the frequency of the dominant eigenvalue are major sources for fluctuation and noise. In order to improve accuracy, a new method was proposed by applying maximum entropy method (MEM) to obtain power spectrum of maseaued data and by introducing new argorithm for descriminating signal from noise using MEM results. Results of applying the proposed method to dominant eigenvalue estimation show the accuracy was improved and the validity of the proposed method was verified. © 2008 The Institute of Electrical Engineers of Japan.

关键词： Power spectrum

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A Novel Technology for Microwave Heated Wire Drawing Process

A Novel Technology for Microwave Heated Wire Drawing Process

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先进纺织材料及加工技术国际学术会议

作者： Bo Keun Ha Jong Sung Kim You Huh Dept. of Mechanical Eng. Graduate School Kyung Hee University Laboratory of Intelligent Process and Control Kyung Hee University Faculty of Mechanical and Industrial System Engineering Kyung Hee University

Recent growth of modern industry requires multi-functional inorganic and micron-sized fibers. In this study, we suggested a novel method that could offer a high-efficient dieless drawing technology for manufacturing thin metal fibers based on the hot working principle. Microwave was used as the heat source. Experimental trials on a laboratory rig showed that the new system worked effectively and provided the feasibility in realizing the diameter attenuation up to 20 % diameter reduction. The theoretical model describing the wire deformation behavior in the working zone turned out to be in a good accordance to the experiment partly. Discrepancy in the hot zone near the exit could be attributed to the heat loss in the heat chamber. The coefficient of variation of the drawn wire diameter increased, as the draw ratio increased, which indicated that an ironing step would be needed to improve the evenness of the wire diameter.

关键词： Microwave Hot zone Metal wire Dieless drawing Draw ratio Diameter reduction Coefficient of variation

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Trajectory control and optimization of supercavitating torpedo

Trajectory control and optimization of supercavitating torpe...

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International Symposium on systems and control in Aerospace and Astronautics (ISSCAA)

作者： Jiang jun Liuwen hua Liu zhong Dept. of Control Science and Engineering Harbin Institute of Technology Harbin P. R. China Institute of Space Inelligent System Harbin Institute of Technology Harbin P. R. China

Underwater flight is greatly limited by the max speed of about 40 m/s that can be attained by the torpedo because of skin friction drag. Supercavitating torpedo can break the speed barrier and attain higher speed. But supercavitating phenomenon has its drawbacks which present challenges in modeling and control a supercavitating torpedo. Firstly, in this thesis, modeling and designing a controller to maneuver of a supercavitating torpedo is presented. The controller was obtained by LQR synthesis based on the assumption that cavity is fixed and the torpedo is situated symmetrically in cavity. The primary goals of controller were to get aggressive maneuverability and maximizing steady flight performance. Then optimal control problem of flight trajectory was discussed which yielded the control time histories that maneuver the torpedo according to a time-fuel optimal strategy. It was solved using the direct transcription method, a solution of a discrete parameter optimization problem. Finally the numerical simulations examples and resulting trajectories were performed to demonstrate the effectiveness of the proposed methodology.

关键词： Orbital robotics Satellites Manipulators Space vehicles Space technology Trajectory Attitude control control systems Polynomials Robotic assembly

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QFT control based on zero phase error compensation for flight simulator

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Journal of systems engineering and Electronics 2007年第1期18卷 125-131页

作者： Liu Jinkun He Yuzhu Dept. of Automatic Automatic Control Beijing Univ. of Aeronautics and Astronautics Beijing 100083 E R. China Dept. of Engineering System of Engineering Beijing Univ. of Aeronautics and Astronautics Beijing 100083 E R. China

To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.

关键词： Quantitative feedback theory Zero phase error Feed forward compensation Servo system Flight simulator

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Novel method of extracting the feature of Partial Discharge signal from strong carrier disturbance

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Journal of Information and Computational Science 2007年第1期4卷 15-20页

作者： Cui, Xuemei Zhang, Bide Dept. of Automatic Control Engineering Chengdu University of Information Technology Chengdu 610225 China Xihua University Chengdu 610039 China

Our research purpose is to analyze the phase information of Partial Discharge PD signal and its disturbance, and to extract the feature of PD signal by using complex wavelet. The thesis, based on existing research, tries to explain our research to design complex compactly supported biorthogonal wavelets by real compactly supported biorthogonal wavelets, and then explore the features of the extraction of PD signal based on complex wavelets obtaining the general particular feature information from original signal, and finally propose ten novel complex information by combining the results of complex wavelet transform to analyze PD signal. The research demonstrates that complex wavelets are more superior to original real wavelets in identifying Partial Discharge signal, and that simulated applications and the data from laboratory can guarantee the effectiveness of the extraction of the feature of Partial Discharge and the restraint of the strong carrier disturbance.

关键词： Partial discharges

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Study on group air to ground attack-defends hierarchical dynamic decision-making

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Journal of systems engineering and Electronics 2007年第3期18卷 540-544页

作者： Zhang Li Zhang An Zhang Yongfang Shi Zhifu Dept. of System and Control Engineering School of Electronic and Information~ Northwest Polytechnic Univ.. Xi'an 710072 P R. China

As to oppositional, multi-objective and hierarchical characteristic of air formation to ground attackdefends campaign, and using dynamic space state model of military campaign, this article establishes a principal and subordinate hierarchical interactive decision-making way, the Nash-Stackelberg-Nash model, to solve the problems in military operation, and find out the associated best strategy in hierarchical dynamic decision-making. The simulating result indicate that when applying the model to air formation to ground attack-defends decision-making system, it can solve the problems of two hierarchies, dynamic oppositional decision-making favorably, and reach preferable effect in battle. It proves that the model can provide an effective way for analyzing a battle,

关键词： dynamic game theory Nash-Stackelberg-Nash strategy hierarchical decision-making attack-defends antagonize.

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Genetic algorithm active vibration control of a flexible plate structures

Genetic algorithm active vibration control of a flexible pla...

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51st Annual Meeting of the International Society for the systems Sciences, ISSS 2007

作者： Mat Darus, I.Z. Tokhi, M.O. Faculty of Mechanical Engineering Universiti Teknologi Malaysia Malaysia Dept. of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781605600437

This paper presents the development of an active vibration control (AVC) mechanism for a flexible plate structure using a Genetic Algorithm (GAs) strategy. The global optimisation technique of GAs is utilised to obtain a dynamic model of a flexible plate structure and verified within the AVC system. The GA based AVC algorithm thus developed is implemented within a flexible plate simulation environment and its performance in the reduction of vibration of the plate is assessed. The validation of the algorithm is presented in both the time and frequency domains. An assessment of the results thus obtained is given in comparison to the AVC system using conventional recursive least squares (RLS) method. Investigations reveal that the developed GA based AVC system performs better in the suppression of vibration of a flexible plate structure compared to an RLS based AVC system.

关键词： Genetic algorithms

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Vector backstepping design for flight control

Vector backstepping design for flight control

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AIAA Guidance, Navigation, and control Conference 2007

作者： Härkegård, Ola Glad, Torkel Saab AB SE-581 88 Linköping Sweden Linköping University SE-581 83 Linköping Sweden Flight Control System Saab Aerosystems Sweden Division of Automatic Control Dept. of Electrical Engineering Sweden

ISBN: (纸本)1563479044

A backstepping design for an aircraft described by rigid body dynamics is proposed. The system states are the unit velocity vector and the angular velocity in a body-fixed coordinate system. The result can be viewed as a multi-variable controller for angle of attack, sideslip angle, and velocity vector roll rate. The backstepping design is performed on the rigid body dynamics described on vector form. The resulting controller achieves convergence to a desired state from almost all starting points. Guidelines are given for tuning the controller to affect the characteristics of the short period mode, the roll mode and the dutch roll mode. A coupled high angle of attack, high roll rate maneuver is simulated using a simplified aircraft model to illustrate the design.

关键词： Flight control systems

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