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IEEE International Conference on computer-Aided Design

作者： Ningsu Luo Rodolfo Villamizar Josep Vehi Shirley Dyke Department of Electronics Computer Science and Automation Universitat de Girona Girona Spain School of Electrical and Electronics Engineering and Telecommunication Universidad Industrial de Santander Bucaramanga Colombia Faculty of Engineering Sciences Washington University of Saint Louis USA

This paper deals with the problem of semiactive vibration control of civil engineering structures subject to unknown external disturbances (for example, earthquakes, winds, etc.). Two kinds of semiactive controllers are proposed based on the backstepping control technique. The experimental setup used is a 6-story test structure equipped with shear-mode semiactive magnetorheological dampers being installed in the Washington University Structural Control and Earthquake engineering Laboratory (WUSCEEL). The experimental results obtained have verified the effectiveness of the proposed control algorithms

关键词： Backstepping Vibration control Attenuation Actuators Civil engineering Testing Shock absorbers Damping Earthquake engineering Laboratories

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Introducing Grammatical Evolution in Fetal Heart Rate Analysis and Classification

Introducing Grammatical Evolution in Fetal Heart Rate Analys...

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International IEEE Conference on Intelligent Systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate Robotics and automation Signal processing Heart rate measurement computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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Robust Adaptive Control for Complex Systems Employing ANN Emulation of Nonlinear Functions

Robust Adaptive Control for Complex Systems Employing ANN Em...

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Seminar on Neural Network Applications in Electrical engineering

作者： Georgi M. Dimirovski Yuanwei Jing Yanxin Zhang Miomir K. Vukobratovic Faculty of Electrical Engineering SS Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Dogus University Kadikoy Istanbul Turkey School of Information Science and Engineering Northeastern University Shenyang China Laboratory of Robotics & Flexible Automation Mihajlo Pupin Institute Belgrade Serbia

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique

关键词： Robust control Adaptive control Emulation Network synthesis Neural networks Mechatronics Uncertainty Artificial neural networks Control system synthesis Stability

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A Method to Represent Restricted Classes of Planar Graphs in the Enhanced Spatial Relational Model PLA, Based on Hahn Graphs

A Method to Represent Restricted Classes of Planar Graphs in...

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IEEE International Conference on Intelligent engineering Systems (INES)

作者： A.B. Novak Z. Tuza Faculty of Information Technology Péter Pázmány Catholic University Budapest Hungary Bánki Donát Faculty of Mechanical Engineering Budapest Tech Budapest Hungary Hungarian Academy of Sciences Computer and Automation Institute Budapest Hungary Department of Computer Science Pannon University Veszprém Hungary

In this paper we enhance the PLA relational spatial model for storing a special type of planar graphs. The PLA-model is very handy to store 2-connected planar graphs, but it is not capable at all to store some other important classes of planar graphs: trees and, more generally, planar graphs with cut edges. In this paper we propose a method for their representation. The main idea is based on Halin graphs that are planar graphs of minimum degree 3 from which the removal of the boundary edges of the infinite region yields a tree. Our results are to identify Halin graphs from the model, and to represent trees as virtual Halin graphs in order to store them without major alteration of the original PLA-model

关键词： Programmable logic arrays Tree graphs Information technology automation Mechanical engineering computer science Bipartite graph

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Definition of the HOSVD based canonical form of polytopic dynamic models

Definition of the HOSVD based canonical form of polytopic dy...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Baranyi, Péter Szeidl, László Várlaki, Péter Yam, Yeung Computer and Automation Research Institute Hungarian Academy of Sciences Kende utca 13-17 H-1111 Budapest Hungary Dept. Telecommunication and Media Informatics Budapest University of Technology and Economics Magyar tudósok u. 2 H-1117 Budapest John von Neumann Faculty of Informatics Budapest Tech. Bécsi út 96/B H-1034 Budapest Hungary Faculty of Informatics Loránd Eötvös University Pazmany P. setany 1/D H-1117 Budapest Dept. of Chassis and Lightweight Structures Budapest University of Technology and Economics Bertalan Lajos u. 2 H-1111 Budapest Hungary Dept. Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin New Teritories Hong Kong

ISBN: (纸本)0780397134

The main objective of the paper is to introduce how the concept of tensor HOSVD can be carried over to the TP (Tensor Product) dynamic models, namely, how we can define and generate the "HOSVD like" decomposition of Linear Parameter Varying (LPV) dynamic models. We term this decomposition as HOSVD based canonical form of TP model or polytopic model form. The key idea and the basic concept of this decomposition was proposed recently with the TP model transformation based control design methodology. The novelty of this paper is to present the mathematical background of this concept. The paper shows convergency theorems how the TP model transformation is capable of reconstructing this HOSVD based canonical form numerically. The proofs of the theorems are lengthly, therefore they are omitted. The paper also presents numerical examples to show the applicability, efficiency and uniformity of the numerical reconstruction. © 2006 IEEE.

关键词： Tensors

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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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Delay-dependent stability of 2D state-delayed linear systems

Delay-dependent stability of 2D state-delayed linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： W. Paszke J. Lam K. Galkowski Shengyuan Xu E. Rogers A. Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Department of Mechanical Engineering University of Hong Kong Hong Kong China Department of Automation Nanjing University of Science and Technology of PLA Nanjing China Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK

This paper addresses the problem of stability for two-dimensional systems with delays in the state. To solve this problem, the Lyapunov second method is used. The resulting condition is written in terms of linear matrix inequalities and it is dependent on the size of delays. This fact allows us to reduce the conservatism in the stability analysis of two-dimensional systems with state delays. A simulation example is given to illustrate the theoretical developments

关键词： Stability Linear systems Delay systems Symmetric matrices Control systems Linear matrix inequalities Delay lines Automatic control Control engineering computing Mechanical engineering

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Definition of the HOSVD based canonical form of polytopic dynamic models

Definition of the HOSVD based canonical form of polytopic dy...

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International Conference on Mechatronics (ICM)

作者： Peter Baranyi Peter Varlaki Laszlo Szeidl Yeung Yam Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department Telecommunication and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Faculty of Informatics Loránd Eötvös University Budapest Hungary John von Neumann Faculty of Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Chassis and Lightweight Structures Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department Automation and Computer Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

The main objective of the paper is to introduce how the concept of tensor HOSVD can be carried over to the TP (tensor product) dynamic models, namely, how we can define and generate the "HOSVD like" decomposition of linear parameter varying (LPV) dynamic models. We term this decomposition as HOSVD based canonical form of TP model or polytopic model form. The key idea and the basic concept of this decomposition was proposed with the TP model transformation based control design methodology. The novelty of this paper is to present the mathematical background of this concept. The paper shows convergency theorems how the TP model transformation is capable of reconstructing this HOSVD based canonical form numerically. The proofs of the theorems are lengthy, therefore they are omitted. The paper also presents numerical examples to show the applicability, efficiency and uniformity of the numerical reconstruction

关键词： Control design Tensile stress Informatics Nonlinear dynamical systems Vectors Linear matrix inequalities Telecommunication computing automation Lightweight structures computer aided engineering

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A genetic algorithm for the optimization of cable routing

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Systems and computers in Japan 2006年第7期37卷 61-71页

作者： Ma, Xuan Iida, Kazuhiro Xie, Mengchun Nishino, Junji Odaka, Tomohiro Ogura, Hisakazu Graduate School of Engineering University of Fukui Fukui City 910-8507 Japan Wakayama National College of Technology Gobo City 644-0023 Japan Faculty of Automation and Information Engineering Xi an University of Technology B Techno College Department of Electrical and Computer Engineering Wakayama National College of Technology Information Processing Society of Japan China Mechanical Design Society Department of Systems Engineering University of Electro-Communications Japan Society for Fuzzy Theory and Intelligent Informatics Japanese Academy of Facial Studies Japan Society of Kansei Engineering Graduate Program of Nuclear Power and Energy Safety Engineering Graduate School of Engineering Fukui University IEEE CS ACM IPSJ IEICE JSMBET Department of Human and Artificial Intelligent Systems JSAI Japan SOFT IEEE

In this paper the authors propose a structural method for a genetic algorithm (GA) for the optimization problem of cable routing in which cables have to be laid optimally. When there are no limits on the layout routes, the optimal routes for the individual cables can be found using the Dijkstra method in a finite discrete graph. However, when there are limits on the capacity in the layout routes, optimization cannot be performed using the Dijkstra method. The proposed GA is a two-level hierarchical GA that uses chromosome coding involving two levels. The routes for each cable and the combinations of cable routes are defined respectively, and layout route selection is optimized overall through genetic operations involving these levels. Block crossover and block mutation are used as genetic operations in the first level. In addition, a method to take advantage of lethal genes, which do not satisfy the constraints and are generated in the second level is used. computer simulations confirm that the two-level hierarchical GA with these genetic operations functions effectively for the optimization problem of cable routing. © 2006 Wiley Periodicals, Inc.

关键词： Electric cable laying

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors.

关键词： Earthquake sliding mode control structural systems vibration control

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