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Real Time control Design for Mobile Robot Fault Tolerant control. Introducing the ARTEMIC Powered Mobile Robot.

Real Time Control Design for Mobile Robot Fault Tolerant Con...

2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： Cristian Axenie Razvan Solea Automation and Industrial Informatics Department Computer Science Faculty from ”Dunarea de Jos” Univ Control Systems and Applied Informatics Computer Science Faculty from ”Dunarea de Jos” University St

Real-time applications should timely deliver synchronized data-sets, minimize latency and jitter in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. The paper focuses on design details and performance analysis at the system operation level. Some stress tests are executed during normal operation to validate the proposal. Specific design, development and implementation details will be provided in this paper.

关键词： Mobile Robotics Fault Tolerant control Sliding Mode EKF Real-Time Linux Distributed control

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Tool support for the development of IEC 62390 compliant fieldbus profiles

Tool support for the development of IEC 62390 compliant fiel...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Roman Frenzel Martin Wollschlaeger Thomas Hadlich Christian Diedrich Industrial Communications Institute of Applied Computer Science Faculty of Computer Science Technical University of Dresden Dresden Germany Integrated Automation Institute for Control Systems Faculty of Electronic and Computer Science Engineering Otto-von-Guericke University of Magdeburg Germany

Industrial communication systems standardize communication protocols and services. Interoperability within automation and control systems need additional application definitions. This is usually organized with fieldbus profile specifications. Profiles become part of the overall development process of the device manufacturer. Unfortunately, today's profile descriptions are very informal and have nearly no support for the development process. This paper presents a semi-formal profile specification approach, based on IEC 62390 and using a mixed UML and MS Word process. Result of both specifications is an XML representation which can be integrated in the device development process. This method is developed for the PROFIBUS User Organisation for PROFIBUS and PROFINET device profiles.

关键词： Unified modeling language Guidelines IEC standards XML Documentation Safety Formal specifications

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Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle

Sliding-mode trajectory-tracking control for a four-wheel-st...

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International Conference on control and automation (ICCA)

作者： Razvan Solea Adrian Filipescu Viorel Minzu Silviu Filipescu Department of Automation and Industrial Informatics Faculty of Computer Science University Dunarea de Jos of Galati Galati Romania Intelligent Control Systems Faculty of Computer Science University Dunarea de Jos of Galati Galati Romania

ISBN: (纸本)9781424451951

Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The effectiveness of the proposed control law to trajectory-tracking control is demonstrated by simulation results.

关键词： Sliding mode control Vehicles Robotics and automation Mobile robots Automatic control Service robots Electric variables control control systems Informatics computer science

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Adaptive sliding mode controller design for mobile robot fault tolerant control. introducing ARTEMIC.

Adaptive sliding mode controller design for mobile robot fau...

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IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Cristian Axenie Daniela Cernega Automation and Industrial Informatics Department Computer Science Faculty Dunãrea de Jos Galati University Galati Romania Control Systems and Applied Informatics Computer Science Faculty Dunãrea de Jos Galati University Galati Romania

Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate an adaptive nonlinear controller for the robot operation in the presence of disturbances and modeling inaccuracies. This paper introduces an adaptive real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.

关键词： Sliding mode control Programmable control Adaptive control Mobile robots Fault tolerance Robot control Delay Artificial intelligence Fuzzy control Fuzzy systems

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Design and Realization of Low Cost Discrete PSD controller for Power Electronics Applications

Design and Realization of Low Cost Discrete PSD Controller f...

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International Conference on computer Engineering and Applications (ICCEA)

作者： Ondrej Krejcar Michal Tutsch Robert Frischer Ivo Spicka Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy and Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424460793;9780769539829

Most systems are controlling by common PID controllers. These PID controllers are available in variety possibilities. They are divided by types of controlling systems, by speed of action interference, by complexity, by robustness etc. Most of industrial controllers are very expensive and except of some basic setting they are not offering any other way, how to involve into controlling process. On the other side, developing new analog controller to control simple systems is not reasonable in financial or time issue. That's why we decided to build simple, discrete controller and implement its algorithm into single chip eight bit microcontroller (MCU). This discrete controller - PSD - is characteristic its simplicity and variability. It can control plenty of less complicated systems by a mere change of its characteristic parameters. Thanks to modern approach is possible to create a full-featured controller including power action element on an area equal to 7cm 2 .

关键词： Costs Power electronics control systems Three-term control Interference Robust control Electrical equipment industry Industrial control Process control Microcontrollers

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Continuous Noninvasive Blood Pressure Measurement by Near Infra Red CCD Camera and Pulse Transmit Time Systems

Continuous Noninvasive Blood Pressure Measurement by Near In...

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International Conference on computer Engineering and Applications (ICCEA)

作者： Petr Zurek Ondrej Krejcar Marek Penhaker Martin Cerny Robert Frischer Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy and Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424460793;9780769539829

The need of continuous blood pressure measurement is usable in wide spectrum of applications from physicians practice to home care applications. Many types of blood pressure measurement devices can be bought in electronics shops. All such devices are contact measurement devices which need to be in contact of human body (hand or foot mainly). Secondary they allow only one measurement per several minutes interval (typically ones in 10 minutes). Our goal is to develop a small device for noninvasive continuous measurement of blood pressure. This device must be a small battery powered embedded system which measure a blood pressure during a long time period and send this information remotely to operator's stations. We would like to try two systems of blood pressure monitoring. The first one is system with NIR CCD camera (Near Infra Red), which measure the wide changes of the blood vessels and the second one is system, which measure the pulse transmit time (PTT). At the end we can compare the systems and get information, which system will be a right way to obtain exact continuous blood pressure information.

关键词： Pulse measurements Blood pressure Pressure measurement Time measurement Charge coupled devices Charge-coupled image sensors Biomedical monitoring Battery charge measurement Humans Foot

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Use of accelerometers for material inner defect detection

Use of accelerometers for material inner defect detection

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International Conference on Applied Electronics, AE

作者： Ondrej Krejcar Robert Frischer Department of Measurement and Control Center of Applied Cybernetics Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy VSB-Technical University of Ostrava Ostrava Czech Republic

This paper deals with a possibility of non-destructive diagnostics of solid objects by software analysis of vibration spectrum by accelerometers. By a use of MATLAB platform, a processing and information evaluation from accelerometer is possible. Accelerometer is placed on the measured object. The analog signal needs to be digitized by a special I/O device to be processed offline with FFT (Fast Fourier Transformation). The power spectrum is then examined by developed evaluating procedures.

关键词： Accelerometers Vibrations Software Conferences Distortion measurement Converters Unified modeling language

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Notice of Retraction: Material inner defect detection by a vibration spectrum analysis

Notice of Retraction: Material inner defect detection by a v...

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International Conference on Mechanical and Electronics Engineering (ICMEE)

作者： Ondrej Krejcar Robert Frischer Department of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy VSB-Technical University of Ostrava Ostrava Czech Republic

This article has been retracted by the publisher.

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Noninvasive Continuous Blood Pressure Measurement and GPS Position Monitoring of Patients

Noninvasive Continuous Blood Pressure Measurement and GPS Po...

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IEEE Conference on Vehicular Technology (VTC)

作者： Ondrej Krejcar Zdenek Slanina Jan Stambachr Petr Silber Robert Frischer Department of Measurement and Control Faculty of Electrical Engineering and Computer Science Technical University of Ostrava Ostrava Czech Republic Department of Automation and Computing in Metallurgy Faculty of Metallurgy And Materials Engineering Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424425143

Need of blood pressure measurement is usable in wide spectrum of applications from physicians offices to home care applications. Many types of blood pressure measurement devices can be bought in electronics shops. All such devices are measurement devices which need to be in contact with human body (hand or foot mainly). Further they allow only one measurement per several minutes interval (typically 10 minutes). Our goal is to develop a small device for noninvasive continuous measurement of blood pressure. This device must be a small battery powered embedded system which measures a blood pressure during a long time period and sends this information to remote operator's stations. In this station the analysis of receiving video data is made for several types of usage. In current state we develop a small device to scan a video or a set of images with the NIR (Near Infra Red) CCD camera. The video data are transferred by wireless connection to the computer where they are analyzed. The first results provide an indication to be a right way to obtain exact continuous blood pressure information. In the future there exists a way to integrate this blood pressure measurement system to concurrently developed biotelemetric system architecture for patients and physicians called Guardian. For position monitoring in outdoor areas there is developed GPS module which informs about patient location and brings very precise time basis for other measuring modules of Guardian system and time synchronization.

关键词： Blood pressure Biomedical monitoring Position measurement Pressure measurement Global Positioning System Patient monitoring Battery charge measurement Time measurement Humans Foot

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Robust Feedback Linearization Applied to a Separation Column for 13C

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AIP Conference Proceedings 2009年第1期1107卷 33-36页

作者： Eva‐Henrietta Dulf Cristina‐Ioana Pop Clement Festila Francisc Dulf aTechnical University of Cluj‐Napoca Faculty of Automation and Computer Science 25 Gh. Baritiu Str. 400027 Cluj‐Napoca Romania bUniversity of Agricultural Sciences and Veterinary Medicine Food Quality Control Department 3‐5 Mănăştur Str. Cluj‐Napoca Romania

In the present developing plan to apply the cryogenic technology for the production of the 13C, an efficient and safe operation is a strong reason to conceive and to apply a modern computer based control strategy. The authors are concerned with the problem of developing effective and readily implemental techniques for modelling and control of the isotope separation plant. These columns are characterized by complex nonlinearities, with large time‐delays. Furthermore, are subject to external disturbances, which are difficult to model. The present paper presents two models of the plant: a nonlinear model and a linear system obtained by robust feedback linearization.

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