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Annual Conference of Industrial Electronics Society

作者： P.T. Szemes H. Hashimoto E. Voisan F. Dragan Institute of Industrial Science The University of Tokyo Tokyo JAPAN Integrated Intelligent Systems Laboratory Budapest University of Technology and Economics Budapest Hungary PRESTO Japan Science and Technology Agency Japan Faculty of Automation Control and Computer Science “Politehnica” University of Timisoara Timisoara Romania

In this paper, the intelligent space (iSpace) concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical (fuzzy-neuro) description of obstacles avoidance method (walking habit) of moving objects (human beings) in a limited area scanned by the intelligent space. A mobile robot with extended functions is introduced as a mobile assistant robot, which is assisted by the iSpace. The mobile assistant robot (MAR) can guide and protect a blind person in a crowded environment with the help of the iSpace. The iSpace learns the obstacle avoidance method (walking habit) of dynamic objects (human beings) by tracing their movements. The learned walking habit is encoded in a mathematical structure and is sent to the control of MAR. control of MAR estimates the path of dynamical obstacles and helps to the blind person to avoid the collision. The prototype of the mobile assistant robot and simulations of some basic types of obstacle avoidance method (walking habit) are presented.

关键词： Legged locomotion Mobile robots Intelligent robots Intelligent actuators Intelligent sensors Orbital robotics Space technology Humans Robot sensing systems Intelligent agent

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Composite systems control by combined math-analytical and FS/NN computing approach

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IFAC Proceedings Volumes 2003年第7期36卷 7-18页

作者： Georgi M. Dimirovski Yuan-Wei Jing Jun Zhao Si-Ying Zhang Dogus University Department of Computer Engineering Faculty of Engineering Acibadem Kadiköy TR-34722 Istanbul Turkey Fax# +90-216-327-9631 SS Cyril and Methodius University Institute of Automation & Systems Eng. Faculty of Electrical Engineering MK-1000 Skopje R. of Macedonia Northeastern University Institute of Control Science School of Information Science & Eng. Shenyang Liaoning P.R. of China Fax# +90-24-2389-0912

A control systems engineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systems engineering.

关键词： Complex composite systems fuzzy systems neural networks nonlinear systems

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ASPECT - Advanced control Algorithms on Industrial controllers

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IFAC Proceedings Volumes 2003年第18期36卷 89-93页

作者： G. Dolanc S. Gerkšič J. Kocijan S. Strmčnik D. Vrančić M. Božiček Z. Marinšek I. Škrjanc S. Blažič A. Stathaki R. King M. Hadjiski K. Boshnakov Jožef Stefan Institute Department of Systems and Control Jamova 39 1000 Ljubljana Slovenia Polytechnic Nova Gorica Vipavska 13 5000 Nova gorica Slovenia Inea d.o.o. Stegne 11 1000 Ljubljana Slovenia Faculty of Electrical Engineering Tržaška 25 1000 Ljubljana Slovenia Computer Technology Institute 11 Akteou and Poulopoulou St. Athens Greece University of Chemical Techology and Metallurgy Kliment Ohridski Blvd. 8 Sofia Bulgaria

The advanced control system for control of nonlinear, slowly time variant and delayed processes is described in the paper. The proposed control system performs automatic tuning of fuzzy gain-scheduling controller parameters. The parameters are tuned according to a non-linear process model, which is identified by performing simple experiments on the actual process. The proposed control system (ASPECT) is implemented as a software product and currently runs on several PLC platforms.

关键词： PID control Magnitude Optimum controller Tuning Disturbance Rejection Velocity linearisation

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Some basic ideas for intelligent fault tolerant control systems design 15th

Some basic ideas for intelligent fault tolerant control syst...

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15th World Congress of the International Federation of Automatic control, 2002

作者： Maier, Uwe Colnarič, Matjaž Gerhard-Mercator-Universität Duisburg Faculty of Engineering Institute for Control and Complex Systems Duisburg47048 Germany University of Maribor Faculty of Electrical Engineering and Computer Science Smetanova 17 MariborSI-2000 Slovenia

ISBN: (纸本)9783902661746

Some basic ideas underlying the EU project IFATIS (intelligent fault tolerant control in integrated systems) are described. Faults in the plant (controlled system) as well as in the controllers (computer systems) are taken into account. Plant modules and controller modules are considered as resources. Needed application functions (partial processes) are to be allocated to such resources to run in a normal or degraded mode. In case of fault induced resource reduction, resource managers on different levels can take care of arbitration and allocation, thus providing for unrestricted continuation or graceful degradation. Some outlines concerning implementation and hardware/software architecture are presented. Copyright © 2002 IFAC.

关键词： Fault tolerance

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Design, control, and evaluation of a new 6 DOF haptic device

Design, control, and evaluation of a new 6 DOF haptic device

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M. Ueberle M. Buss Control Systems Group Faculty of Electrical Engineering and Computer Science Technical University Berlin Germany

In this paper we present the optimized design of the 6 degree-of-freedom (DOF) haptic display VISHARD6, which is directed towards modularity, universal applicability, and high force capability. To investigate the performance regarding force, velocity, and acceleration a generic method for output performance analysis of haptic interfaces is proposed. The device is evaluated according to these measures and experimental results are presented.

关键词： Haptic interfaces Force feedback Force control Acceleration Design optimization computer displays Performance analysis Force measurement Virtual reality Biomedical acoustics

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Input reconstruction by means of system inversion: Application to fault detection and isolation 15th

Input reconstruction by means of system inversion: Applicati...

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15th World Congress of the International Federation of Automatic control, 2002

作者： Szigeti, F. Bokor, J. Edelmayer, A. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.P. 11 La Hechicera Venezuela

ISBN: (纸本)9783902661746

This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the properties of input (or fault) observability in linear systems. The extension of the results to nonlinear systems as well as the mathematical conditions of the calculation of the inverse system, which provides the inverse in finite algorithmic steps, are given. The applicability of the inversion process to fault reconstruction in nonlinear systems is demonstrated. Copyright © 2002 IFAC.

关键词： Fault detection

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SOME BASIC IDEAS FOR INTELLIGENT FAULT TOLERANT control systems DESIGN

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IFAC Proceedings Volumes 2002年第1期35卷 287-292页

作者： Uwe Maier Matjaž Colnarič Gerhard-Mercator-Universität Duisburg Faculty of Engineering Institute for Control and Complex Systems 47048 Duisburg Germany University of Maribor Faculty of Electrical Engineering and Computer Science Smetanova 17 SI-2000 Maribor Slovenia

关键词： Fault diagnosis fault tolerance fault tolerant systems computer controlled systems decision support systems embedded systems

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INPUT RECONSTRUCTION BY MEANS OF SYSTEM INVERSION: APPLICATION TO FAULT DETECTION AND ISOLATION

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IFAC Proceedings Volumes 2002年第1期35卷 13-18页

作者： F. Szigeti J. Bokor A. Edelmayer Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.p. 11 La Hechicera Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Kende u. 13–17 H-1111 Hungary

关键词： Fault detection and isolation Input observability Input reconstruction Inverse system Linear and non-linear systems

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On complex non-linear systems with symmetries: controllability preserving decomposition

On complex non-linear systems with symmetries: controllabili...

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IEEE International Conference on Electronics, Circuits and systems (ICECS)

作者： G.M. Dimirovski Y.-W. Jing J. Zhao T.D. Kolemisevska-Gugulovska Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Dogus University Istanbul Turkey Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia

In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations of these systems are derived. Finally, it is shown that controllability of the original systems can be determined by that of the subsystems, which are obtained through isomorphic decomposition. The corresponding sufficient and necessary conditions are given. Two new theoretical results have been proved.

关键词： controllability Nonlinear control systems control systems Nonlinear systems Automatic control Information science Automation systems engineering and theory Feedback Mathematical model

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Decomposition of complex linear systems via hierarchical similarity structure

Decomposition of complex linear systems via hierarchical sim...

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IEEE International Conference on Electronics, Circuits and systems (ICECS)

作者： Y.-W. Jing G.M. Dimirovski J. Zhao M.J. Stankovski Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Dogus University Istanbul Turkey

In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structures. Three new theoretical results were proved. A method for constructing the transformation has been derived. The conditions for such decomposition of complex linear systems are given.

关键词： Linear systems control systems systems engineering and theory Design engineering Interconnected systems Robots Automatic control Information science Automation Modems

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