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Tuning PID controllers for unstable systems with dead time based on dual-input describing function(DIDF) method

Transactions of the Korean Institute of Electrical Engineers 2014年第4期63卷 509-518页

作者： Choe, Yeon Wook Dept. of Control and Measurement Engineering Pukyong National University Korea Republic of

Though various techniques have been studied as a way of adjusting parameters of PID controllers, no perfect method of determining parameters is available to date. Especially the deign of PID controller for unstable processes with dead time(UPWDT) is even more difficult due to various reasons. Generally the existing design procedures for UPWDT involve deriving formulas to meet gain and phase margin specifications, or using inner loop to stabilize UPWDT before applying PID controller. In this paper, the dual-input describing function(DIDF) method is proposed, by which the performance and robustness of the closed-loop system can be improved. The method is based on moving the critical point (-1+j0) of Nyquist stability to a new position arbitrarily selected on the complex plane. This can be done by determining appropriate coefficients of the DIDF. As a result, we can easily determine parameters of PID-type controller by using existing conventional tuning methods for stable or unstable systems. Simulation results are included to show the effectiveness of the proposed method.

关键词： Closed loop systems

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Study on an improved Normal Form solution and reduced-order mode reconstruction in power system

Study on an improved Normal Form solution and reduced-order ...

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IEEE Region 10 International Conference TENCON

作者： Zhouqiang Wang Qi Huang Sichuan Provincial Key Lab of Power System Wide-area Measurement and Control University of Electronic Science and Technology of China (UESTC) Chengdu Sichuan China Dept. of Electrical Engineering Sichuan Engineering Technical College (SCETC) Deyang Sichuan China University of Electronic Science and Technology of China Chengdu CN

ISBN: (纸本)9781479986422

With the polynomial vector space decomposition by using Normal Form theory, the normalized analytical solutions of modal resonance are derived, which solves that the traditional Normal Form solution cannot be easily obtained under resonant condition. Based on the solution, from the viewpoint of whether the modal interaction couples and resonates or not, the nonlinear terms are decomposed into four types, i.e., uncoupled nonresonant terms, coupled nonresonant terms, uncoupled resonant terms and coupled resonant terms. The corresponding modes are categorized into 5 types, i.e., single modes, uncoupled nonresonant modes, coupled nonresonant modes, uncoupled resonant modes and coupled resonant modes. A reduced-order mode reconstruction based on least square method to estimate the coefficients of higher-order interactional modes is proposed. This might be potentially a new approach to cope with the challenge from huge amount of higher-order modes in higher-order nonlinear analysis. Two case studies are presented to analyze the types and reconstructions of the nonlinear modes, 2nd- and 3rd- order terms, which verifies the effectiveness of the proposed approach.

关键词： Mathematical model Power system dynamics Yttrium Couplings Least squares methods Eigenvalues and eigenfunctions

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Integrating elementary functions for autonomous navigation of a mobile robot

Integrating elementary functions for autonomous navigation o...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sung Woo Noh Nak Yong Ko Jun Hee Han Dept. Information and Communication Engineering Chosun University Kwangju Korea Dept. Electronics Engineering Chosun University Kwangju Korea Control and Measurement Engineering Chosun University Kwangju Korea

ISBN: (纸本)9781479953349

This paper describes an implementation of autonomous navigation for a mobile robot in an indoor environment. Autonomous navigation requires map building, localization, path planning, obstacle detection, obstacle avoidance, path following, and so on. For the map building, ICP(Iterative Closest Point) builds floor map represented as occupancy grids. MCL(Monte Carlo Localization) updates robot location by comparing range data from LRF(Laser Range Finder) with the range information calculated using the floor map and robot location. Dijkstra algorithm selects way points connecting the current robot location to the goal location with the shortest path length. Two artificial force contribute to obstacle avoidance. Artificial potential field force repulses the robot path away from obstacles while artificial elastic force contracts the robot path. These methods are integrated and implemented in a robot, and resulted in reliable autonomous navigation in a building.

关键词： Buildings Collision avoidance Navigation Robot kinematics Force Path planning

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Biomimetic sensing by the photoreceptor membrane protein bacteriorhodopsin

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Journal of the National Institute of Information and Communications Technology 2013年第1期60卷 75-83页

作者： Kasai, Katsuyuki Haruyama, Yoshihiro Yamada, Toshiki Akiba, Makoto Tominari, Yukihiro Kaji, Takahiro Terui, Toshifumi Peper, Ferdinand Katagiri, Yoshitada Tanaka, Shukichi Kikuchi, Hiroshi Okada-Shudo, Yoshiko Otomo, Akira Nano ICT Laboratory Department of Quantum Optics Nonlinear Optics Laser Control Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Bio-Materials Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Organic Materials Material Physics Optical Measurement Nano Materials Advanced ICT Research Institute Japan Planning Office Department of Photodetection Technology Semiconductor Device Low-Noise Technology Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Superconductor Organic Electronics Terahertz Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Laser Photochemistry Single-Molecule Spectroscopy Nanophotonics Advanced ICT Research Institute Japan Strategic Planning Office Strategic Planning Department Japan Brain Networks and Communication Laboratory Department of Nanocomputer Architectures Cellular Automata Neural Networks Natural Computing Center for Information and Neural Networks Japan Brain Networks and Communication Laboratory Department of Health Science and Informatics Human Informatics Center for Information and Neural Networks Japan Nano ICT Laboratory Terahertz Technology Research Center Advanced ICT Research Institute Japan Japan Graduate School of Informatics and Engineering Dept. of Engneering Science Japan Nano ICT Laboratory Depatment of Nanophotonics Nonlinear Optics Advanced ICT Research Institute Japan

Bacteriorhodopsin (bR) is a light-sensitive protein which has a proton-pump function, and is found in the cell membrane of Halobacterium salinarum inhabiting the salt lake. Optical excitation of bR at an electrode-electrolyte interface generates differential photocurrents while an incident light is turned on and off. This unique functional response is similar to that seen in retinal neurons. This paper describes the fabrication and evaluation of the dip-coated bR thin films, photocurrent characteristics, and biomimetic artificial retinas with the bR thin films.

关键词： Biomimetics

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ECG data visualisation in web application using MS Silverlight

ECG data visualisation in web application using MS Silverlig...

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2011 1st Middle East Conference on Biomedical engineering, MECBME 2011

作者： Motalova, Leona Krejcar, Ondrej Polak, Tomas Janckulik, Dalibor Cernohorsky, Jindrich Dept. of Measurement and Control Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Ostrava Czech Republic

ISBN: (纸本)9781424470006

关键词： Visualization

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Packet parsing problem solving on mobile low energy client of Biotelemetry system

Packet parsing problem solving on mobile low energy client o...

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2011 1st Middle East Conference on Biomedical engineering, MECBME 2011

作者： Janckulik, Dalibor Motalova, Leona Krejcar, Ondrej Cernohorsky, Jindrich Dept. of Measurement and Control Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Ostrava Czech Republic

ISBN: (纸本)9781424470006

The most important parts of our Biotelemetry system is a hardware platform. If we could develop visualization, we must have to measure real data. They are two main choices to solve this part of system. We can use commercial devices, such as embedded PCs, PDAs and wireless ECG unit Blue ECG communicating via Bluetooth. Suggests major problems and disadvantages of their use and offers possible solutions in the form of construction of our own purpose-built equipment. Whether in the form of small auxiliary hardware and design options ECG units optimized for low power consumption and collaboration with mobile devices with limited computing capabilities. We also describe here the real-time response time of packet parsing problem. © 2011 IEEE.

关键词： Electrocardiograms

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Invasive blood pressure curves simulation device

Invasive blood pressure curves simulation device

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2011 1st Middle East Conference on Biomedical engineering, MECBME 2011

作者： Kijonka, Jan Penhaker, Marek Cernohorsky, Jindrich VSB-Technical University of Ostrava Faculty of Electrical Engineering Department of Measurement and Control 17. listopadu 15 70833 Ostrava Czech Republic VSB-Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Dept. of Measurement and Control 17. listopadu 15 70833 Ostrava Czech Republic

ISBN: (纸本)9781424470006

Patient monitor modules have various inputs for vital function measurement. We can practice many of these measurements with some students in the laboratory of biomedical engineering. However, invasive blood pressure (IBP) measurement demonstration is impossible. This paper is dealing with design and realization of a programmable invasive blood pressure simulator. This device is able to generate programmable behavior of voltage signal with correspond to blood pressure curve. The user communication interface of the device allows choosing the type of generated signal by LCD and 4 push buttons. The wide spectrums of generated signals, which correspond to physiological or pathological blood pressure curves, are stored in a user programmable memory. The output connectors of the device can be directly connected to a patient monitor IBP module input. Invasive blood pressure measurement simulation for educational purposes and calibrating the patients monitors are the general usages of the developed device. © 2011 IEEE.

关键词： Blood pressure

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Experimental hardware solutions of biotelemetric system

Experimental hardware solutions of biotelemetric system

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12th Mediterranean Conference on Medical and Biological engineering and Computing, MEDICON 2010

作者： Janckulik, Dalibor Motalova, Leona Musil, Karel Krejcar, Ondrej Faculty of Electrical Engineering and Computer Science Ostrava Dept. of Measurement Control Technical University of Ostrava Czech Republic Centre for Applied Cybernetics Dept. of Measurement Control Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9783642130380

This article undertakes the most important parts of hardware platform of our Biotelemetric system. It describes the way of use of standard devices from commercial manufacturers, such as embedded PCs, PDAs and wireless ECG unit BlueECG communicating via bluetooth. Suggests major problems and disadvantages of their use and offers possible solutions in the form of construction of our own purpose-built equipment. Whether in the form of small auxiliary hardware and design options EKG units optimized for low power consumption and collaboration with mobile devices with limited computing capabilities. © 2010 International Federation for Medical and Biological engineering.

关键词： Electrocardiograms

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Modern tools for design and implementation of mobile biomedical system for home care agencies

Modern tools for design and implementation of mobile biomedi...

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12th Mediterranean Conference on Medical and Biological engineering and Computing, MEDICON 2010

作者： Janckulik, Dalibor Motalova, Leona Krejcar, Ondrej Faculty of Electrical Engineering and Computer Science Dept. of Measurement Control Technical University of Ostrava Ostrava Czech Republic Centre for Applied Cybernetics Dept. of Measurement Control Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9783642130380

The work describe the implementation of the prototype solution of the rightly developing system. The system belongs to the group of the tele-medical applications orientated on the e-health sphere of the supplying of the services. This system can considerably help to streamline the work of the nurses. The system is proposed and implemented so that it was simple to extend it. The system contains three basic parts. The desktop application appointed for the projecting, the mobile application for the employees in the terrain on which from the design creates the history and the application for the synchronization. The mobile equipment serves as a task-work in which the employee will tear away the tasks which he has to do and which were in advance schemed by the superior employee. The system will be fully extendable about other required functionalities which relates departmentally with the system. © 2010 International Federation for Medical and Biological engineering.

关键词： Medical applications

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Proactive user adaptive system for windows mobile devices - Processing of sound input signal for sleep state detection

Proactive user adaptive system for windows mobile devices - ...

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2010 2nd International Conference on Mechanical and Electronics engineering, ICMEE 2010

作者： Krejcar, Ondrej Jirka, Jakub Janckulik, Dalibor Dept. of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Czech Republic Dept. of Measurement and Control Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Czech Republic

ISBN: (纸本)9781424474806

Proactive principle can be used not only in large distributed solution for medical centers, but it can be found usable in a many other solutions. One of them we found in an application to allow for people have a happy wake up. A mobile device application was developed to solve a problem of bad wake up at morning for all the people. Sleep is a complex process regulated with our brain and as such is driven by 24 hour biological rhythm. Our biological clocks are controlled by chemical substances that are mostly known to us. wakeNsmile application is developed to react on users declared request in form of happy wake up at predefined time (Fig. 1). The time defined for alarm is however the latest possible time to wake up of user. We are trying to detect a body state in which the user is most able to wake up with a smile. Time period for detection analysis of state phases is declared to 30 minutes. A Fast Fourier Transformation (FFT) and some other sophisticated methods are used for it. © 2010 IEEE.

关键词： Fast Fourier transforms

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