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62nd International Astronautical Congress 2011, IAC 2011

作者： Haidegger, Tamás Kovács, Levente Precup, Radu-Emil Benyó, Balázs Benyó, Zoltán Dept. of Control Engineering Budapest University of Technology and Economics Hungary Dept. of Automation and Applied Informatics Politehnica University of Timişoara Romania

ISBN: (纸本)9781618398055

Human space exploration was given a new boost by targeting again the Moon and the Mars. Besides the USA, China, India and Russia announced their progressive plans to put astronauts on orbit and beyond in the next decades. The continuous development of robotic technology should lead to the advancement of automated technology, including space medicine. Telesurgery has already proved its effectiveness through various procedures on Earth, and it has the potential to provide medical assistance in space. Space agencies have already conducted numerous experiments and developed various setups to push the boundaries of teleoperation. Different control schemes have been proposed and tested to facilitate and enhance telepresence and to ensure transparency, bandwidth and latency-tolerance. This paper focuses on the modelling of a generic telesurgery setup, supported by a cascade control approach. The minimalistic models were tested with classical and fuzzy PID control options to provide a simple, universal and scalable solution for the challenges of telesurgery over large distances. In our simulations, the control structures were capable of providing acceptable performance indices up to 2 seconds of roundtrip delay, which is a promising result towards the support of future teleoperational missions. Copyright ©2011 by the International Astronautical Federation. All rights reserved.

关键词： Remote control

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Virtual sensor for vehicle sideslip angle based on extended Kalman filter

Virtual sensor for vehicle sideslip angle based on extended ...

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International Conference on Measuring Technology and Mechatronics automation

作者： Pan, Shenghui Lin, Chuan Li, Menghe Chen, Lezhu Dept. of Electric Information and Control Engineering Guangxi University of Technology Liuzhou Guangxi 545006 China Dept. of Electronic Engineering and Automation Guilin University of Electronic Technology Guanlin Guangxi 541004 China

ISBN: (纸本)9780769542966

The vehicle sideslip angle is one of the most important variables to evaluate vehicle stability during dynamic maneuvers. The vehicle dynamic represented by the single track vehicle model with linear tire is firstly introduced, a novel method of virtual sensor based on extended Kalman filter for the estimation of vehicle sideslip angle is proposed. Results of simulation using CarSim and co-simulation between CarSim and Simulink show an accurate and low-cost estimation of vehicle sideslip angle is achieved and virtual sensor estimation method is feasible in measurement of vehicle state. © 2011 IEEE.

关键词： Extended Kalman filters

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UAV attitude and position estimation for vision-based landing

UAV attitude and position estimation for vision-based landin...

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2011 International Conference on Electronic and Mechanical engineering and Information Technology, EMEIT 2011

作者： Tang, Daquan Li, Fei Shen, Ning Guo, Shaojun Dept. of Control Engineering Naval Aeronautical and Astronautical University Yantai Shandong China School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

ISBN: (纸本)9781612840857

Unmanned Aerial Vehicle (UAV) landing safely is key and difficult on UAV research. In order to improve the security of UAV landing on the flight strip, a vision-based method was presented for attitude and position estimation of it, based a few feature points distributed on the ground arbitrarily. Calculating the attitude and position relative to runway is the core. Firstly, the coordinates in the camera frame of the feature points was acquired with the N-point algorithm;secondly, with the orthogonalization method, the rotation matrix and the translation vector between the camera frame and the runway frame were acquired. For the imaging process of feature points is influenced by noise, the least-median-squares (LMS) algorithm was employed to diminish the influence of noise and to improve the robustness. For improving the efficiency of LMS, the data segmentation technology was used. The simulation indicated that the presented algorithms meet the precision demand of UAV landing. © 2011 IEEE.

关键词： Cameras

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Continuous control issues concerning operation improvement of small-scale biomass boilers

Continuous control issues concerning operation improvement o...

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作者： Haapa-Aho, Jonne Korpela, Timo Björkqvist, Tomas Hrdlička, Jan Plaček, Viktor Vrána, Stanislav Šulc, Bohumil Tampere University of Technology Dept. Automation Science and Engineering P.O. BOX 692 33101 Tampere Finland Czech Technical University in Prague Dept. Fluid Dynamics and Power Engineering Technická 4 16607 Prague Czech Republic Czech Technical University in Prague Dept. Instrumentation and Control Engineering Technická 4 16607 Prague Czech Republic

ISBN: (纸本)9783902661937

To meet the increasing environmental and efficiency requirements, the possibilities to improve the performance of a 25 kWth wood pellet boiler by utilizing PLC and feedback control are investigated. The process is first stabilized by improving the grate sweeping sequence, which originally disturbs the process. Prior to continuous combustion control development, the process is analyzed and identified. After sequential control improvements the combustion behaves well but tends to drift. A PID controller was designed to enable drifting compensation. It is shown that improved grate sweeping sequence and continuous feedback control provide a major improvement for system performance cost effectively. © 2011 IFAC.

关键词： Three term control systems

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Time delay compensation by fuzzy control in the case of master-slave telesurgery

Time delay compensation by fuzzy control in the case of mast...

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6th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2011

作者： Precup, Radu-Emil Kovacs, Levente Haidegger, Tamas Preitl, Stefan Kovacs, Adalbert Benyo, Balazs Borbely, Endre Benyo, Zoltan Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Dept. of Mathematics Politehnica University of Timisoara Timisoara Romania Kandó Kálmn Faculty Óbuda University Budapest Hungary

ISBN: (纸本)9781424491094

Telesurgery means the remote application of interventional medical techniques;a concept that is currently widely practiced around the world for short distance through master-slave robot systems. The concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. The current paper suggests a fuzzy control solution for telesurgical applications aiming at the alleviation of the disturbing effects of large latencies with the concept of remote surgical robotics. The fuzzy control solution is supported by a cascade control system structure with two proportional-integral-derivative (PID) controllers in the inner and outer control loops and designed by Kessler's Extended Symmetrical Optimum empirical criteria. The PID controller in the outer loop is next replaced by Takagi-Sugeno-Kong PID-fuzzy controllers which combine several separately designed PID controllers. The combination of separately designed PID controllers and the modal equivalence principle are expressed as a design and tuning method of the Tagaki-Sugeno-Kong PID-fuzzy controllers. © 2011 IEEE.

关键词： Three term control systems

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Decoupling autopilot MIMO controller design

Decoupling autopilot MIMO controller design

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31st IASTED International Conference on Modelling, Identification, and control, MIC 2011

作者： Bányász, Csilla Keviczky, László Dept. of Automation and Informatics Control Engineering Research Group of the H. Ac. of Sc. Computer and Automation Research Institute of the H. Ac. of Sc. Kende u 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9780889868632

The principal lateral motion of an aircraft is described by a minimum of fourth order coupled state variable model. It is interesting to investigate how a decoupling controller can be designed. The Youla-parametrization is a simple method to design controllers. The KB-parametrization is a successful extension of this method for two-degree-of freedom (2DOF) systems. The paper extends this methodology for multivariable case and applies to the decoupling lateral control.

关键词： controllers

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Cascade control for Telerobotic Systems Serving Space Medicine *

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IFAC Proceedings Volumes 2011年第1期44卷 3759-3764页

作者： Tamás Haidegger Levente Kovács Radu-Emil Precup Stefan Preitl Balázs Benyó Zoltán Benyó Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics (BME IIT) Hungary “Politehnica” University of Timisoara Dept. of Automation and Applied Informatics Romania

Abstract Long distance teleoperation formulates a current control problem task yet to be solved, primarily due to the difficulty to compensate for signal latency. Predictive and model-based control can only give satisfying results if proper description of the system's behavior is provided. The interdisciplinary field of telesurgery has become a focal point of technology-extended medicine, where master–slave type control over large distances poses significant challenges. Innovative solutions are required to deal with the modeling human teleoperation and varying communication quality parameters. In this paper, we investigate the feasibility a more straight-forward, classical control solution based on Kessler's Extended Symmetrical Method, formulated in a cascade control approach to tackle the problems caused by latency and uncertainties in a modeled telesurgical robot system.

关键词： Teleoperation Cascade control Time-delay control Surgical robotics

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Designation and development of hardware platform for intelligent ter-minal in 126kV smart substation

Designation and development of hardware platform for intelli...

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2011 International Conference on Advanced Power System automation and Protection, APAP 2011

作者： Sun, Tong Wang, Bin Dong, XinZhou Zhang, ShuJian Kang, MingCai Cao, RunBin School of Automation Nanjing University of Science and Technology Nanjing Jiangsu 210094 China State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China Electrical Engineering and Automation Hefei University of Technology Hefei Anhui 230009 China

ISBN: (纸本)9781424496198

According to the demand of 126kV intelligent switch with intelligent operative box, an intelligent terminal device by using cooperation control of embedded CPU (STM32F103ZET6 ARM) and Field Programmable Gates (Cyclone II EP2C8Q208C8 FPGA), which is up to the IEC61850 standard, is designed in this paper. Research program of the device is discussed. Starting from the modularization structure design, function of each module, circuit design and implementation method were introduced in detail. A hardware platform was established according to the design. Finally, the article confirmed the correctness of the hardware platform primarily through experimental method. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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IEC61850-based information modeling of 126KV intelligent terminals

IEC61850-based information modeling of 126KV intelligent ter...

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2011 International Conference on Advanced Power System automation and Protection, APAP 2011

作者： Zhang, Shu-Jian Wang, Bin Sun, Ming Dong, Xin-Zhou Sun, Tong Cao, Run-Bin Electrical Engineering and Automation Hefei University of Technology Baohe District Hefei 230009 China State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China School of Automation Nanjing University of Science and Technology Nanjing Jiangsu 210094 China

ISBN: (纸本)9781424496198

The stability and reliability of the intelligent terminal's receiving information affects its control of intelligent switch in operation directly. To achieve reliable intelligent communications terminals, with techniques and methods of IEC61850 modeling, the paper completed the 126KVGIS intelligent terminal information model based on the analysis of its information characteristics, and established the hardware platform with data model and logical nodes provided by IEC61850. Thus it has a certain practical significance to promote the standard construction, operation and management of intelligent substation, and lead the digital process of process layer devices. © 2011 IEEE.

关键词： Digital devices

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Unmanned vehicle-aided automated meter reading

Unmanned vehicle-aided automated meter reading

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6th International Conference on Broadband Communications and Biomedical Applications, IB2COM 2011

作者： Tuna, Gurkan Gungor, V. Cagri Gulez, Kayhan Trakya University Department of Computer Programming Edirne Turkey Bahçeşehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey Yildiz Technical University Electrical-Electronics Eng. Faculty Control and Automation Eng. Dept. Istanbul Turkey

ISBN: (纸本)9781467307680

This paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not require a fixed network infrastructure to transfer data to a central database, since data collection is carried out by unmanned vehicles. Compared to traditional meter reading systems, the use of unmanned vehicles for AMR brings several advantages, such as low cost operation, flexibility, and online system management. However, the realization of these potential gains directly depends on reliable communication capabilities of the deployed system and successful navigation of unmanned vehicles. Overall, in this paper, the design principles and challenges of using unmanned vehicles for AMR applications in rural areas have been presented. Also, the communication architecture of the proposed system has been explained and comparative simulation studies have been performed in terms of energy efficiency and navigation accuracy. © 2011 IEEE.

关键词： Wireless sensor networks

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