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American control Conference (ACC)

作者： Sing Kiong Nguang Ping Zhang S. Ding Department of Electrical and Computer Engineering University of Auckland New Zealand Institute for Automatic Control and Complex Systems AKS Faculty of Engineering University of Duisburg-Essen Duisburg Germany

This paper deals with the parity based fault estimation for nonlinear systems modelled by Takagi-Sugeno (TS) fuzzy models. In this paper, the parity space approach for linear systems is generalized to TS fuzzy systems, and power spectra of the faults are incorporated into the design procedure. The design procedure is given in terms of a family of linear matrix inequalities (LMIs). Finally, a numerical example is given to illustrate the effectiveness of the proposed design techniques

关键词： Nonlinear systems Fuzzy systems Linear systems Power system modeling Fault detection State-space methods Nonlinear dynamical systems Takagi-Sugeno model Linear matrix inequalities Principal component analysis

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Robust adaptive sliding mode control for uncertain time-delay systems

Robust adaptive sliding mode control for uncertain time-dela...

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American control Conference (ACC)

作者： Yuanqing Xia S.S. Ge G.P. Liu P. Shi D. Rees Faculty of Advanced Technology University of Glamorgan Pontypridd UK Department of Automatic Control Beijing Institute of Technology Beijing China Faculty of Department of Electrical & Computer Engineering National University of Singapore Singapore

This paper is devoted to robust adaptive sliding mode control for time-delay systems with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of m... 详细信息

关键词： Robust control Programmable control Adaptive control Sliding mode control Uncertainty control systems Motion control Sufficient conditions Electric variables control Linear matrix inequalities

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Delay dependent fault estimation for uncertain time delay nonlinear systems: an LMI approach

Delay dependent fault estimation for uncertain time delay no...

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American control Conference (ACC)

作者： Sing Kiong Nguang Peng Shi S. Ding The Department of Electrical and Computer Engineering University of Auckland New Zealand School of Technology University of Glamorgan Pontypridd UK Institute for Automatic Control and Complex Systems (AKS) Faculty of Engineering University of Duisburg-Essen Duisburg Germany

This paper deals with the problem of robust fault estimation for uncertain time delay Takagi-Sugeno (TS) fuzzy models. The aim of this study is to design a delay dependent fault estimator ensuring a prescribed H infin performance level for the fault estimation error, irrespective of the uncertainties and the time delays. Sufficient conditions for the existence of a robust fault estimator are given in terms of linear matrix inequalities. Membership functions'(MFs) characteristics are incorporated into the fault estimator design to reduce the conservativeness of neglecting these characteristics

关键词： Delay effects Delay estimation Nonlinear systems Fuzzy systems Fault detection Robustness Uncertainty Estimation error Sufficient conditions Linear matrix inequalities

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Implementation of Industrial Robot Force control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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Output feedback/feedforward control of discrete linear repetitive processes for performance and disturbance rejection

Output feedback/feedforward control of discrete linear repet...

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American control Conference (ACC)

作者： B. Sulikowski K. Galkowski E. Rogers D.H. Owens A. Kummert Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

Repetitive processes propagate information in two independent directions and are of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed ID here) or 2D systems theory. Here we give new results on the design of physically based feedforward/feedback control laws to achieve desired performance and disturbance decoupling in the sense defined in the body of the paper. The new results are for the case when only output (as opposed to state) information is used to activate the control law

关键词： Output feedback Linear feedback control systems control systems Optimal control Process control Linear systems Stability Feedback control Algorithm design and analysis Iterative algorithms

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The design of an resource planning software application for manufacturing control

The design of an resource planning software application for ...

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EUROCON 2005 - The International Conference on computer as a Tool

作者： Dumbrava, St. Valova, I.M. Department of Automatic Control and Industrial Informatics Faculty of Automatic Control and Computer Engineering Technical University of Iasi Romania Department of Computer Systems University of Rousse Bulgaria

ISBN: (纸本)142440049X

Markets globalization makes industrial companies to change radically, becoming more flexible, customer oriented and ague in manufacturing. Consequently, the enterprise software applications are becoming more and more complex, exploiting distributed object technology in multi-tier architectures. The aim of the paper is to present the design specification for an enterprise application that integrates the ERP concept in three-tier architecture, containing modularized, distributed subsystems in configurable and maintainable software. Starting from the customer order, to planned order dispatch, the ERP main components and the information flow within the system is presented. Then, the software architecture is discussed, where the ERP components are implemented using Enterprise Java Beans (EJB), deployed in a J2EE application server, for performing transactions with business environment and the database. Constructing the visual model in Unified Modeling Language (UML), the application is designed and analyzed. The use case diagram of the system is presented. © 2005 IEEE.

关键词： Enterprise resource planning

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A conversational man-robot interface used in robotics education

A conversational man-robot interface used in robotics educat...

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作者： Buiu, Catalin Dumitrache, Ioan Dumitrascu, Alexandru Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computer Science POLITEHNICA University of Bucharest Spl. Independentei 313 77206 Bucharest Romania

ISBN: (纸本)008045108X

This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an autonomous robot. The interface is used in the robotics educational process. The basic commands to be given by voice (back, right, etc.) and the control of the agents are implemented in Visual Basic. More complex control programs can be implemented and tested in Matlab and after that executed with a simple voice command. This program is used as a part of an integrated educational strategy in autonomous robotics and was evaluated by a group of students. First experimental results related to the use of this conversational interface compared to traditional robot simulation environments and control of real robots are presented in this paper with related discussions. Copyright © 2005 IFAC.

关键词： Speech recognition

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Global optimization in complex circuits design

Global optimization in complex circuits design

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ISSCS 2005: International Symposium on Signals, Circuits and Systems

作者： Pruteanu, Codrin Galea, Dan Haba, Cristian-Gyözö Faculty of Automatic Control and Computer Science Gh. Asachi Technical University Iasi Romania Faculty of Electrical Engineering Gh. Asachi Technical University Iasi Romania

ISBN: (纸本)0780390296

Today's circuit design process is become a complex task. Sequential logic synthesis is an important part of the circuit design flow. The logic synthesis phase is a bottleneck during the overall design process since heuristic techniques which take a considerable amount of time are often used during this phase. A good solution is realized in a constrained design space by using global optimization techniques. The purpose of this paper is to develop a robust optimization algorithm that searches the solution space as efficiently as possible in order to find a global optimization of the internal states of a specified circuit, as a global solution to a high level synthesis problem. © 2005 IEEE.

关键词： Global optimization

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Techniques to implement an embedded laser sensor for pattern recognition

Techniques to implement an embedded laser sensor for pattern...

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EUROCON 2005 - The International Conference on computer as a Tool

作者： Cracan, Arcadie M. Teodoru, CǍtǍlin Dobrea, Dan Marius Faculty of Electronics and Telecommunications Gh. Asachi Technical University of Iaşi Romania Faculty of Automatic Control and Computer Engineering Gh. Asachi Technical University of Iasi Romania

ISBN: (纸本)142440049X

This paper describes the implementation of a real-time, non contact, static hand sign recognition system using simple techniques and cost effective equipment. The system has two operation modes: Recognition mode and Learning mode. Hand sign recognition is based on an image appearance model of the human hand extracted by means of a custom transducer. The transducer is composed of a web cam and a laser plane generator. A DSP processes two images, extracts a laser trace and computes the AR coefficients which are fed to an MLP neural-network classifier. The result of the classification operation is translated into a command sent to the target system (e.g. a PC). The default set of recognized signs can be customized in Learning mode by "tuning" the system according to needs. The rates of correct recognition for all testing hand signs were in the range of 0.8÷1. © 2005 IEEE.

关键词： Pattern recognition

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A CONVERSATIONAL MAN-ROBOT INTERFACE USED IN ROBOTICS

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IFAC Proceedings Volumes 2005年第1期38卷 109-114页

作者： Catalin Buiu Ioan Dumitrache Alexandra Dumitrascu Department of Automatic Control and Systems Engineering “POLITEHNICA” University of Bucharest Faculty of Automatic Control and Computer Science Spl. Independentei 313 77206 Bucharest Romania

关键词： control education autonomous robots speech recognition conversational interface software agent

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