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8th IFAC Symposium on Robust control Design, ROCOND 2015

作者： Hypiusová, M. Kajan, S. Kozák, Š. Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia

The paper deals with the robust controller design using conventional approaches (Small Gain Theory, Equivalent Subsystems Method), and advanced robust genetic method for uncertain MIMO systems. Decentralised robust controllers designed using the Small Gain Theory (SGT) ensure robust stability for additive, input/output multiplicative uncertainties;the Equivalent Subsystems Method (ESM) guarantees the required performance in terms of phase margin and settling time for input/output multiplicative uncertainties. The genetic algorithm is based on optimisation procedure, where the cost function to be minimized comprises the closed-loop simulation of the controlled MIMO process and evaluation of a selected performance index. Using this approach, the PID controller parameters were optimised to obtain the required behaviour of the controller process. Practical implementation and comparison of the proposed methods are verified and tested on a real process - two interconnected DC motors with varying parameters. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Genetic algorithms

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Robust MPC controller design: Infinite prediction horizon 8

Robust MPC controller design: Infinite prediction horizon

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8th IFAC Symposium on Robust control Design, ROCOND 2015

作者： Hypiusová, M. Veselý, V. Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia

We present a new technique for the synthesis of a robust model predictive controller with infinite prediction horizon. The proposed controller design approach ensures a parameter-dependent quadratic stability and guaranteed cost for linear polytopic uncertain systems. The proposed design procedure based on BMI or LMI reduces to off-line output feedback controller gain calculation minimizing an upper bound on the "worst case" an objective function. For the case of our approach and input (output) constraints at each sample time step for each input (output) scalar parameter is calculated, which radically decreases the computational load. The controller design is illustrated by examples. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control

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Online Monitoring of Glutamic Solution Concentration Based on PLS Regression

Online Monitoring of Glutamic Solution Concentration Based o...

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第27届中国控制与决策会议

作者： Li Qi Liu Wenya Ba Wei Liu Tao Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian Scientific Test and Control Technology Institute

ISBN: (纸本)9781479970162

Online monitoring of glutamic solution concentration is very important to control the crystallization *** infrared spectrometer React IR 15,we can obtain the real-time spectral *** on the partial least squares regression method,we can establish the regression model between glutamic solution concentration and the real-time spectral *** calibration experiments based on this model show that the average error is 0.53,and the average relative error is 1.88%.The model has good prediction ability,and it realized online monitoring of glutamic solution concentration in crystallization *** paper proposed a good reference frame for the online analysis of solution concentration in crystallization process.

关键词： Glutamic Solution Concentration Crystallization Process Partial Least Squares

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Online monitoring of glutamic solution concentration based on PLS regression 27

Online monitoring of glutamic solution concentration based o...

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27th Chinese control and Decision Conference, CCDC 2015

作者： Qi, Li Liu, Wenya Wei, Ba Tao, Liu Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian China Dalian Scientific Test and Control Technology Institute Dalian China

ISBN: (纸本)9781479970179

Online monitoring of glutamic solution concentration is very important to control the crystallization process. Using infrared spectrometer ReactIR 15, we can obtain the real-time spectral data. Based on the partial least squares regression method, we can establish the regression model between glutamic solution concentration and the real-time spectral data. Repeated calibration experiments based on this model show that the average error is 0.53, and the average relative error is 1.88%. The model has good prediction ability, and it realized online monitoring of glutamic solution concentration in crystallization process. This paper proposed a good reference frame for the online analysis of solution concentration in crystallization process. © 2015 IEEE.

关键词： Crystallization Process Glutamic Solution Concentration Partial Least Squares

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Robust controller design with input constraints: Frequency domain approach 8

Robust controller design with input constraints: Frequency d...

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8th IFAC Symposium on Robust control Design, ROCOND 2015

作者： Veselý, Vojtech Osuský, Jakub Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia

A novel approach to robust controller design with input hard constraints is presented. The proposed design procedure contains robust stability condition based on the M-delta structure and it is used for additive and inverse additive uncertainty types. The obtained design results and their properties are illustrated on simulation example. © 2005 IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Additives

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Safety critical RTOS for space satellites

Safety critical RTOS for space satellites

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International Conference on Process control (PC)

作者： Juraj Slačka Miroslav Halás Faculty of Electrical Engineering and Information Technology Institute of Robotics and Cybernetics Bratislava Slovakia

In many practical applications, that can be found in control engineering, the functionality and safety of the overall control process rely on a proper function of the respective operating system. This fact makes the software one of the most safety critical elements of such practical applications, especially when the control process is placed in an inhospitable environment not directly accessible to man. One of such environments is Space. In this paper a problem of designing a safety critical real time operating system for a small space satellite called CubeSat is discussed. It is shown how to design such an operating system and how to increase its reliability and to protect it against single upset events.

关键词： Satellites Operating systems Program processors Satellite broadcasting Hardware Mathematical model Safety

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Survey: IRobot Create in the Educational and Research Process at Slovak University of Technology

Survey: IRobot Create in the Educational and Research Proces...

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2015 International Conference on Simulation, Modelling and Mathematical Statistics(SMMS 2015)

作者： Martin DEKAN Franti?ek DUCHO? Lubo? CHOVANEC Peter PáSZTó Michal T?LGYESSY Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information TechnologySlovak University of Technology

This paper deals with mobile robotic platform iRobot Create at Slovak University of Technology. In the introduction, the platform iRobot Create and its abilities are presented. The overview of existing applications which used Create as its base is provided. The main body of the article describes our own hardware and software modules created for this mobile robotic platform. In the conclusion, possibilities for further use and modifications of these modules are presented.

关键词： iRobot create Kinect Tele-control Design

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The status of KAGRA underground cryogenic gravitational wave telescope

arXiv

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arXiv 2017年

作者： Akutsu, T. Ando, M. Araya, A. Aritomi, N. Asada, H. Aso, Y. Atsuta, S. Awai, K. Barton, M.A. Cannon, K. Craig, K. Creus, W. Doi, K. Eda, K. Enomoto, Y. Flaminio, R. Fujii, Y. Fujimoto, M.-K. Furuhata, T. Haino, S. Hasegawa, K. Hashino, K. Hayama, K. Hirobayashi, S. Hirose, E. Hsieh, B.H. Inoue, Y. Ioka, K. Itoh, Y. Kaji, T. Kajita, T. Kakizaki, M. Kamiizumi, M. Kambara, S. Kanda, N. Kanemura, S. Kaneyama, M. Kang, G. Kasuya, J. Kataoka, Y. Kawai, N. Kawamura, S. Kim, C. Kim, H. Kim, J. Kim, Y. Kimura, N. Kinugawa, T. Kirii, S. Kitaoka, Y. Kojima, Y. Kokeyama, K. Komori, K. Kotake, K. Kumar, R. Lee, H. Lee, H. Liu, Y. Luca, N. Majorana, E. Mano, S. Marchio, M. Matsui, T. Matsushima, F. Michimura, Y. Miyakawa, O. Miyamoto, T. Miyamoto, A. Miyo, K. Miyoki, S. Morii, W. Morisaki, S. Moriwaki, Y. Morozumi, T. Musha, M. Nagano, S. Nagano, K. Nakamura, K. Nakamura, T. Nakano, H. Nakano, M. Nakao, K. Narikawa, T. Nguyen Quynh, L. Ni, W.-T. Ochi, T. Oh, J. Oh, S. Ohashi, M. Ohishi, N. Ohkawa, M. Okutomi, K. Oohara, K. Peña Alleano, F.E. Pinto, I. Sago, N. Saijo, M. Saito, Y. Sakai, K. Sakai, Y. Sasaki, Y. Sasaki, M. Sato, S. Sato, T. Sekiguchi, Y. Seto, N. Shibata, M. Shimoda, T. Shinkai, H. Shoda, A. Somiya, K. Son, E. Suemasa, A. Suzuki, T. Suzuki, T. Tagoshi, H. Takahashi, H. Takahashi, R. Takamori, A. Takeda, H. Tanaka, H. Tanaka, K. Tanaka, T. Tatsumi, D. Tomaru, T. Tomura, T. Travasso, F. Tsubono, K. Tsuchida, S. Uchikata, N. Uchiyama, T. Uehara, T. Ueki, S. Ueno, K. Ushiba, T. van Putten, M.H.P.M. Vocca, H. Wada, S. Wakamatsu, T. Yamada, T. Yamamoto, S. Yamamoto, T. Yamamoto, K. Yamamoto, A. Yokoyama, J. Yokozawa, T. Yoon, T.H. Yuzurihara, H. Zeidler, S. Zhu, Z.-H. National Astronomical Observatory of Japan Mitaka Tokyo181-8588 Japan Department of Physics University of Tokyo Bunkyo Tokyo113-0033 Japan Earthquake Research Institute University of Tokyo Bunkyo Tokyo113-0032 Japan Department of Advanced Physics Hirosaki University Hirosaki Aomori036-8561 Japan National Astronomical Observatory of Japan Hida Gifu506-1205 Japan Department of Physics Tokyo Institute of Technology Meguro Tokyo152-8551 Japan Institute for Cosmic Ray Research University of Tokyo Hida Gifu506-1205 Japan Research Center for the Early Universe University of Tokyo Bunkyo Tokyo113-0033 Japan Institute for Cosmic Ray Research University of Tokyo Kashiwa Chiba277-8582 Japan Institute of Physics Academia Sinica Nankang Taipei11529 Taiwan Department of Physics University of Toyama Toyama Toyama930-8555 Japan Faculty of Engineering University of Toyama Toyama Toyama930-8555 Japan Yukawa Institute for Theoretical Physics Kyoto University Sakyo Kyoto606-8502 Japan Department of Physics Osaka City University Sumiyosi Osaka558-8585 Japan Department of Physics Osaka University Toyonaka Osaka560-0043 Japan Korea Institute of Science and Technology Information Yuseong Daejeon34141 Korea Republic of Daejeon Yuseong34055 Korea Republic of National Institute for Mathematical Sciences Daejeon34047 Korea Republic of Department of Computer Simulation Inje University Gimhae Gyeongsangnam50834 Korea Republic of Department of Physics and Astronomy Seoul National University Seoul151-742 Korea Republic of High Energy Accelerator Research Organization Tsukuba Ibaraki305-0801 Japan Department of Physical Science Hiroshima University Higashihiroshima Hiroshima903-0213 Japan Department of Applied Physics Fukuoka University Jonan Fukuoka814-0180 Japan Department of Advanced Materials Science University of Tokyo Kashiwa Chiba277-8582 Japan Istituto Nazionale di Fisica Nucleare Sapienza University Roma00185 Italy D

KAGRA is a 3-km interferometric gravitational wave telescope located in the Kamioka mine in Japan. It is the first km-class gravitational wave telescope constructed underground to reduce seismic noise, and the first km-class telescope to use cryogenic cooling of test masses to reduce thermal noise. The construction of the infrastructure to house the interferometer in the tunnel, and the initial phase operation of the interferometer with a simple 3-km Michelson configuration have been completed. The first cryogenic operation is expected in 2018, and the observing runs with a full interferometer are expected in 2020s. The basic interferometer configuration and the current status of KAGRA are described. Copyright © 2017, The Authors. All rights reserved.

关键词： Interferometers

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Robust Gain-Scheduled controller Design for T1DM Individualised Model

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IFAC-PapersOnLine 2015年第14期48卷 82-87页

作者： Adrian Ilka Tomas Ludwig Ivan Ottinger Marián Tárník Eva Miklovicová Vojtech Veselá Ján Murgas Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovicova 3 812 19 Bratislava

Novel original robust gain-scheduled controller design for individualized type 1 diabetes mellitus (T1DM) subject model is presented in this paper. For controller design an LPV model is created from insulin-glucose subsystem based on Bergman’s minimal model with subcutaneous insulin absorption and absorption of digested carbohydrates. Identification was performed on pharmacokinetics and pharmacodynamics characteristics of administered insulin and data collected from continuous glucose monitoring (CGM) system. The controller design approach guarantees the closed-loop stability and cost for all scheduled parameter changes. Simulation results show the benefits of the proposed approach.

关键词： LPV system Robust controller Gain-scheduling Output feedback Quadratic stability Type 1 diabetes mellitus model

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