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Mediterranean Electrotechnical Conference (MELECON)

作者： J. Puksec M. Opsenica D. Frank V. Maricic K.P. Valavanis I. Lovrek Ericsson Nikola Tesla d.d. Zagreb Croatia Department of DPEM Technical University of Crete Greece Center for Advanced Computer Studies University of Louisiana Lafayette Lafayette USA Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

The paper presents modelling, simulation and checking of Email Alert System service by using Petri nets. Petri net models are used in the early design phases for formal verification of the service solution characterised by concurrent processes and threads, as well as hardware parallel ability. A case study discussing call design approach is included.

关键词： Electronic mail Web and internet services Internet telephony Web server Databases Postal services Yarn Hardware Formal verification computer languages

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Comparative analysis of Mamdani and Sugeno type fuzzy autopilots for ships

Comparative analysis of Mamdani and Sugeno type fuzzy autopi...

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1999 European control Conference, ECC 1999

作者： Vukic, Z. Velagic, J. University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 ZagrebHR-10000 Croatia University of Sarajevo Faculty of Electrical Engineering Skenderija 70 SarajevoBH-71000 Bosnia and Herzegovina

ISBN: (纸本)9783952417355

In this paper a comparative analysis of Mamdani and Sugeno type fuzzy autopilots for ships is given. Both autopilots have two inputs: the heading signal and the yaw rate signal, and only one output: command rudder angle. Input variable fuzzification, fuzzy associative memory (FAM) rules, and output set defuzzification are described. The control system for the course-keeping composed of the nonlinear ship, the steering gear servo system, fuzzy autopilot and wave disturbance is described. Both autopilots are compared in three different sailing conditions: without wave disturbance, with wave disturbance and with wave disturbance and wave filtering. The notch filter was used for filtering of second-order wave disturbances. The influence of wave disturbance on course-keeping performance was analyzed. Even though the obtained performance in simulations are very similar, authors prefer Sugeno type fuzzy autopilot, due to less strain of the steering gear servo system and faster and more accurate heading obtained. © 1999 EUCA.

关键词： Ships

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Adaptive control of multiple robots manipulation in dynamical environment

Adaptive control of multiple robots manipulation in dynamica...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.I. Tuneski G.R. Rafajlovski Department Automatic Control Faculty of Electrical Engineering and Computing Faculty of Electrical Engineering and Computing Skopje Macedonia Department Industrial Automatics Faculty of Electrical Engineering and Computing Skopje Macedonia

An adaptive control of multiple compliant manipulation in dynamical environment is synthesized. The control system is designed for: 1) when there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; 2) when the parameters of the system are not precisely known; and 3) when the system parameters do vary in a known regions about their nominal values. The proposed adaptive control law has the inverse dynamics controller structure and is composed of both an identification part and a control part. The simulation results verify the proposed approach to coordinated adaptive control of multiple robot manipulators in constrained motion tasks.

关键词： Adaptive control Robot kinematics Manipulator dynamics Orbital robotics Robotic assembly Uncertainty control system synthesis control systems Service robots Robotics and automation

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Friction compensation methods in position and speed control systems

Friction compensation methods in position and speed control ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： D. Stajic N. Peric J. Deur Faculty of Electrical Engineering and Computing Department or Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

Friction appears in the bearings and reduction gear of controlled electrical drives and affects the quality of the position, speed or force control. The servosystem performance can be improved by implementation of acceleration feedback. For the reason that acceleration measurement is often either not possible or practical, the implementation of acceleration estimation by an observer or differentiation of speed is proposed. Another approach to friction influence compensation is based on the disturbance observer. Its advantage is that it can be applied generally to the estimation of various disturbances. This paper deals with these friction compensation methods which are not based on friction model, but on the compensation of friction as a disturbance. The efficiency of these methods in a servodrive with Stribeck friction is compared by computer simulation and experimentally on a servosystem laboratory model.

关键词： Friction Velocity control Force control Servosystems Acceleration Accelerometers Gears Feedback computer simulation Laboratories

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Frequency domain analysis of B-spline interpolation

Frequency domain analysis of B-spline interpolation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Z. Mihajlovic A. Goluban M. Zagar Department of Electronics Microelectronics Computer and Intelligent Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper describes B-spline interpolation and compares it with other reconstruction methods, especially in three-dimensional space. We first consider the B-spline bases in the terms of convolution in signal processing. The presented analysis requires careful usage of continuous and discrete representation of B-spline. Emphasis is given to the important difference between B-spline interpolation and approximation. The difference is shown through frequency domain analysis, so we derive frequency responses of the B-spline interpolation and approximation. We conclude by demonstrating the use of several reconstruction filters and appropriate gradient estimators in volume rendering. Exact reconstruction in volume visualization is very important in many industrial applications, such as material cavity control.

关键词： Frequency domain analysis Spline Interpolation Image reconstruction Convolution Filters Polynomials Data visualization Frequency response Microelectronics

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control of autonomous robots using fuzzy logic controllers tuned by genetic algorithms

Control of autonomous robots using fuzzy logic controllers t...

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1999 Congress on Evolutionary Computation, CEC 1999

作者： Arsene, C.T.C. Zalzala, A.M.S. Faculty of Control and Computers University Politechnica of Bucharest Romania Department of Computing and Electrical Engineering Heriot-Watt University Edinburgh EH14 4AS United Kingdom

ISBN: (纸本)0780355369

Truly autonomous vehicles will require both projective planning and reactive components in order to perform robustly. Projective components are needed for long term planning and re-planning where explicit reasoning about future states is required. Reactive components allow the system to always have some action available in real time, and themselves can exhibit robust behaviour, but lack the ability to explicitly reason about future states over a long time period. The paper emphasises creating the projective component but also offer a simple solution for reactive component. A genetic algorithm implements the projective component, which designs automatically a fuzzy logic controller by modifying the position of controller membership functions and the commands given to the robot. For the reactive component, a simple solution was adopted so that if the robot sensors detect new obstacles, the robot will try to move to a previous position. © 1999 IEEE.

关键词： Genetic algorithms

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The B-spline interpolation in visualization

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Journal of computing and Information Technology 1999年第3期7卷 245-253页

作者： Mihajlović, Željka Goluban, Alan Department of Electronics Microelectronics Computer and intelligent Systems Faculty of Electrical Engineering arid Computing University of Zagreb Unska 3 Zagreb10 000 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10 000 Croatia

The volume data is generally in the form of the large array of numbers. In order to render the object hidden in the volumetric data, we need to reconstruct or interpolate data values between the samples. The novelty presented in this paper is B-spline interpolation in the volumetric space. We show that this approach is better than currently used methods. We also present a hybrid approach, analyze this approach in frequency domain and compare it to B-spline interpolation. To enhance the quality during the volume visualization process it is important to enhance the quality of the reconstruction. It is of crucial importance to explore different undesired effects. If better reconstruction is performed the more accurate result of volume visualization process is achieved.

关键词： Volume rendering

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control of autonomous robots using fuzzy logic controllers tuned by genetic algorithms

Control of autonomous robots using fuzzy logic controllers t...

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Congress on Evolutionary Computation

作者： C.T.C. Arsene A.M.S. Zalzala Faculty of Control and Computers Romania Department of Computing & Electrical Engineering Heriot-Watt University Edinburgh UK

关键词： Robot control Fuzzy logic Robot sensing systems Robotics and automation Robustness Automatic control Remotely operated vehicles Mobile robots Real time systems Genetic algorithms

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Magnetization and shape memory effect of ferromagnetic shape memory alloy wire

Magnetization and shape memory effect of ferromagnetic shape...

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International Conference on Magnetics (INTERMAG)

作者： T. Kanada M. Enokizono Department of Computer and Control Eng Oita National College of Technology Maki Oita Japan Department of Electronic and Electrical Engineering Faculty of Engineering Oita University Dannoharu Oita Japan

Thus far, investigations have been made and reported on the magnetization and shape memory effed (SME) of sheet and ribbon specimen[1].

关键词： Shape memory alloys Magnetization Heat treatment Wire

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Interconnection model for networked virtual reality applications

Interconnection model for networked virtual reality applicat...

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Conference on Local computer Networks (LCN)

作者： M. Matijasevic D. Gracanin K.P. Valavanis I. Lovrek Faculty of Electrical Engineering and Computing Department of Telecommunications University of Zagreb Zagreb Croatia Virtual Reality and Multimedia Laboratory and Center for Advanced Computer Studies University of Southwestern Louisiana Lafayette LA USA

Specification of networking requirements for networked virtual reality applications and a way of propagating the user/application level requirements down to the communication level are open research issues. As a contribution to ongoing research, we propose a model, named interconnection model, that represents a network-oriented view of a distributed virtual environment. Within the model, bandwidth requirements are addressed in more detail for shared virtual objects that change as a result of user interactions. A prototype multi-user distributed virtual environment for teleoperation of a mobile robot has been used as a case study.

关键词： Virtual reality Prototypes Quality of service electrical capacitance tomography Java Military computing Humans Laboratories Bandwidth Standards development

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