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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Przemysław Korohoda Adam Dąbrowski Chair of Electronics AGH University of Science and Technology Krakow Poland Division of Signal Processing and Electronic Systems Chair of Control and System Engineering Faculty of Computing Poznan University of Technology Poznan Poland

In this paper an experiment designed and performed to verify the possibility of efficient windowing utilized in time domain with the Mallat type wavelet decomposition scheme is described. The main idea is that the used filters are designed not in the Fourier domain but in a domain of any of the 16 DTTs. It is demonstrated that the windowing technique, which reduces the number of the required computations up to 34 times, results in the error with statistically assessed PSNR of ca. 40 dB (from 36 to over 50 dB). The PSNR is obtained from MSE computed with an assumption that the processed signal is a realization of the first order Markov process with a given intersymbol correlation. If necessary, the reconstruction is assumed to be perfect.

关键词： Discrete cosine transforms Wavelet transforms Finite impulse response filter PSNR Wavelet analysis Wavelet domain

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Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability

Feedback design for the Acrobot walking-like trajectory trac...

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Milan Anderle Sergej Čelikovský Institute of Information Theory and Automation Academy of Sciences of Czech Republic Prague Czech Republic Faculty of Electrical Engineering Department of Control Engineering Czech Technical University in Prague Prague Czech Republic

This paper aims to the further improve of the previously developed design for the Acrobot walking based on the partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4 dimensional linear time varying system having 3 time varying entries only. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 4×4 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot “walking”.

关键词： Legged locomotion Trajectory Stability analysis Eigenvalues and eigenfunctions Equations Jacobian matrices Time varying systems

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Time delay compensation by fuzzy control in the case of master-slave telesurgery

Time delay compensation by fuzzy control in the case of mast...

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6th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2011

作者： Precup, Radu-Emil Kovacs, Levente Haidegger, Tamas Preitl, Stefan Kovacs, Adalbert Benyo, Balazs Borbely, Endre Benyo, Zoltan Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Dept. of Mathematics Politehnica University of Timisoara Timisoara Romania Kandó Kálmn Faculty Óbuda University Budapest Hungary

ISBN: (纸本)9781424491094

Telesurgery means the remote application of interventional medical techniques;a concept that is currently widely practiced around the world for short distance through master-slave robot systems. The concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. The current paper suggests a fuzzy control solution for telesurgical applications aiming at the alleviation of the disturbing effects of large latencies with the concept of remote surgical robotics. The fuzzy control solution is supported by a cascade control system structure with two proportional-integral-derivative (PID) controllers in the inner and outer control loops and designed by Kessler's Extended Symmetrical Optimum empirical criteria. The PID controller in the outer loop is next replaced by Takagi-Sugeno-Kong PID-fuzzy controllers which combine several separately designed PID controllers. The combination of separately designed PID controllers and the modal equivalence principle are expressed as a design and tuning method of the Tagaki-Sugeno-Kong PID-fuzzy controllers. © 2011 IEEE.

关键词： Three term control systems

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Advanced Active Power Filter to improve power quality

Advanced Active Power Filter to improve power quality

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International Aegean Conference on Electrical Machines and Power Electronics, ACEMP

作者： Gelu Gurguiatu Ciprian Balanuţă Emil Roşu Toader Munteanu Mariana Dumitrescu Elena Raducan Faculty of Automatic Control Computers Electrical and Electronics Engineering Department Automation and Electrical Engineering Dunărea de Jos University of Galai Romania Faculty of Sciences Physics Department Duărea de Jos University of Galati Romania

This paper presents a three-phase Active Power Filter (APF) to improve grid power quality. Starting from indirect control strategy which was used only for three legs - three wires it is proposed in this paper to be used a bridge with three legs - four wire. The new control strategy it was named extended indirect control strategy. The extension consists in passing from the control of a three wire active power filter to the control of a four wire active power filter. The proposed active power filter can compensate the current harmonics and correct the power factor. Moreover, the proposed control strategy allows the line current at the point of common coupling (PCC) to be balanced and sinusoidal even when the load is unbalanced. Consequently the voltage at the PCC becomes balance. Simulation results show the validity of the proposed control strategy.

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Communication related design considerations of WSN-aided Multi-Robot SLAM

Communication related design considerations of WSN-aided Mul...

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International Conference on Mechatronics (ICM)

作者： Gurkan Tuna Kayhan Gulez V. Cagri Gungor Vocational College of Technical Sciences Department of Computer Programming Trakya University Edirne Turkey Electrical-Electronics Engineering Faculty Control and Automation Engineering Department Yildiz Technical University Istanbul Turkey Department of Computer Engineering Bahcesehir University Istanbul Turkey

This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations.

关键词： Wireless sensor networks Robustness Batteries Sensors

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Fuzzy Logic Based Approach in an Enterprise Resource Planning System for Hydraulic Cylinders Assembly

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Journal of Mechanics engineering and automation 2011年第6期1卷 425-435页

作者： Snejana Yordanova Lubomir Dimitrov Mila Klochkova Hristo Bankov Continuous Processes Control Department Faculty of Automation Technical University of Sofia Sofia 1000 Bulgaria Machine Elements Department Faculty of Mechanical Engineering Technical University of Sofia Sofia 1000 Bulgaria Hydraulic Elements and Systems PLC Yambo18600 Bulgaria

Trends in modern industry show a tendency towards demassovization of production as a response to the customers＇ specific needs for unique and personalized products. This provokes significant changes in the processes of manufacturing, assembly, and testing The cost of such a type of production can be reduced by employing highly productive reconfigurable equipment with proper software to enable optimization. This paper presents a decision support extension for directing of hydraulic cylinders to assembly-testing lines using fuzzy logic in the Enterprise Resource Planning system of a small size production in a factory in Bulgaria. Different assembly-testing lines are flexibly assigned to the specific cylinder＇s parameters by the developed fuzzy system on the basis of the overlapping of parameters in the hydraulic cylinders classification. The final decision on the line assigned in case of alternatives is made through accounting for the minimal cylinder delay time. The effectiveness of the approach is assessed by simulation. It leads to an increase of the efficiency of the assembly-testing flow lines, a reduction of the time needed for hydraulic cylinders assembling and testing and balanced loading of the modules.

关键词： Enterprise resource planning fuzzy decision hydraulic cylinders assembly simulations real time operation.

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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Web-based compilation of C-MEX S-functions and its application in NCSLab

Web-based compilation of C-MEX S-functions and its applicati...

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作者： Pang, Zhonghua Liu, Guo-Ping Qiao, Yuliang School of Automation Engineering Qingdao Technological University Qingdao 266033 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom HiRain Technologies Beijing 100101 China

ISBN: (纸本)9789881725592

This paper introduces a whole Web-based laboratory called NCSLab for the design and practical implementation of complex control systems, which adopts a three-tier architecture including Web browsers, server clusters and test rigs. Two blocksets, a basic blockset and a networked control blockset, are created to facilitate the configuration of control systems in a block-diagram-based way on a Web page called WebConSim. Users can design some simple or given control algorithms with these blocks based on WebConSim. In order to enable users to design complex control systems based on the Web, which are required to add customized algorithms toWebConSim models, the functionality ofWeb-based compilation and calling of C-MEX S-Functions is developed. Practical experiments are given to illustrate the whole Web-based functionality of NCSLab. © 2011 Chinese Assoc of Automati.

关键词： Web browsers

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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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