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2007 Mediterranean Conference on Control and automation, MED

作者： Koumboulis, F.N. Kouvakas, N.D. Paraskevopoulos, P.N. Halkis Institute of Technology Department of Automation 34400 Psahna Evias Halkis Greece National Technical University of Athens Division of Signals Control and Robotics Department of Electrical and Computer Engineering 15773 Zographou Athens Greece

ISBN: (纸本)142441282X

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input - single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example. ©2007 IEEE.

关键词： Timing circuits

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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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Mediterranean Conference on Control and automation (MED)

作者： G. E. Panagiotakis F. N. Koumboulis P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Psachna Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived.

关键词： Output feedback Delay effects Control systems Laplace equations robotics and automation Proportional control Polynomials Matrices Automatic control Robot control

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Model matching of SISO neutral time delay systems via output feedback

Model matching of SISO neutral time delay systems via output...

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Mediterranean Conference on Control and automation (MED)

作者： F. N. Koumboulis N. D. Kouvakas P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Chalkis Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input-single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example.

关键词： Delay effects Output feedback Delay systems robotics and automation Sufficient conditions Automatic control Robot control Proportional control Control systems

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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SUPER-HEURISTICS AND THEIR APPLICATIONS TO COMBINATORIAL PROBLEMS

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Asian Journal of Control 2008年第1期1卷

作者： Tak Wing Edward Lau Yu-Chi Ho Division of Engineering and Applied Sciences Harvard University Cambridge MA02138 U.S.A. Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Professor of Engineering at Harvard and as visiting professor to the Cockrell Family Regent's Chair in Engineering at the University of Texas Austin. He has published over 120 articles and three books one of which (co-authored with A.E. Bryson Jr.) has been translated into both Russian and Chinese and made the list of Citation Classics as one of the most referenced works on the subject of optimal control. He is on the editorial boards of several international journals and is the editor-in-chief of the new international Journal on Discrete Event Dynamic Systems. He is the recipient of various fellowships and awards including the Guggenheim (1970) and the IEEE Field Award for Control Engineering and Science (1989) the Chiang Technology Achievement Award (1993). He is a fellow of IEEE a Distinguished Member of the Control Systems Society and a member of the U.S. National Academy of Engineering. In addition to serving on various governmental and industrial panels and professional society administrative bodies he was the President of the IEEE Robotics & Automation Society in 1988

Combinatorial problems are known to be difficult because of the shear size of the solution space and the lack of polynomial time algorithms to “solve” them. Heuristics are often devised to produce acceptable solutions in an affordable time. In this paper, we propose a method called super-heuristic that expands the capabilities of heuristics using randomization and sampling techniques. We submit that heuristics are in general strategies that map from available information of a problem instance to decisions in solution constructions/improvement. We show that it is important to utilize the information effectively in the randomization process. More importantly, the possibility of randomization around a heuristic spells out the demarcation between the roles of human and machines in complex optimization problems.

关键词： Combinatorial problems heuristics randomization and sampling techniques man-machine interactions

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Haptic interfaces for a labview-based system dynamics course

Haptic interfaces for a labview-based system dynamics course

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113th Annual ASEE Conference and Exposition, 2006

作者： Bowen, Kevin O'Malley, Marcia Rice University United States William Marsh Rice University United States Mechanical Engineering and Materials Science Department Rice University United States ASME Dynamic Systems and Controls Division Robotics Panel IEEE Robotics and Automation Society

Too often in undergraduate mechanical engineering courses, the content of laboratory exercises is not well coordinated with course content, and the exercises are unrelated to each other. As a result, students have a difficult time grasping the "big picture" themes. This project at Rice University seeks to improve the effectiveness of laboratory exercises in a required undergraduate mechanical engineering system dynamics course via student-centered learning and laboratory topics featuring haptic paddles, devices that allow users to interact via the sense of touch with virtual environments. One outcome of these improvements is a cohesive set of laboratory experiments using the haptic paddles as a single experimental test bed for multiple experiments. The Haptic Paddle exercises are unique because they allow the students to analyze and build their own haptic interface, or force-reflecting system. The students are able to see many subsets of mechanical engineering come together in a series of exercises, including assembly, system analysis, calibration, system modeling, and dynamics. Finally, a key advantage to the haptic paddle labs is that they tie closely with the course material. This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the labora

关键词： Haptic interfaces

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Integrated facility location and supplier selection decisions in a distribution network design

Integrated facility location and supplier selection decision...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Guy A. Tanonkou Lyes Benyoucef Xiaolan Xie INRIA Metz France INRIA France Engineering and Heath Division Ecole Nationale Superieure des Mines de Saint-Etienne Saint Etienne France IEEE Transactions on Robotics and Automation USA

This paper deals with the integration of facility location and supplier selection decisions for the distribution network design problem. More specifically, the distribution network under consideration is composed of a set of suppliers serving a set of retailers through a set of Distribution Centers (DCs). To manage its inventory, the EOQ policy is used by each DC, and a safety stock level is maintained to ensure a given retailer service level. In this study, we assume that each retailer faces a random demand of a single product type, the supply lead-time from each supplier to each DC is constant, and no supply lead-time between DCs and retailers. The problem concerns the selection of suppliers, the location of DCs, the allocation of suppliers to DCs, and the allocation of retailers to DCs, where the goal is to minimize inventory and safety stock costs at the DCs, ordering costs and transportation costs across the network, and fixed DCs location costs. The introduction of inventory and safety stock costs leads to an NP-hard non-linear optimization problem. A Lagrangian relaxation approach is proposed to generate efficient solutions. Some numerical experiments are presented and analyzed showing the effectiveness of the proposed approach

关键词： Distributed control Safety Lagrangian functions Cost function robotics and automation Manufacturing Production Inventory management Transportation Design optimization

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An overview of the distributed space exploration simulation (DSES) project

An overview of the distributed space exploration simulation ...

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Spring Simulation Interoperability Workshop 2007, 07 Spring SIW

作者： Crues, Edwin Z. Chung, Victoria I. Blum, Michael G. Bowman, James D. Automation Robotics and Simulation Division Simulation and Graphics Branch NASA Johnson Space Center 2101 NASA Parkway Houston TX 77058 United States Flight Simulation and Software Branch Flight Research Services NASA Langley Research Center 24 West Taylor Street Hampton VA 23681 United States Aviation Systems Division NASA Ames Research Center Aerospace Simulation Operations Branch Moffett Field CA 94035 United States Missile Systems Group Teledyne Brown Engineering 300 Sparkman Drive Huntsville AL 35805 United States United States

ISBN: (纸本)9781604239232

This paper describes the Distributed Space Exploration Simulation (DSES) Project, a research and development collaboration between NASA centers which investigates technologies, and processes related to integrated, distributed simulation of complex space systems in support of NASA's Exploration Initiative. In particular, it describes the three major components of DSES: network infrastructure, software infrastructure and simulation development. With regard to network infrastructure, DSES is developing a Distributed Simulation Network for use by all NASA centers. With regard to software, DSES is developing software models, tools and procedures that streamline distributed simulation development and provide an interoperable infrastructure for agency-wide integrated simulation. Finally, with regard to simulation development, DSES is developing an integrated end-to-end simulation capability to support NASA development of new exploration spacecraft and missions. This paper presents the current status and plans for these three areas, including examples of specific simulations.

关键词： NASA

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The role of simultion in spaceflight missions

The role of simultion in spaceflight missions

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Simulation Winter Conference

作者： N.J. Currie Mission Specialist Astronaut and Senior Technical Advisor Automation Robotics and Simulation Division Engineering Directorate Lyndon B. Johnson Space Center National Aeronautics and Space Administration (NASA) Houston TX USA

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Design of the Leg Mechanism of a Water Surface Runner

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Journal of robotics and Mechatronics 2004年第3期16卷 304-311页

作者： Higuchi, Masaru Tanaka, Hideo Tsutsumi, Shingo Takeda, Yukio Funabashi, Hiroaki Department of Mechanical Sciences and Engineering Tokyo Institute of Technology 2-12-1 Oh-okayama Meguro-ku Tokyo 152-8552 Japan CAD Application Department Armonicos Co. Ltd. Act Tower 21F 111-2 Itaya-machi Hamamatsu Shizuoka430-7721 Japan Development section 1 Robot Plant Robotics Automation Division Yasukawa Electric Corporation 11-1 Kosagidatyou Yahatanisi-ku Kitakyushu-city Fukuoka806-0056 Japan Shibaura Institute of Technology 3-9-14 Shibaura Minato-ku Tokyo 108-8548 Japan

We designed the leg mechanism of a water surface runner to generate motion with sufficient force to support and propel it the water with minimum power consumption. We studied force acting between the foot and water when the foot impacted on the water and strokes into the water experimentally. We propose leg motion so that the foot is not pulled downward by water based on observation of water behavior. Based on this formulation and idea, we obtained optimal foot motion through simulations and designed the leg mechanism, then designed and built a prototype water surface runner. We discuss its motion and the force acting on the foot together with experimental results. © Fuji Technology Press Ltd.

关键词： Machine design

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