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Nonlinear Optimal Regulator in Subsystems Using Lyapunov-Like Function

IFAC Proceedings Volumes 1995年第10期28卷 601-606页

作者： Hiroaki Kawabata Hiroshi Kuwaki Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja. Okayama 719-11 Japan

In this paper, we propose a method for developing nonlinear optimal regulators in subsystems which arise when a multi-dimensional large scale system is divided into several subsystems. The nonlinear optimal regulator is derived using a Lyapunov-like function derived from an aspect of the inverse optimal problem. The validity of this method is confirmed by some numerical simulations.

关键词： Nonlinear optimal regulator Subsystems Lyapunov-Like function Inverse optimal

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Performance evaluation of rate-based congestion control algorithms in multimedia ATM networks

Performance evaluation of rate-based congestion control algo...

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IEEE Conference and Exhibition on Global Telecommunications (GLOBECOM)

作者： H. Ohsaki M. Murata H. Suzuki C. Ikeda H. Miyahara Department of Information and Computer Sciences Faculty of Engineering Science Osaka University Toyonaka Osaka Japan C&C System Research Laboratories NEC Corporation Limited Kawasaki Kanagawa Japan

Rate-based congestion control promises effective traffic management for the ABR service class suitable for data communications in ATM networks. There have been proposed several rate-based congestion control schemes in the ATM Forum, including Enhanced Proportional Rate Control Algorithm (EPRCA) and EPRCA++ methods. While many studies have been devoted for these schemes in the past, only ABR traffic is taken into account; the effect of VBR and CBR service classes, in which multimedia traffic are accommodated, are not considered. We evaluate the performance of rate-based congestion control schemes when not only ABR traffic but also VBR traffic is incorporated into the ATM network. Through simulation experiments, we show the drawbacks of current rate-based congestion control proposals for multimedia traffic, and give several suggestions to overcome those problems.

关键词： Intelligent networks Communication system traffic control Switches Asynchronous transfer mode Control systems Traffic control Bandwidth Proportional control Communication system control Video compression

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Analysis of rate-based congestion control algorithms for ATM networks. Part 2. Initial transient state analysis

Analysis of rate-based congestion control algorithms for ATM...

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IEEE Conference and Exhibition on Global Telecommunications (GLOBECOM)

Rate-based congestion control is effective and still simple for traffic management in ATM networks. As one of practical realization schemes, enhanced proportional rate control algorithm (EPRCA) has recently been proposed and adopted as a standard by the ATM Forum. While EPRCA can offer a desirable feature in steady state, the queue length considerably grows when the active number of connections on the link becomes large, which is so called a "large VC's problem". In particular, when the large number of VCs starts cell transmission at the same time, the rate-control does not work well. We present an analytic result to give a deep insight into this problem for three types of switches suggested in EPRCA. Further, we demonstrate that a prioritized switch which can limit a maximum queue length at an appropriate level.

关键词： Algorithm design and analysis Transient analysis Switches Asynchronous transfer mode Control systems Proportional control Information analysis Communication system traffic control Traffic control Steady-state

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Computational aspects of gain-frequency response for sampled-data systems

Computational aspects of gain-frequency response for sampled...

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IEEE Conference on Decision and Control

作者： S. Hara H. Fujioka P.P. Khargonekar Y. Yamamoto Department of Systems Science Tokyo Institute of Technology Yokohama Japan Department of M. E. for Computa Conmlled Machinery Faculty of Engineering Osaka University Suita Osaka Japan Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Division of Applied System Science Faculty of Engineering Kyoto University Kyoto Japan

This paper addresses the computational aspects of the frequency response for sampled-data systems. We first give two types of lower bound formulas. The first is derived via fast sampling of the input functions and the second is derived via the dual system. It is shown that as the fast sampling period approaches zero, these lower bounds converge to the gain. Two different formulas for upper bounds are also obtained. One is based on the information about the closed-loop poles, and another relates the gains of the /spl Hscr//sub 2/ norm equivalent discrete-time system. We then discuss the bisection search. It is seen that where certain non-degeneracy condition holds, bisection search is possible, some comparisons are made with numerical examples.

关键词： Frequency response Sampling methods Control systems Upper bound Sampled data systems Control system analysis Machinery computer science Military computing Eigenvalues and eigenfunctions

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Multiagent fault‐diagnosis expert system in power systems

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European Transactions on Electrical Power 1995年第5期5卷 341-347页

作者： Wang, J.P. Trécat, J. Dr. Jianping Wang is a doctor fellow in the Faculte Polytechnique de Mons in Belgium. His current research field is parallel processing applications in power systems. Dr. Wang obtained his BS degree from Southwest Jiaotong University in P.R. Chinain 1982. From 1982 to 1990 he was appointed as an assistant lecturer. lecturer and associate professor respectively in the electrical engineering department of Southwest Jiaotong University. He obtained his Ph.D in the FacultC Polytechnique de Mons in July of 1993. (BD Dolez 3 1 FPMS B-7000 Mons Belgium T +32-65/37 41 87 Fax +32-65/37 43 00) Professor J. Trécat is a director in the power system laboratory in the Faculty Polytechnique de Mons. He obtained his Ph.D in the University of Manchester Institute of Science and Technology(UM1ST) in U.K. in 1970. He has been working in the fields of power system automation artificial intelligence application and computer vision in the Facult6 Polytechnique de Mons since 1970. He is a senior member of IEEE and he has made much contribution both in electrical engineering education and research. (BD Dolez 3 I FPMS B-7000 Mons T +32-651374185. Fax +32-6513743 00)

In order to solve the speed problem and shallow reasoning problem met in current research in fault diagnosis expert system, this paper presents a model based parallel fault diagnosis expert system for energy management systems (EMS). The Petri net model, which corresponds to the relationship between power system components and their protection systems, has been used for the inference in fault diagnosis. A multiagent parallel processing expert system, which is based on five transputers in Sun workstation, has been built for fault diagnosis purposes. The test results show that this expert system is not only fast but also has better performances. Copyright © 1995 John Wiley & Sons, Ltd.

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ANALYSIS OF SINGULAR STRESS-FIELD AROUND THE INCLUSION CORNER TIP

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engineering FRACTURE MECHANICS 1994年第4期49卷 533-546页

作者： CHEN, DH Faculty of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka 820 Japan

The plane problem of an infinite plate containing an inclusion is considered. The singular stress field around the inclusion corner tip is expressed as a sum of two independent types: a symmetric type with a stress singularity 1/r(I-lambda1) and a skew-symmetric type with a stress singularity 1/r(I-lambda2). The intensities of the symmetric and skew-symmetric singular stress fields are defined in terms of constants K(I,lambda1) and K(II,lambda2), respectively. The body force method is used to calculate the values of K(I,lambda1) and K(II,lambda2). In numerical analysis, basic density functions of the body forces are introduced to characterize the stress singularity at the inclusion corner. The advantages of this technique are the high accuracy of results, due to the smoothness of the unknown weight functions, and the presence of the direct relation between the values of K(I,lambda1), K(II,lambda2) and the values of unknown weight functions at the corner tip.

关键词： Stress analysis

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Measurement of a Transparent Object by Using an Automated Talbot Interferometer

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Optical Review 1994年第2期1卷 273-275页

作者： Teshima, Nobuaki Asano, Akira Yokozeki, Shunsuke Kyushu Institute of Technology Department of Mechanical System Engineering Faculty of Computer Science and Systems Engineering Iizuka Fukuoka 820 680-4 Kawazu Japan Department of Electrical Engineering and Computer Science Osaka Prefectural College of Technology Neyagawa Osaka 572 26-12 Saiwai-cho Japan Department of Intelligent Mechanics Faculty of Biology-Oriented Science and Technology Kinki University Uchita-cho Naga-gun Wakayama 646-64 930 Nishimitani Japan

It is reported that the first partial derivative of the phase distribution for a transparent object can be measured automatically by a personal computer with an image processor. The moire pattern is formed by superimposing the Fourier image distorted by the transparent object on the master grating. But if only the moire patterns are observed, it is not shown if the fringe order numbers increase or decrease. The fringe scanning method is presented to overcome the fringe order numbers. The four-step method is used to calculate the first partial derivative. By a simple experiment, the first partial derivative can be shown in the three dimensional graphics. © 1994, Japan Society of Applied Physics. All rights reserved.

关键词： automated Talbot interferometer contour moire fringe four-step method fringe scanning moire fringe phase unwrapping Talbot effect

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MODELING AND CONTROL STRATEGIES FOR A VARIABLE RELUCTANCE DIRECT-DRIVE MOTOR

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1993年第1期40卷 105-115页

作者： FILICORI, F LOBIANCO, CG TONIELLI, A Faculty of Engineering University of Ferrara Ferrara Italy Department of Electronics Computer and System Science (DEIS) University of Bologna Bologna Italy

In industrial automation and robotic applications, direct-drive motors represent a suitable solution to friction and backlash problems typical of mechanical reduction gears. Variable reluctance (VR) motors are well suited for direct-drive implementation but, because of the strongly nonlinear electromechanical characteristics, these motors are traditionally designed as stepper motors. The main aim of the work described in the paper is the design of a high-performance ripple-free dynamic torque controller for a VR motor, intended for trajectory tracking in robotic applications. An original modeling approach is investigated in order to simplify the design of the high-performance torque controller. Model structure and parameter estimation techniques are presented. Different approaches to the overall torque controller design problem are also discussed and the solution adopted is illustrated. A cascade controller structure is considered. It consists of a feedforward nonlinear torque compensator, cascaded to a nonlinear flux or current closed-loop controller. The feedforward compensator is carefully considered and optimization techniques are used for its design. Two optimization criteria are proposed: the first minimizes copper losses, whereas the second minimizes the maximum value of the motor-feeding voltage. Although developed for a specific commercial motor, the proposed modeling and optimization strategies can be used for other VR motors with magnetically decoupled phases, both rotating and linear. Laboratory experiments for model validation and preliminary simulation results of the overall torque control system are presented.

关键词： Reluctance motors Virtual reality Torque control Robots Trajectory Servomotors Robotics and automation Friction Gears Design optimization

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A continuous approach to robot motion planning with many degrees of freedom

A continuous approach to robot motion planning with many deg...

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Hayashi, Akira Kuipers, Benjamin Faculty of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Ilzuka820 Japan Department of Computer Sciences University of Texas at Austin AustinTX78712 United States

ISBN: (纸本)0780307372

There is a need for highly redundant manipulators to work in complex, cluttered environments. We explore kinematics and path planning for highly redundant, manipulators by means of a continuous manipulator model, which captures the macroscopic shape of highly redundant manipu-lators. A path for the continuous manipulator model can be found by finding a smooth path for its end-effector under a maximum curvature/torsion constraint. Free space decomposition into primary convex regions is suited to finding such smooth paths. On top of the free space representation, we have developed an algorithm to find a continuous curvature path in 2-D with a maximum curvature constraint. We report on an experiment conducted to measure the efficiency of the algorithm. The 2-D path planning algorithm could be used for path planning in 3-D space by restricting the manipulator movement. Alternatively, 3-D free space can be decomposed into primary convex regions. The path planning problem has been shown to be PSPACE-complete in terms of DOF of the manipulator. However, DOF of the manipulator is a resource to be utilized in our approach, because the error bound 011 the mapping improves with the number of DOF of the manipulator. © 1992 IEEE. All rights reserved.

关键词： Motion planning

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Tiny silent linear cybernetic actuator driven by piezoelectric device with electromagnetic clamp

Tiny silent linear cybernetic actuator driven by piezoelectr...

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IEEE International Conference on Micro Electro Mechanical systems

作者： K. Ikuta S. Aritomi T. Kabashima Department of Mechanical System Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Department of Mechanical System Engineering Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Yaskawa Electric Manufacturing Company Limited Kitakyushu Japan

A type of miniature linear actuators called a cybernetic actuator for biomedical applications is described. This actuator has four driving states: free, increasing, decreasing, and lock. The free and lock states can release excessive applied load from outside to provide safety characteristics for both human and micromechanisms. Miniaturized linear cybernetic actuators combining a piezoelectric impact drive with electromagnetic clamping were designed and developed. Feasibility and basic performance of the actuators were confirmed by theory and experiments. Improved performance in terms of maximum speed, energy efficiency, and silent drive as a miniature linear actuator were verified successfully by using a controlled friction impact drive.< >

关键词： Cybernetics Hydraulic actuators Piezoelectric actuators Piezoelectric devices Electromagnetic devices Clamps Safety Humans Friction Service robots

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