The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systemscontrol. HIMAC has followed a new approach, ...
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The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systemscontrol. HIMAC has followed a new approach, by developing a specific mathematIcs, the Manufactunng Algebra (MA), for modelling and controlling the production processes of discrete manufacturing systems. As a key feature, the MA models can be bottom-up aggregated starting from the very detailed levels used in simulation, thus making poSSIble a coherent model hierarchy at the base of the design and realization of Hierarchical control strategies and architectures. The formulation of the original mathematical approach and its validation criteria are outlined in the paper. For a deeper understanding, the mterested reader can take advantage of the list of references given at the end.
This paper describes the design of an autonomous, sonar-based world mapping system for collision prevention in robotic systems. Obstacle detection and mapping is performed as a task that competes with higher-level tas...
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This paper describes the design of an autonomous, sonar-based world mapping system for collision prevention in robotic systems. Obstacle detection and mapping is performed as a task that competes with higher-level tasks for the robot's attention. All tasks are integrated within a hierarchy, organized and co-ordinated by schemes analogous to biological reflexes and fixed action patterns. It is illustrated how the existence of low-level reflex behaviours can enhance the survivability and autonomy of complex systems and simplify the design of complex higher-level controls like our autonomous sonar-based world mapping system. (C) 1996 Published by Elsevier Science Limited.
Safety of closed-loop drug infusion systems is an issue often raised as a matter of concern. As a result, many closed-loop controlsystems are reported in the literature merely as computer simulation studies and few e...
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Safety of closed-loop drug infusion systems is an issue often raised as a matter of concern. As a result, many closed-loop controlsystems are reported in the literature merely as computer simulation studies and few ever reach the stage of physical realisation and formal clinical evaluation. We address the safety issues involved with such systems by describing the development of a portable closed-loop control system for atracurium-induced muscle relaxation. This is a safety-critical system particularly when applied to brain and eye surgery where movement could have serious deleterious effects. The benefits of closed-loop muscle relaxation in providing stable surgical operating conditions over a wide range of patient sensitivities while infusing the minimum amount of drug makes this a worthwhile aim and serves to demonstrate safety issues which are generally applicable to other closed-loop drug infusion systems. It is hoped that the described methodology will facilitate and encourage the clinical application of closed-loop drug infusion systems so that clinical staff and patients may receive the benefits of closed-loop drug therapy.
This paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulato...
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This paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. The application of the model developed is demonstrated in a simulated two-flexible-link system.
作者：
Hirayama, KUemura, YToshiba Corporation[?]Graduated in 1970 from Hokkaido University
Electrical Eng. Dept. and was employed by Toshiba Corp. He is engaged in development and design of power generating control systems. In 1994 he won Prize of Society of Instrument and Control Engineering. He received his Doctor of Engineering degree from Hokkaido University in 1995.
Improvement of power system stability is the most important issue of generator excitation control. The combination of thyristor excitation with Delta P-PSS is usually applied to recently installed very large turbogene...
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Improvement of power system stability is the most important issue of generator excitation control. The combination of thyristor excitation with Delta P-PSS is usually applied to recently installed very large turbogenerators. This power system generator (PSS) is not always effective for wide-range operation of generators or for various changes of power system line impedance. The application of the optimal control theory, especially the multifeedback, signal resulting from the Riccati equation has been studied and reported in many papers. These papers, however, do not clearly describe how to set performance index values and the studies reported in them also use inadequate signals. This paper presents a method to set the performance index values to make adequate feedback signals for selecting actual control on the application of the Riccati equation. Further, the developed PSS using multifeedback signals is applied to actual very large turbogenerators after confirming the performance of effective damping for power oscillation.
A class of Iterative algorithms have been proposed in recent years for the nonholonomic motion planning problem. The convergence of these algorithms predicates on the control signal in each iteration be "nonsingu...
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A class of Iterative algorithms have been proposed in recent years for the nonholonomic motion planning problem. The convergence of these algorithms predicates on the control signal in each iteration be "nonsingular". At the present, the singularity structure is only identified for the unicycle and front-wheel-drive car kinematic models. In this paper, we extend the consideration to all systems reducible to one-chain form, which include unicycle, car, as well as any N-trailer system. In particular, we show that a control is singular if and only if the first control variable is identically zero. We also identified all singular controls for the ball rolling on a plate problem. which is not reducible to the one-chain form.
This paper addresses the problem of designing a feedback stabilizing controller for a class of nonlinear civil engineering structures subject to unknown uncertainties and disturbances. By introducing a simple adaptati...
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This paper addresses the problem of designing a feedback stabilizing controller for a class of nonlinear civil engineering structures subject to unknown uncertainties and disturbances. By introducing a simple adaptation law for the upper bounds of the unknown uncertainties and disturbances, a new variable structure feedback strategy is proposed to guarantee the asymptotic stability of the overall system. A numerical example is given to illustrate the effectiveness of the proposed strategy to a base isolated structure subject to seismic excitation.
Hybrid controlsystems are a combination of real-time control law and discrete-state logic. This paper describes how a Development Framework for controlsystems software has been adapted so that it may also handle dis...
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Hybrid controlsystems are a combination of real-time control law and discrete-state logic. This paper describes how a Development Framework for controlsystems software has been adapted so that it may also handle discrete events such as mode switching. The Framework provides a highly automated path from a controlengineering specification to a distributed system implementation. Simulink, an extension to Matlab, is used to specify control laws, and a statecharts tool, Statemate, is used to specify and model discrete-state components. The design phase of the Development Framework supports the integration of the two sets of specification. An inverted pendulum control system is introduced as a simple example of a hybrid system implemented using the Framework. The translation of statecharts to dataflow notations is described for the example system. General translation rules are also presented.
This paper deals with the issue of the robust H ∞ FIR (Fmite Impulse Response) filtering problem for linear systems with parameter uncertainty in the state-space model. Firstly, the H ∞ FIR filter is presented for t...
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This paper deals with the issue of the robust H ∞ FIR (Fmite Impulse Response) filtering problem for linear systems with parameter uncertainty in the state-space model. Firstly, the H ∞ FIR filter is presented for the system without the uncertainty, which corresponds to the H ∞ filter proposed by Nagpal and Khargonekar (1991). The impulse response of the H ∞ FIR filter is calculated by the equivalence relationship between the FIR filter and the recursive filter (Kwon et al., 1990; 1994). Secondly, the robust H ∞ FIR is proposed for the linear uncertain system with the parameter uncertainty. It is also derived from the relationship between the robust Hqq FIR filter and the robust Hoo filter proposed by Xie and de Souza (1991) and Fu et al. (1992). Estimation performances of the H ∞ FIR filters proposed are compared with two other techniques by Kalman filter and the robust H ∞ filter (Shaked and Theodor, 1992; Fu et at., 1992) via some simulations to exemplify the superiority of the proposed method over other techniques.
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