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An Anti-Slip Predictive Controller for a V-PRA Vehicle

IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive Control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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Intelligent agent-based modeling of kinesin nanomotor

Intelligent agent-based modeling of kinesin nanomotor

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Annual Conference of Industrial Electronics Society

作者： H.R. Khataee T.N. Moh Aris M.N. Sulaiman M. Yousef Ibrahim Department of Computer Science Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Gippsland Regional Automation Centre School of Applied Science and Engineering Monash University Churchill VIC Australia

This paper introduces a new methodology to develop comprehensive structural and behavioral models of kinesin nanomotor within its cell using agent technology. In this work, firstly, kinesin nanomotor is introduced as a physical intelligent agent. Then, we have proposed an agent-based structural model of kinesin nanomotor using composite diagram of Unified Modeling Language (UML). We also introduced its heads and tail as the kinesin's sensors and its motor domain as its actuator. An agent-based behavioral model of kinesin nanomotor was developed using Finite State Machine (FSM) diagram of UML and illustrated the internal intelligent and autonomous decision-making process of the nanomotor. The proposed agent-based behavioral FSM model was verified with its mathematical definitions which developed as Deterministic Finite Automaton (DFA) and its respective grammar. The outputs of the proposed grammar were in agreement with the proposed DFA model and traced the behavior of the nanomotor in nature. Also, the behavioral DFA model of the nanomotor was implemented as its software agent model. The proposed agent-based structural and behavioral models of kinesin nanomotor introduced the nanomotor as bio-nanoagent which was able to sense its cell through its sensors, make decision internally, and perform actions upon the cell through its actuator.

关键词： Unified modeling language Computational modeling Mathematical model Doped fiber amplifiers Sensors Biological system modeling Actuators

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Bio-nanorobotic in nanotechnology: Structure and potential

Bio-nanorobotic in nanotechnology: Structure and potential

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： H. R. Khataee M.Y. Ibrahim M.A. Teh Noranis Department of Computer Science Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Gippsland Regional Automation Centre School of Applied Science and Engineering Monash University Churchill VIC Australia

Bio-nanorobotic systems are made from bio-nanocomponents, particularly proteins. An important group of such protein-based bio-nanocomponents are myosin protein nanomotors that are involved in a wide variety of cellular tasks from cellular transports to muscle contractions. Realization of behavior and properties of the myosin protein nanomotors as bio-nanocomponents could form the basis of bottom-up approaches for constructing active bio-nanorobotic systems. This is the long-term goal of the bio-nanorobotic. In this paper we have presented an engineering point of view to the structure and behavior of both categories of myosin nanomotors, muscle and non-muscle. Myosin nanomotors are self-guiding systems. They have evolved to bind to their polymer filaments and are able to recognize the direction of movement by moving only in one direction of the polarized filaments. Myosin nanomotors also convert the chemical energy into mechanical work directly rather than via an intermediate energy. We have also pointed out to the potential applications of this nanomotor. The myosin's perfect structure, small size, smart and high efficiency indicate that myosin nanomotor can be an ideal bio-nanocomponent for bio-nanorobotic systems.

关键词： Nanobioscience Muscles Proteins Polymers Fasteners Nanoscale devices

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Wavelet based fault detection, classification and location in existing 500 kV transmission line

Wavelet based fault detection, classification and location i...

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Pairoj Kajoijilertsakul Santi Asawasripongtorn Peerayot Sanposh Jittiwut Suwatthikul Hideaki Fujita Department of Electrical Engineering Faculty of Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Bangkok Thailand Department of Electrical and ElectronicEngineering Tokyo Institute of Technology Tokyo Japan

This paper describes the implementation of Wavelet Transform and Spectral Energy analysis on samples of simulated voltage and current waveforms obtained from PSCAD/EMTDC for each of the all possible fault scenarios in a modeled 500 kV transmission network. The fault detection and classification of each fault scenarios is determined based on results of the voltage and current waveforms analysis in time and wavelet domains. The analysis is carried out including variation in fault types, inception angles and locations with a practically arbitrarily assumed fault duration. The analytical results shows that the described technique is highly dependable and is able to detect and classify different kinds of faults along a transmission line whatever is the fault type, inception angle and location.

关键词： Entropy PSCAD EMTDC Power measurement TV Tin Surges

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Modeling and Simulation of 500 kV Transmission Network for Numerical Fault Calculation, Detection, Using PSCAD/EMTDC

Modeling and Simulation of 500 kV Transmission Network for N...

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IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

This paper presents modeling of the 500 kV transmission line located between Bang-Saphan 2 (BSP2) and Chom-Bung (CBG) substations, Thailand. The network is modeled based on the transient simulation program- PSCAD/EMTDC. The equivalent circuit of BSP2 and CBG is obtained from the actual parameters. The initial condition parameters are verified by PSS/E, an electrical simulation program. After the modeling has been established, a fault analysis is done by using PSCAD/EMTDC in order to study the system response when fault constrains are applied. This paper has illustrated that how the information on the sampled voltage and current waveforms derived from PSCAD/EMDTC modeling and simulation can be used for fault detection, classification and location.

关键词： Integrated circuit modeling Circuit faults PSCAD EMTDC Protective relaying Power transmission lines RLC circuits

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Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

Decentralized Task Sequencing and Multiple Mission Control f...

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2011 IEEE International Conference on Robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent systems

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A novel type of trigonometric neural network trained by Extended Kalman Filter

A novel type of trigonometric neural network trained by Exte...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： M. Norouzi M. Mansouri M. Teshnehlab M. Aliyari Shoorehdeli Faculty of Engineering Department of Computer Engineering Science and Research Branch Islamic Azad University Iran Intelligent System Laboratory (ISLAB) Faculty of Electrical Engineering Control Department K.N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering Advanced Process Automation &Control Laboratory (APAC) K.N. Toosi University of Technology Tehran Iran

In this study, a new type of trigonometric neural network is presented by adding frequency and phase to trigonometric activation functions. The proposed trigonometric neural network has more flexibility in comparison with conventional trigonometric neural networks and even other types of neural networks. Due to the low convergence rate and high posibility of trapping in a local minimum of backpropagation algorithm, Extended Kalman Filter algorithm is used to train the neural network's parameters which they appear in a nonlinear form. The Simulation of the suggested neural network based on the prediction of Mackey-Glass time series and identification of a nonlinear dynamic ystem reveals the efficiency of the proposed network. To show the efficiency of this method, the results are compared with the results of the others.

关键词： Biological neural networks Kalman filters Equations Neurons Vectors Covariance matrix Mathematical model

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A simple optimization method based on Backtrack and GA for delivery schedule

A simple optimization method based on Backtrack and GA for d...

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Congress on Evolutionary Computation

作者： Yoshitaka Sakurai Kouhei Takada Natsuki Tsukamoto Takashi Onoyama Rainer Knauf Setsuo Tsuruta School of Information Environment Tokyo Denki University Chiba Japan Research & Development Department Hitachi Software Engineering Company Limited Tokyo Japan Faculty of Computer Science and Automation Ilmenau University of Technology Ilmenau Germany

A delivery route optimization system greatly improves the real time delivery efficiency. To realize such an optimization, its distribution network requires solving several tens to hundreds (max. 1500-2000) cities Traveling Salesman Problems (TSP) within interactive response time (around 3 seconds) with expert-level accuracy (below 3% level of error rate). Moreover, as for the algorithms, understandability and flexibility are necessary because field experts and field engineers can understand and adjust it to satisfy the field conditions. To meet these requirements, a Backtrack and Restart Genetic Algorithm (Br-GA) is proposed. This method combines Backtracking and GA having simple heuristics such as 2-opt and NI (Nearest Insertion) so that, in case of stagflation, GA can restarts with the state of populations going back to the state in the generation before stagflation. Including these heuristics, field experts and field engineers can easily understand the way and use it. Using the tool applying their method, they can easily create/modify the solutions or conditions interactively depending on their field needs. Experimental results proved that the method meets the above-mentioned delivery scheduling requirements more than other methods from the viewpoint of optimality as well as simplicity.

关键词： Genetic algorithms Nickel Cities and towns Optimization Humans Error analysis Real time systems

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Ensuring Diversity in a Backtrack and GA Optimization Method for Delivery Schedule

Ensuring Diversity in a Backtrack and GA Optimization Method...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

Delivery route optimization greatly improves the delivery efficiency in terms of all resources including human resources and energy consumption. In our application scenario the distribution network requires solving several tens to hundreds (max. 1500-2000) cities Traveling Salesman Problems (TSP) within interactive response time (around 3 seconds) with expert-level accuracy (below 3% level of error rate). Moreover, since domain experts have to adjust the solutions due to boundary conditions that can not be formally expressed (such as human convenience, road conditions, and social aspects), understandability and flexibility of the applied heuristics are necessary. To meet all these requirements, a Backtrack and Restart Genetic Algorithm (Br-GA) was proposed. This method combines Backtracking and GA having simple heuristics such as 2-opt and NI (Nearest Insertion) so that, in case of stagflation, GA can restarts with the state of populations going back to the state in the generation before stagflation. Here, a refinement of this algorithm is introduced, which aims at ensuring diversity of initial solutions, which are subject to mutation. We introduce a formal definition of a diversity degree as well as a technique to compose new random individuals, which follow a required degree of diversity.

关键词： Genetic algorithms Nickel Cities and towns Humans Optimization Error analysis Traveling salesman problems

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Proposal of educational environments with mobile robots

Proposal of educational environments with mobile robots

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IEEE Conference on Robotics, automation and Mechatronics

作者： Silas F. R. Alves Humberto Ferasoli Filho René Pegoraro Marco A. C. Caldeira João M. Rosário Wilson M. Yonezawa Laboratory of Integrated Automation and Robotics Mechanical Project Department Faculty of Mechanical Engineering State University of Campinas Campinas Sao Paulo Brazil Laboratory of Integration of Intelligent Systems and Devices Computer Department Sciences Faculty University of São Paulo State Bauru Brazil

This paper describes an initiative which uses low-cost mobile robots to create robotics courses and learning environment to support the teaching of computing and many other related disciplines. The pursued principle is that lower cost alternatives that can meet the educational needs, since it is accompanied by an environment with friendly software interface. In this sense, the hardware interface was developed to allow the computer to process data from the sensors and actuators of the mobile robot. This architecture is adequate because of the acceptance of students in their use, since the environment is unrolled within a familiar platform to them.

关键词： Robot sensing systems computer architecture computers Mobile robots Educational robots

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