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IEEE Conference on Vehicular Technology (VTC)

作者： C. Fischione A. Bonivento K.H. Johansson A. Sangiovanni-Vincentelli Automatic Control Lab School of Electrical Engineering KTH Stockholm Sweden EECS Dept. University of California Berkeley Berkeley CA USA

We derive a power control policy for a group of sensor nodes that are monitoring a real-time application sensitive to disconnections (outages) of the communication. Specifically, we suggest that the sensor nodes perform cooperative diversity while running a sleep discipline. After the description of a detailed model of the wireless links, we propose a power minimization algorithm with a constraint expressed in terms of outage probability. Suboptimal solutions are also discussed. Numerical examples are provided for various number of nodes, wireless scenarios and nodes activities. It is argued that nodes with reduced activity show better performance

关键词： Sleep Power control Intelligent networks Wireless sensor networks Protocols Energy consumption Land mobile radio cellular systems Signal to noise ratio Communication system control Frequency

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Implementation of Industrial Robot Force control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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A Self-Tuning Loss-Model Based Efficiency controller for an Induction Motor Drive

A Self-Tuning Loss-Model Based Efficiency Controller for an ...

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International (EPE-PEMC) Power Electronics and Motion control Conference

作者： Gerardo Mino-Aguilar Juan Manuel Moreno-Eguilaz Bogdan Pryymak Juan Peracaula Dept. of Electronic Engineering Technical University of Catalonia (UPC) Barcelona Spain Dept. of Automatic Control Systems E.O. Paton Electric Welding Institute Kyiv Ukraine

In this paper, a vector-controlled induction motor drive with efficiency optimization using a loss model based approach is presented. To improve the robustness of the control system, a self-tuning controller has been designed. On-line estimators for rotor resistance and magnetizing inductance are included in the controller to improve performance. Analysis, modeling and simulation results are presented to demonstrate the validity of the proposed method.

关键词： Induction motor drives Predictive models AC motors Gain measurement Stochastic processes Position measurement Mechanical sensors Robustness Context modeling Accelerometers

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A Neural Network Based Optimal Rotor Flux Estimator for Efficiency Optimization of an Induction Motor Drive

A Neural Network Based Optimal Rotor Flux Estimator for Effi...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： G. Mino-Aguilar J.m. Moreno-Eguilaz B. Pryymak J. Peracaula Dept. of Electronic Engineering Technical University of Catalonia (UPC) Barcelona Spain Dept. of Automatic Control Systems E.O. Paton Electric Welding Institute Kyiv Ukraine

In this paper, a vector-controlled induction motor drive with efficiency optimization using a neural network based approach is presented. On-line estimators for rotor resistance and mutual inductance provide additional inputs for the neural network. Modeling and simulation results are presented to demonstrate the validity of the proposed method

关键词： Neural networks Rotors Induction motor drives Induction motors Stators Inductance Magnetic losses Magnetic flux Iron Copper

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FAULT DETECTION system DESIGN FOR A CLASS OF STOCHASTICALLY UNCERTAIN systemS

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IFAC Proceedings Volumes 2006年第13期39卷 705-710页

作者： S.X. Ding P. Zhang E.L. Ding Institute for Automatic Control and Complex Systems University of Duisburg- Essen Bismarckstrasse 81 BB 47057 Duisburg Germany Dept. of Physical Engineering University of Applied Sciences Gelsenkirchen 45877 Gelsenkirchen Germany

This paper deals with problems related to designing fault detection systems for linear uncertain systems, where model uncertainties are characterised by stochastic changes in the model parameters. First, statistical features of the residual signals generated by means of an observer are studied. Based on the achieved results, a residual evaluation strategy is then developed, which combines the norm-based and statistic testing schemes. The major mathematical tool used in our study is the well-established LMI-technique.

关键词： Fault detection Uncertain systems stochastic systems observers

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Driver's drowsiness estimation by combining EEG signal analysis and ICA-based fuzzy neural networks

Driver's drowsiness estimation by combining EEG signal analy...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Chin-Teng Lin Sheng-Fu Liang Yu-Chieh Chen Yung-Chi Hsu Li-Wei Ko Dept. of Electrical and Control Engineering National Chiao-Tung University Hsinchu Taiwan Brain Research Center University System of Taiwan Dept. of Biological Science and Technology National Chiao-Tung University Hsinchu Taiwan

The public security has become an important issue in recent years, especially, the safe manipulation and control of vehicles in preventing the growing number of traffic accident fatalities. Accidents caused by drivers' drowsiness have a high fatality rate due to the decline of drivers' abilities in perception, recognition, and vehicle control abilities while sleepy. Preventing such an accident requires a technique for detecting, estimating, and predicting the level of alertness of a driver and a mechanism to maintain the driver's maximum performance of driving. The ICAFNN is a fuzzy neural network (FNN) capable of parameter self-adapting and structure self-constructing to acquire a small number of fuzzy rules for interpreting the embedded knowledge of a system from the given training data set. Our experiments show that the ICAFNN can achieve significant improvements in the accuracy of drowsiness estimation compared with our previous works

关键词： Electroencephalography Signal analysis Fuzzy neural networks Fuzzy control Vehicle safety Road accidents Vehicle driving Fuzzy sets Fuzzy systems Training data

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AN INTRODUCTION TO A MATLAB-BASED FDI-TOOLBOX

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IFAC Proceedings Volumes 2006年第13期39卷 651-656页

作者： S.X. Ding E. Atlas S. Schneider Y. Ma T. Jeinsch E.L. Ding Institute for Automatic Control and Complex Systems University of Duisburg-Essen 47057 Duisburg Germany Dept. of Physical Engineering University of Applied Sciences Gelsenkirchen 45877 Gelsenkirchen Germany Department of Powertrain Mechatronics Development Gasoline Engines IAV GmbH 38518 Gifhorn

In this paper, an FDI-Toolbox developed in the Matlab© programming enviroment is introduced. It includes a number of functions for the design of observer-based and parity space FDI systems including both residual... 详细信息

关键词： Matlab© Toolbox Fault diagnosis Observer based FDI Parity Space Unified Solution

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Design of a Humanoid Robot Eye: Models and Experiments

Design of a Humanoid Robot Eye: Models and Experiments

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IEEE-RAS International Conference on Humanoid Robots

作者： Giorgio Cannata Mirko D'Andrea Marco Maggiali Dept. of Communications Computer and System Sciences University of Genova Genova Italy Consiglio Nazionale delle Ricerche Area di Ricerca di Napoli 1 Napoli Campania IT Mechatronics and Automatic Control Laboratory University of Genova Genova Italy

ISBN: (纸本)1424401992;142440200X

Eye movements have the goal of optimizing visual perception, therefore the investigation of eye motion strategies play an important role in the design of humanoid robot eye systems. Saccades in humans and primates is a significant class of ocular motions, which obey the so called Listing's Law, which constrains the admissible eye's angular velocities and ensure zero torsion during motion. In this paper we present a model of the eye plant proving that listing's law implementation is strongly related with the geometry of the eye and its actuation system (extraocular muscles). The proposed model has been used to provide the guidelines for the design of a tendon driven humanoid robot eye. Experimental tests, presented in this paper, validate the model by performing a quantitative comparison of the performance of the robot eye with physiological data measured in humans and primates during saccades

关键词： Humanoid robots Humans Design optimization Visual perception Angular velocity Solid modeling Computational geometry Muscles Guidelines Tendons

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Advanced predictive control based on multimodel learning techniques

Advanced predictive control based on multimodel learning tec...

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作者： Constantin, Nicolae Dumitrache, Ioan Automatic Control and System Engineering Dept. Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

ISBN: (纸本)008045108X

in this paper a new algorithm for local estimation for approximating a function by means of local models is introduced. The instant or in-time estimation provides an attractive alternative for nonlinear identification, since it requires less structural decisions to be made by the user. It represents a hybrid between local and global modeling. This estimation procedure is combined with a predictive control algorithm with a modification cost function for efficient control. Simulation results are provided to show the results of the proposed approach. Copyright © 2005 IFAC.

关键词： Cost functions

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Force and acceleration sensor fusion for compliant robot motion control

Force and acceleration sensor fusion for compliant robot mot...

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2005 IEEE International Conference on Robotics and Automation

作者： Gámez García, J. Robertsson, A. Gómez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors - that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer - whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Motion control

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