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International Conference on Information and automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines Computer vision

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Plant-wide (BSM2) evaluation of reject water treatment with a SHARON-anommox process

Plant-wide (BSM2) evaluation of reject water treatment with ...

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作者： Volcke, Eveline I.P. Gernaey, K.V. Vrecko, Darko Jeppsson, Ulf Van Loosdrecht, M.C.M. Vanrolleghem, Peter A. BIOMATH Department of Applied Mathematics Biometrics and Process Control Ghent University Coupure Links 653 B-9000 Gent Belgium Department of Industrial Electrical Engineering and Automation Lund University PO Box 118 SE-22100 Lund Sweden Department of Chemical Engineering Technical University of Denmark Building 229 DK-2800 Kgs. Lyngby Denmark Department of Systems and Control Jožef Stefan Institute Jamova 39 SI-1000 Ljubljana Slovenia Department of Biochemical Engineering Delft University of Technology Julianalaan 67 NL-2628 BC Delft Netherlands ModelEAU Département de Génie Civil Université Laval Pavillon Pouliot Québec QC G1K 7P4 Canada

ISBN: (纸本)1843395835

In wastewater treatment plants (WWTPs) equipped with sludge digestion and dewatering systems, the reject water originating from these facilities contributes significantly to the nitrogen load of the activated sludge tanks, to which it is typically recycled. In this paper, the impact of reject water streams on the performance of a WWTP is assessed in a simulation study, using the Benchmark Simulation Model no. 2 (BSM2), that includes the processes describing sludge treatment and in this way allows for plant-wide evaluation. Comparison of performance of a WWTP without reject water with a WWTP where reject water is recycled to the primary clarifier, i.e. the BSM2 plant, shows that the ammonium load of the influent to the primary clarifier is 28% higher in the case of reject water recycling. This results in violation of the effluent total nitrogen limit. In order to relieve the main wastewater treatment plant, reject water treatment with a combined SHARON-Anammox process seems a promising option. The simulation results indicate that significant improvements of the effluent quality of the main wastewater treatment plant can be realized. An economic evaluation of the different scenarios is performed using an Operating Cost Index (OCI). © IWA Publishing 2006.

关键词： Wastewater treatment

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ROBUST control OF A HIGH PRECISION PLANAR PARALLEL MANIPULATOR

ROBUST CONTROL OF A HIGH PRECISION PLANAR PARALLEL MANIPULAT...

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第二届亚洲机械电子学学术会议

作者： Jacob W.F.Cheung Y.S.Hung Motion Control and Systems Laboratory Research and Development Department ASM Assembly Automation Ltd. 3/F Watson Centre 16 Kung Yip Street Kwai Chung New Territories Hong Kong. Department of Electrical and Electronic Engineering The University of Hong Kong.Pokfulam Road Hong Kong. Department of Electrical and Electronic Engineering The University of Hong Kong.Pokfulam Road Hong Kong.

A model-based robust control design approach for a novel direct-drive planar parallel manipulator aimed at high speed and high precision semiconductor packaging application is *** experimental identification approach is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic *** results demonstrate that the motion performance of the planar parallel manipulator including positioning accttracy,settling time and steady- state error is improved significantly when compared with traditional XY *** shows that the proposed planar manipulator provides a superior alternative to the traditional XY stages for high- precision motion.

关键词： Parallel manipulator mechatronics applications motion control dynamic modelling robust control

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards automation Software tools control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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ADAPTIVE GENERALIZED PREDICTIVE control OFSWITCHED systems

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Applied Mathematics and Mechanics(English Edition) 2005年第5期26卷 647-653页

作者：王一晶王龙 School of Electrical Engineering and Automation Tianjin UniversityTianjin 300072 P.R.China Center for Systems and Control Department of Mechanics and Engineering SciencePeking University Beijing 100871 P.R.China

The problem of adaptive generalized predictive control which consists of output prediction errors for a class of switched systems is *** switching law is determined by the output predictive errors of a finite number of *** the single subsystem and multiple subsystems cases,it is proved that the given direct algorithm of generalized predictive control guarantees the global convergence of the *** algorithm overcomes the inherent drawbacks of the slow convergence and large transient errors for the conventional adaptive control.

关键词： generalized predictive control switched system adaptive control global convergence

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An approach for designing real-time embedded systems from RT-UML specifications

An approach for designing real-time embedded systems from RT...

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作者： Wehrmeister, M.A. Becker, L.B. Pereira, C.E. Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

ISBN: (纸本)008045108X

The current work presents an API based on the Real-Time Specification for Java (RTSJ) that optimizes real-time embedded systems development. Using this API it is possible to state non-functional specifications, like time constraints, and guarantee its implementation in the selected platform. Moreover, it discusses how real-time requirements derived from the RT-UML standard can be mapped to the elements from the proposed API..An integrated toolset is used to support the intermediate steps of this mapping process. The paper illustrates the mapping mechanism by means of a case study that implements the control system of an automated wheelchair. Copyright © 2005 IFAC.

关键词： Mapping

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AN APPROACH FOR DESIGNING REAL-TIME EMBEDDED systems FROM RT-UML SPECIFICATIONS

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IFAC Proceedings Volumes 2005年第1期38卷 117-122页

作者： M.A. Wehrmeister L.B. Becker C.E. Pereira Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

The current work presents an API based on the Real-Time Specification for Java (RTSJ) that optimizes real-time embedded systems development. Using this API it is possible to state non-functional specifications, like time constraints, and guarantee its implementation in the selected platform. Moreover, it discusses how real-time requirements derived from the RT-UML standard can be mapped to the elements from the proposed API. An integrated toolset is used to support the intermediate steps of this mapping process. The paper illustrates the mapping mechanism by means of a case study that implements the control system of an automated wheelchair.

关键词： embedded systems design real-time programming support

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Object-oriented methodology to the development of embedded real-time systems

Object-oriented methodology to the development of embedded r...

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2005 3rd IEEE International Conference on Industrial Informatics, INDIN

作者： Wehrmeister, Marco A. Pereira, Carlos E. Becker, Leandro B. PPGC - Informatics Institute Federal University of Rio Gande do Sul Brazil Electrical Engineering Department Federal University of Rio Grande do Sul Brazil Automation and Control Systems Department Federal University of Santa Catarina Brazil

ISBN: (纸本)0780390946

The growing complexity of today's embedded real-time systems demands new methods and tools to manage the problems of design, analysis, integration, and validation of complex systems. Focusing this issue, the present paper describes an object-oriented platform-based design process for real-time embedded systems. The proposed approach promotes a smooth transition from high-level RT-UML specification to the final embedded system, which is composed by hardware and software components. The transition from higher to lower abstraction levels is facilitated by the use of an OO real-time API, whose underlying facilities can be optimized according to the application needs and selected platform. An integrated toolset is used to support the intermediate steps of the design process. In order to illustrate the proposed approach and related toolset the design of an embedded real-time automation system for an "intelligent" wheelchair is presented. The paper also includes a performance evaluation of the implemented control and automation system for the wheelchair application, with focus on timing requirements. © 2005 IEEE.

关键词： Object oriented programming

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A robot-assisted surgery system for spinal fusion

A robot-assisted surgery system for spinal fusion

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作者： Chung, Goo Bong Lee, Soo Gang Kim, Sungmin Yi, Byung-Ju Kim, Whee-Kuk Oh, Se Min Kim, Young Soo Park, Jong Oh, Seong Hoon School of Electrical Engineering and Computer Science Hanyang University Korea Republic of Departmen of Control and Instrumentation Engineering Korea University Korea Republic of Automation R and D Center LG Indestrial Systems Co. LTD. Korea Republic of College of Medicine Hanyang University Korea Republic of Department of Biomedical Engineering Hanyang University Korea Republic of Division of Electrical and Computer Engineering Hanyang University Korea Republic of

ISBN: (纸本)0780389123

The goal of this work is to develop a robot-assisted surgery system for spinal fusion, which is composed of a robot, a surgical planning system, and an optical tracking system. The system plays roles of assisting surgeon for inserting a pedicle screw in spinal fusion. Compared to pure navigation systems as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical area. Furthermore, the robot can position and guide needles, drills, and other surgical instruments or conducts drilling/screwing directly. In preoperative surgery, the desired entry point, orientation, and depth of surgical tools for pedicle screw insertion are determined by the surgical planning system based on CT or MR images. Intra-operatively, the position information on the surgical instruments and the targeted surgical areas are obtained by the tracking system and, using that information, a robot conducts the preplanned operation depending on its role while compensating the movement of the surgical area. Two exemplary experiments employing the developed robot-assisted surgery system are conducted. © 2005 IEEE.

关键词： Navigation systems

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Applying the SEEP method in the design of a real-time embedded control system for a motorized wheelchair

Applying the SEEP method in the design of a real-time embedd...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： M.A. Wehrmeister L.B. Becker C.E. Pereira Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

This paper presents the object-oriented platform-based design process for embedded real-time systems (SEEP). More specifically, it includes a case study to highlight the main design steps proposed by SEEP. Details regarding embedded system modeling and its transition to the programming level are presented. Moreover, it describes the embedded system generation and provides data obtained from the hardware synthesis and the application execution. Moreover, it discusses how projects can be optimized according to requirements priorities. It finishes by highlighting the main advantage of SEEP in comparison to other existing methodologies for embedded systems design

关键词： Design methodology Real time systems control systems Wheelchairs Embedded system Hardware Embedded software Object oriented modeling Application software Process design

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