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作者： Haage, Mathias Dressler, Isolde Robertsson, Anders Nilsson, Klas Brogardh, Torgny Johansson, Rolf Dept. Computer Science LTH Lund University Lund Sweden Dept. Automatic Control LTH Lund University Lund Sweden ABB Robotics SE-72168 Vasteras Sweden

ISBN: (纸本)9783902661432

Flexible manufacturing puts high demands on industrial automation in terms of affordable and competitive solutions and is of key importance for short-lot production typically found in small and medium sized enterprises, situations where today manual labour is extensively used despite e.g., environmental issues and harsh working conditions. Key factors in the successful introduction of new robot automation concepts are that they provide both the desired performance and quality (technical capability), but also that they enable fast deployment and extend available task repertoire. The Gantry-Tau manipulator is a new robot concept which in contrast to other high-performance parallel kinematic manipulators (PKM), has a large, open working range. Its high stiffness makes it ideal for a wide range of tasks such as grinding, deburring, and cutting. An additional aspect of such a PKM is the modularity, which in this work has been studied in terms of possibilities for assembly and mechanical reconfiguration at the end-user site, integration of such a kinematically different robot with a standard industrial controller, and new needs for methods/tools to support simple (re)configuration. A range of software tools and methods were found to be useful and necessary for efficient engineering and integration of the concept in typical SME manufacturing scenarios. For experimental evaluation, two full-scale prototype robots were designed and built, the kinematic software was developed and integrated into a couple of different robot control systems, robot CAD software was adapted to the configuration needs, and both simulations and physical experiments were carried out. Our findings make us believe that enhanced software tools should be integrated on a higher symbolic (or meta-) level to better support transformation of data and code generation, but also that the Gantry-Tau type of robot (with adequate software support) will bring a new dimension of flexibility into SME manufacturing.

关键词： Kinematics

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The communication network design of the first CIMS application project of China

The communication network design of the first CIMS applicati...

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1992 IEEE International Symposium on Industrial Electronics, ISIE 1992

作者： Wang, Longji Peng, Sixian Dept. of Automatic Control Northwestern Polytech. Univ. Xian China China Computer Center Chengdu Aircraft Corporation Chengdu China

ISBN: (纸本)0780300424

This paper introduces the computer communication network system design of the first CIMS (computer Integrated Manufacturing System) application project of China-CAC (Chengdu Aircraft corporation) CIMS. The network system of CAC CIMS is a complex but typical network system due to the coexistence of different network protocols, heterogeneous mainframes and many kinds of network switch devices. The selection of network protocol and the mutual transform of protocols, the connection scheme of different node computers, the design of network topology and communication line system, the design and configuration of network monitoring and management are presented in detail in this paper. © 1992 IEEE.

关键词： Internet protocols

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MDCT-based perceptual hashing for compressed audio content identification

MDCT-based perceptual hashing for compressed audio content i...

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2007 IEEE 9Th International Workshop on Multimedia Signal Processing, MMSP 2007

作者： Yuhua, Jiao Bian, Yang Mingyu, Li Xiamu, Niu School of Computer Science and Technology Harbin Institute of Technology Harbin China Dept. of Automatic Test and Control Harbin Institute of Technology Harbin China

ISBN: (纸本)1424412749

In this paper, a perceptual audio hashing method in compressed domain is proposed for content identification, in which MDCT coefficients as the intermediate decoding result are selected for perceptual feature extraction and hash generation. The perceptual feature extraction is based on psychoacoustic model and exhibits good discrimination ability for different audio contents but robustness against common audio signal processing operations. Via feature extraction in the compressed domain, the MDCT-based compressed audios, such as MP3, AAC, etc., could be efficiently identified without complete decoding which facilitates those practical applications with strict requirements of memory and computational complexity, such as online audio retrieval, indexing of massive compressed audio data, audio identification by mobile phone, etc. The algorithm is highly robust against MDCT compression which is widely used in audio coding. Experiments demonstrate the effectiveness of the proposed scheme. © 2007 IEEE.

关键词： Feature extraction

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Improved textured images segmentation using an energy functional 9th

Improved textured images segmentation using an energy functi...

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9th International Conference on Image Analysis and Processing, ICIAP 1997

作者： Grau, Antoni Saludes, Jordi Dept. of Automatic Control and Computer Engineering Polytechnic University of Catalonia UPC Barcelona Catalonia Spain Dept. of Applied Mathematics II Polytechnic University of Catalonia UPC Barcelona Catalonia Spain

ISBN: (纸本)3540635076

In this paper we present a new classification and image segmentation system based on the addition of a variational method to a classic clustering algorithm. This system constitutes an improvement respect traditional segmentation methods. Often due to the nature of the texture features obtained from an image, the segmentation results are not quite precise. If this happens, using the energy functional and its minimization can improve the segmentation. This functional takes into account the information in the feature space and the information in the 2D image domain. The extracted characteristics from the image are texture features that have been defined in order to obtain an admissible trade-off between their discriminant capacity and their effectiveness to be implemented in a vision board to operate at real time. We show some results to appreciate this improvement in the segmentation using the energy functional. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Clustering algorithms

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Modelling and verification of hybrid systems: A case study 4

Modelling and verification of hybrid systems: A case study

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4th Annual Conference on AI, Simulation, and Planning in High Autonomy Systems, AIS 1993

作者： Nadjm-Tehrani, S. Stromberg, J.-E. Dept. of Computer and Information Science Linkoping University LinkopingS-58183 Sweden Div. of Automatic Control Dept. of Electrical Engineering Linkoping University LinkopingS-58183 Sweden

ISBN: (纸本)0818640200

The problem of correctness and timing of reactions of an agent in interaction with a physical environment is addressed. To this end, a method based on composition of separate models of the software and the environment is used. To use available methods within the field of software verification, discrete representations of the continuous components are described systematically. A nontrivial case study within the domain of road traffic is used to illustrate the derivation of discrete models without losing information relevant to the verification task. The different modeling stages involved are shown first within an untimed formalism, and then in a formalism incorporating quantitative time. © 1993 IEEE.

关键词： Hybrid systems

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Virtual control Labs Experimentation: The Water Tank System

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IFAC-PapersOnLine 2016年第6期49卷 87-92页

作者： Galan, Daniel Heradio, Ruben Torre, Luis de la Dormido, Sebastian Esquembre, Francisco Dept. of Computer Science and Automatic Control Universidad Nacional de Educación a Distancia Juan del Rosal 16 MadridE-28040 Spain Dept. of Software Engineering and Computer Systems Universidad Nacional de Educación a Distancia Juan del Rosal 16 MadridE-28040 Spain Dept. of Mathematics Universidad de Murcia Campus de Espinardo MurciaE-30071 Spain

This paper describes a new way to perform automated experiments using virtual laboratories. Experiments are developed and executed using a new software tool: the Experiment Editor. This tool uses virtual laboratories applications designed with educational purposes. The main features/advantages of the Experiment Editor are: 1) the possibility of modifying the initial functionality of the laboratories (i.e. adding new controllers to the plant), 2) analyzing the obtained results during the experiment and performing complex or repetitive tasks in a simple way, 3) and any others explained in the paper. To illustrate the utility of the Experiment Editor a very well-known system is used: the water tank system. © 2016

关键词： Distance education computer aided software engineering computer software Experiments Laboratories Water tanks Easy java(script) Simulations Experimentation Language Repetitive task Simulations Tank system Tool use Virtual control Virtual laboratories

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Conducting Online Lab Experiments with Blockly

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IFAC-PapersOnLine 2017年第1期50卷 13474-13479页

作者： Galan, Daniel Heradio, Ruben de la Torre, Luis Dormido, Sebastian Esquembre, Francisco Dept. of Computer Science and Automatic Control Universidad Nacional de Educación a Distancia Juan del Rosal 16 MadridE-28040 Spain Dept. of Software Engineering and Computer Systems Universidad Nacional de Educación a Distancia Juan del Rosal 16 MadridE-28040 Spain Dept. of Mathematics Universidad de Murcia Campus de Espinardo MurciaE-30071 Spain

Laboratory experimentation plays an essential role in control education. To reduce the high costs of maintaining apparatus in traditional labs and to support distance and blended learning, online laboratories are used as a possible alternative to conventional hands-on labs. In these labs it is often desirable to allow students to define their own experiments. This paper presents the definition and implementation of a generic experimentation language for conducting automatic experiments on existing online laboratories. The main objective is to use an online lab, created independently, as a component in which users can perform experiments. To achieve it, authors present the Experiment Application. It is composed by Blockly, to define and design the experiments, and Google Chart, review and visualize the experiment results. This tool offers benefits to students, teachers and, even, lab designers. For the moment, it can be used with any existing lab or simulation created with the authoring tool Easy Java(script) Simulations. Since there are repositories with hundreds of free available labs created with this tool, the potential applicability of the described tool is considerable. To illustrate the utility of the Experiment Application a very well-known system is used: the Simple Harmonic Oscillator system. © 2017

关键词： computer software Experiments Research laboratories Teaching Blockly Easy java(script) Simulations Experimentation Language Javascript Remote laboratories Virtual laboratories

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Performing Automated Experiments with EJsS Laboratories

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IFAC-PapersOnLine 2015年第29期48卷 134-139页

作者： Galan, Daniel Heradio, Ruben Torre, Luis De La Dormido, Sebastian Esquembre, Francisco Dept. of Computer Science and Automatic Control Universidad Nacional de Educación A Distancia Juan Del Rosal 16 MadridE-28040 Spain Dept. of Software Engineering and Computer Systems Universidad Nacional de Educación A Distancia Juan del Rosal 16 MadridE-28040 Spain Dept. of Mathematics Universidad de Murcia Campus de Espinardo MurciaE-30071 Spain

Existing software allows the development of high quality interactive applications that permit their implementation in laboratories, both virtual and remote. To perform an experiment, the user needs to know how these applications are implemented. In addition, when coding an experiment, the user has to manage the language in which the simulation was created and needs to handle fluently a simulation language just to perform experiments. In the academic field these simulations are used to create virtual and remote laboratories. The authors propose a tool to develop automated experiments for these laboratories. It is intended that the experiments use a powerful and simple language to improve students interaction with the laboratories. That is, avoid repetitive tasks using simple algorithms, data collection and analysis of results, among other features. A new environment for the development of experiments in the authoring tool Easy Java(script) Simulations (EjsS) is proposed. It permits the decoupling of the application design phase from the experiment design. It has been equipped with a language capable of encircling all the expected commands, such as creating events, launching simultaneous applications or modifying their variables. Set with a high level layer, the language allows less experienced users to create their own experiments without having any knowledge of how the application was made. These features will be explained throughout the paper and some physic and control examples of use, as a controller for a cylindrical and a circular tank or a motion controller for a remote robot, will be given to demonstrate the potential of this new environment. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Java programming language Application programs computer simulation languages Experiments Laboratories Technology transfer Easy Java(script) Simulations Experimentation Language Remote laboratories Simulations Virtual laboratories

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From physical modelling to compositional models of hybrid systems 3rd

From physical modelling to compositional models of hybrid sy...

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3rd International Symposium on Formal Techniques in Real Time and Fault Tolerance Organized Jointly with Working Group Provably Correct Systems, ProCoS 1994

作者： Nadjm-Tehrani, Simin Strömberg, Jan-Erik Dept. of Computer and Information Science Linköping University Sweden Div. of Automatic Control Dept. of Electrical Engineering Linköpmg Unversity LinköpingS-581 83 Sweden

ISBN: (纸本)9783540584681

By a hybrid system we mean a discrete controller in interaction with a physical environment. This paper discusses methodologies for incorporating physically grounded models in representations of hybrid systems. To this end, we study a driver support system, an example which includes unmodelled inputs. We consider models at different levels of abstraction. First, we show that discrete models of the environment can be obtained from the continuous models without losing relevant information. We do this using an analysis of the continuous state space. Dynamic Transition Systems (DTS) are used for the modular modelling at this level of abstraction. Next, we consider models using Hybrid Transition Systems (HTS). This can be seen as a modular version of timed transition systems ailowing both differential and algebraic equations in each mode. Finally, we comment on expressivity requirements on hybrid formalisms for modelling realistic physical systems. © Springer-Verlag Berlin Heidelberg 1994.

关键词： Hybrid systems

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A comparative study of digital IMC and RST regulators applied on a wind turbine

UPB Scientific Bulletin, Series C: Electrical Engineering

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UPB Scientific Bulletin, Series C: Electrical Engineering 2012年第4期74卷 27-38页

作者： Pintea, Andreea Popescu, Dumitru Dept. of Automatic Control and Computer Science Politehnica University Bucharest Romania

This paper presents a comparative study of two well known regulation algorithms designed for a horizontal variable wind speed turbine functioning in the above rated wind speed regime. Typical control in this working regime uses pitch regulation to maintain constant the turbine's rotor speed while the generator toque is held constant. This will be also the approach chosen for this study. The goal of the paper is to demonstrate the efficiency of the two algorithms in controlling the electrical output power by means of applying them on a simplified model of a wind turbine. The obtained results will be analyzed and presented through a few simulations. Copyright © 2009 Universitatea Politehnica Bucuresti.

关键词： Wind turbines

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