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Study of the minimum experiment length to identify linear dynamic systems: a variance based approach.

Study of the minimum experiment length to identify linear dy...

引用

IEEE International Instrumentation and Measurement Technology Conference

作者： J. Schoukens S. Kolumban Vrije Universiteit Brussel dept. ELEC Pleinlaan 2 1050 Brussel Belgium Budapest Univ. of Technology and Economics Dep. of Automation and Applied Informatics

ISBN: (纸本)9781479961153

In this paper the effect of short data lengths in system identification is studied. It addresses the question of the minimum required data length that is needed in order to apply the asymptotic results on the uncertainty analysis. this paper is focused on the IIR-case by analyzing initially a first order system. The conclusions are extended to higher order systems by normalizing all results on the time constant of this system, and by adding a model complexity factor.

关键词： data length time constant normalising Instruction repertory Dynamic systems System identification first-order system Higher-order system Variance

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Study on experimental plant of positioning control solutions for processes with variable moment of inertia

Study on experimental plant of positioning control solutions...

引用

International Symposium on applied Computational Intelligence and informatics ( SACI)

作者： Alexandra-Iulia Stînean Stefan Preitl Radu-Emil Precup Marius Crainic Dept. of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara

The paper presents a study on the behavior of some positioning control solutions for an electric drive system evolving in conditions of reference and parameter variability. The main variable parameter of the process is the moment of inertia in the context of a system that corresponds to laboratory equipment. The main advantages of the laboratory equipment are the possibility of adjusting the dynamic parameters and the ability to insert and remove the non-ideal properties in a controlled manner. Using a detailed mathematical model of the process and the particular features of the drive system, the paper proposes three control solutions. The developed position controllers are: (1) a classical PID controller, (2) a two-degree-of-freedom controller (2DOF) and (3) a Takagi-Sugeno PD+I fuzzy controller (TS-PD+I-FC). The proposed control solutions are validated by means of experiments on laboratory equipment and have a large applicability in the field of mechatronic systems, where such applications with variable inertia and control system inputs are always present.

关键词： Mathematical model Laboratories Drives Polynomials Process control PD control Industrial plants

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Virtual laboratory for a remotely operating robot arm

Virtual laboratory for a remotely operating robot arm

引用

International Symposium on applied Computational Intelligence and informatics ( SACI)

作者： Marius-Florin Crainic Stefan Preitl Dept. of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania

New techniques, like virtual laboratories and the ones remotely operated, improve teaching and learning in the academic society. These allow students to gain experience with real tools, in an intuitive way at a low cost. The paper presents an alternative way of e-learning in robotics that allows the students to simulate and remotely operate the mechanical RV-2AJ robot arm. The main characteristics of the application are a realistic graphics and a wide variety of options which allow the user to easily learn the advanced concepts of control of the robot.

关键词： Laboratories Robot kinematics Internet Software Computers Education

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Comparison of modified Smith predictor and PID controller tuned by genetic algorithms for greenhouse climate control

Comparison of modified Smith predictor and PID controller tu...

引用

International Symposium on applied Computational Intelligence and informatics ( SACI)

作者： Eugen Horatiu Gurban Gheorghe-Daniel Andreescu Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania

This paper develops a solution for greenhouse climate control employing a modified Smith predictor. For the well-known greenhouse climate model with dead-time, having high nonlinearities and strong coupling, a feedback-feedforward linearization & decoupling method employing measured disturbances is used. The equivalent process has an integrator plus dead time (IPDT) behavior. The undelayed process outputs, mandatory required in the linearized & decoupled method, are obtained by using a process internal model. A modified Smith predictor is employed to control the equivalent process that uses in its structure the same process internal model. The control system performances with two fitted controller types, i.e., the modified Smith predictor and a PID controller tuned by genetic algorithms, are analyzed and compared in nominal case and with parameter variations for robustness test.

关键词： Humidity Genetic algorithms Green products Process control Temperature control Transient analysis

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Data-driven Model-Free Adaptive Control of twin rotor aerodynamic systems

Data-driven Model-Free Adaptive Control of twin rotor aerody...

引用

International Symposium on applied Computational Intelligence and informatics ( SACI)

作者： Raul-Cristian Roman Mircea-Bogdan Radac Radu-Emil Precup Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania

This paper proposes data-driven Model-Free Adaptive Control (MFAC) algorithms for a Multi Input-Multi Output (MIMO) twin rotor aerodynamic systems. The azimuth and pitch position control are carried out using a MIMO control system structure with two control loops, one for each axis of motion. A set of experimental results on laboratory equipment is given to show the ability of the MFAC algorithms to control the mechanical ensemble even without decoupling and in spite of disturbances.

关键词： MIMO Rotors Azimuth Heuristic algorithms Aerodynamics Position control Adaptation models

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A 19 level dodecagonal voltage space vector structure for medium voltage im drive

A 19 level dodecagonal voltage space vector structure for me...

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作者： Kaarthik, R. Sudharshan Gopakumar, K. Cecati, Carlo Nagy, Istvan Department of Electronic Systems Engineering Indian Institute of Science Bangalore India Dept. of Industrial and Information Engineering and Economics University of l'Aquila L'Aquila Italy Dept. of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781479940325

In this paper, a nineteen level dodecagonal voltage space vector structure is proposed for the first time, by cascading two asymmetric three level inverters with isolated H-Bridges. The dodecagonal structure is made possible by proper selection of DC link voltages and switching states of the inverters. The proposed scheme retains all the advantages of multilevel topologies as well the advantages of dodecagonal voltage space vector structure. A generic and simple method for calculation of PWM timings is proposed. Also, a new method of switching technique is proposed, which ensures minimum switching while maintaining the linearity between modulating signals and the output phase voltages. Extensive simulation and experimental results have been presented for validation of the proposed concept. © 2014 IEEE.

关键词： Pulse width modulation

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Secure handwriting using a robot arm for educational purpose

Secure handwriting using a robot arm for educational purpose

引用

International Conference on Methods and Models in automation and Robotics (MMAR)

作者： Marius-Florin Crainic Stefan Preitl Lucian Alexandru Şandru Valer Dolga Dept. of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Dept. of Mechatronics “Politehnica” University of Timisoara Timisoara Romania

As the educational system is growing there is a lot of paperwork to do like completing different types of certificates, or traditional gradebook. The paper presents a different approach to facilitate and secure the writing of certificates or traditional gradebooks. This system uses a robot arm, RV-2AJ, which has a pen attached. The setups are easy to be made because they involve the reading of only three points for calibration which forms a right-angled triangle. After the calibration the robotic arm can write even if the writing surface is on an inclined plane, or the paper is rotated. This system is more secure than the one that uses the ink printer, because the movement of the robot arm to reproduce the font on the paper is unique. Another secure element is the embossing stamp. The embossing stamp is created by changing the pen with a needle. The needle creates small closed holes using a pattern in which the information used for writing is encrypted.

关键词： Robot kinematics Writing Calibration Embossing Software Mathematical model

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Review of tool-tissue interaction models for robotic surgery applications

Review of tool-tissue interaction models for robotic surgery...

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International Symposium on applied Machine Intelligence and informatics (SAMI)

作者： Árpád Takács Sándor Jordán Radu-Emil Precup Levente Kovács József Tar Imre Rudas Tamás Haidegger Antal Bejczy Center for Intelligent Robotics Óbuda University Budapest Hungary Dept. of Automation and Applied Informatics Politehnica University of Timisoara Romania

Besides the motion control issues and problems arising in general robotic applications, control engineers frequently encounter difficulties in designing robotic surgery systems due to the complex environmental constraints present. One of the most challenging problems is caused by the unique behavior of soft tissues under manipulations such as grabbing, cutting and indentation. The appropriate modeling of the interaction between the tools held by the robotic arm and tissues is essential for precise control, yet no generally applicable, universal model has been developed so far. This paper gives an overview of the existing tool-tissue interaction models and possible approaches to the parameterization problem, listing and reviewing several models found in the literature. We reviewed the problem within the frames of a theoretical master-slave teleoperation surgical robot, where exact mathematical model of the soft tissue is essential for effective control over a time-delayed communication channel.

关键词： Machine intelligence informatics Robots Surgery

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A 19 Level Dodecagonal Voltage Space Vector Structure for Medium Voltage IM Drive

A 19 Level Dodecagonal Voltage Space Vector Structure for Me...

引用

Annual Conference of the IEEE Industrial Electronics Society

作者： R. Sudharshan Kaarthik K. Gopakumar Carlo Cecati Istvan Nagy Department of Electronic Systems Engineering Indian Institute of Science Dept. of Industrial and Information Engineering and Economics University of L'Aquila Dept. of Automation and Applied Informatics Budapest University of Technology and Economics

ISBN: (纸本)9781479940318

关键词： Multilevel Inverters Pulse Width Modulation Induction Motor Drive Neutral Point Clamped Cascaded H-Bridge Dodecagonal Voltage Space Vector Structure

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Customer order management in service oriented holonic manufacturing

Customer order management in service oriented holonic manufa...

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作者： Morariu, Cristina Morariu, Octavian Borangiu, Theodor University Politehnica of Bucharest Dept. of Automation and Applied Informatics Romania

One of the most important problems when considering the design of manufacturing systems based on SOA paradigms is the integration of shop floor devices in the business processes at the enterprise level. This paper presents the design and implementation of the Customer Order Management (COM) module based on SOA architecture in the context of holonic manufacturing systems. The COM module is integrating with SOA enabled shop floor devices using industry standards. The implementation leverages a multi agent system suited for industrial applications integrated in a SOA environment capable of dynamic BPEL workflow generation and execution. The prototype consists in a SCA application for core COM module functionality and an extension for NetLogo MAS platform for SOA integration. The COM module interacts with the MES layer using real time events handled by the BPEL process implementation in the execution stage. A web based portal frontend for the COM module has been developed to allow real time tracking of customer orders, providing data about product batch execution and individual progress of each product on the production line. © 2013 Elsevier B.V.

关键词： Web services

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