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作者： Cheng, Lei Wu, Huaiyu Wang, Yongji Zhu, Quanmin Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology 430081 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Faculty of Environment and Engineering University of the West of England Bristol BS16 1QY United Kingdom

ISBN: (纸本)9789881725592

To provide a generic solution to the local minimum problem encountered within flocking systems in uncertain environment, this paper presents a further design of a multi-model flocking control for multiple mobile robots in terms of behavior-based robotics. Within this framework, several new behavior modes are integrated with the sequential flocking strategy, including multi-robot rigid-body bouncing behavior, multi-robot wall-following behavior and their fusion state. The simulation studies are comprehensively conducted to demonstrate the well environment-adaptability of the proposed procedure in static/dynamic irregular obstacles environment. © 2011 Chinese Assoc of automation.

关键词： Multipurpose robots

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VISIR deployment in undergraduate engineering practices

VISIR deployment in undergraduate engineering practices

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Global Online Laboratory Consortium Remote Laboratories Workshop (GOLC)

作者： Mohamed Tawfik Elio Sancristobal Sergio Martín Charo Gil Alberto Pesquera Pablo Losada Gabriel Díaz Juan Peire Manuel Castro Javier García-Zubia Unai Hernández Pablo Orduña Ignacio Angulo M. C. Costa Lobo M. A. Marques M. C. Viegas Gustavo R. Alves Spanish University of Distance Education Spain Electronics and Automation Department University of Deusto Bilbao Spain Telecommunications Department University of Deusto Spain Ambient Intelligence Department of DeustoTech-Tecnológico Fundación Deusto University of Deusto Spain Department of Industrial Electronics Control Engineering and Computers Architecture of the Faculty of Engineering University of Deusto Spain School of Engineering IPP-Polytechnic Institute of Porto Porto Portugal

Practical sessions are the backbone of qualification in engineering education. It leads to a better understanding and allows mastering scientific concepts and theories. The lack of the availability of practical sessions at many universities and institutions owing to the cost and the unavailability of instructors the most of the time caused a significant decline in experimentation in engineering education over the last decades. Recently, with the progress of computer-based learning, remote laboratories have been proven to be the best alternative to the traditional ones, regarding to its low cost and ubiquity. Some universities have already started to deploy remote labs in their practical sessions. This contribution compiles diverse experiences based on the deployment of the remote laboratory, Virtual Instrument Systems in Reality (VISIR), on the practices of undergraduate engineering grades at various universities within the VISIR community. It aims to show the impact of its usage on engineering education concerning the assessments of students and teachers as well.

关键词： Educational institutions Servers Instruments Remote laboratories engineering education Conferences

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Broken Even-Odd Symmetry in Self-Selection of Distances between Nanoclusters due to the Presence or Absence of Topological Solitons

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Physical Review Letters 2011年第16期106卷 166101-166101页

作者： M. Y. Lai J. P. Chou O. A. Utas N. V. Denisov V. G. Kotlyar D. Gruznev A. Matetsky A. V. Zotov A. A. Saranin C. M. Wei Y. L. Wang Institute of Atomic and Molecular Sciences Academia Sinica Taipei Taiwan Republic of China Institute of Automation and Control Processes Vladivostok Russia Department of Electronics Vladivostok State University of Economics and Services Vladivostok Russia Faculty of Physics and Engineering Far Eastern State University Vladivostok Russia Department of Physics National Taiwan University Taipei Taiwan. Republic of China

Depositing particles randomly on a 1D lattice is expected to result in an equal number of particle pairs separated by even or odd lattice units. Unexpectedly, the even-odd symmetry is broken in the self-selection of distances between indium magic-number clusters on a Si(100)−2×1 reconstructed surface. Cluster pairs separated by even units are less abundant because they are linked by silicon atomic chains carrying topological solitons, which induce local strain and create localized electronic states with higher energy. Our findings reveal a unique particle-particle interaction mediated by the presence or absence of topological solitons on alternate lattices.

关键词： Solitons

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Infrared camera measurement of source

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International Journal of Circuits, Systems and Signal Processing 2011年第6期5卷 589-596页

作者： Drga, R. Janáčová, D. Charvátová, H. Tomas Bata University Faculty of Applied Informatics Department of Security Engineering nám. T. G. Masaryka 5555 760 01 Zlín Czech Republic Faculty of Applied Informatics Department of Automation and Control Eigineering Tomas Bata University nám T. G. Masaryka 5555 760 01 Zlín Czech Republic

The paper deals with the infrared radiation source EK-8520, ability to measure using a thermocouple TP334 and temperature by thermal imager for calculating spectral range. It prepares the theoretical and practical bas... 详细信息

关键词： Infrared radiation

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Stabilization of unknown nonlinear systems using a cognition-based framework

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PAMM 2011年第1期11卷

作者： Xi Shen Fan Zhang Dirk Söffker Faculty of Engineering Chair of Dynamics and Control (SRS) Lotharstraße 65 47057 Duisburg Germany

This paper considers an adaptive control method based on a cognition-based framework to stabilize unknown nonlinear systems. In order to fulfill the task of stabilization, neither the information about the systems dynamical structure nor the knowledge about system physical behaviors, but the system states, which are assumed as measurable, are required. The structure of the proposed controller consists of three parts. The first part is based on a recurrent neural network (RNN) to be used for local identification of the unknown nonlinear system in real time. The network can be utilized as system characteristics, which is further used to design the controller within the third part. In the second part, the set of the given input values leading to stable behavior of the closed-loop system will be calculated numerically with a geometrical criterion based on a suitable definition of quadratic stability. In the third part, a suitable control input value is chosen accordingly to a time-relevant criteria from the set of input values generated in the second part of the controller. These three parts and their internal connections are arranged within a so-called cognition framework. The proposed cognitive controller is able to gain useful knowledge (with local validity) and define autonomously a suitable control input with respect to the requirements of the time-relevant criteria. Numerical examples are shown to demonstrate the successful application and performance of the method. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)

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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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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： Radu-Emil Precup Levente Kovács Tamás Haidegger Stefan Preitl Adalbert Kovács Balázs Benyó Endre Borbély Zoltán Benyó Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Mathematics Polytechnic University of Timisoara Timisoara Romania Kandó Kálmán Faculty Óbuda University Budapest Hungary

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.

关键词： control systems Tuning Fuzzy control Robots Delay effects Design methodology Humans

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Fault tolerant tracking control for nonlinear systems based on derivative estimation

Fault tolerant tracking control for nonlinear systems based ...

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作者： Mai, Philipp Hillermeier, Claus Faculty of Electrical Engineering Institute of Automation and Control University der Bundeswehr München D-85579 Neubiberg Germany

ISBN: (纸本)9781424474264

This paper presents a fault tolerant control (FTC)-architecture for trajectory tracking, where generalized actuator faults are online diagnosed and compensated for by the control system. Employing least-squares derivative estimators for identifying the faults inserts time-delays into the control loop. When a reference trajectory is to be tracked, the closed FTC loop represents a nonlinear time-varying time-delay system. Linearizing its dynamics around the reference trajectory makes it possible to determine tolerable delay times, which allows to deduce admissible intervals for the values of the FTC parameters. The FTC scheme is illustrated by simulations of an underactuated satellite with faulty actuators. © 2010 AACC.

关键词： Time delay

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control of an Overhead Crane with the controlled Lagrangian Method

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IFAC Proceedings Volumes 2010年第14期43卷 131-136页

作者： Daniel Poljak Dominik Schindele Felix Antritter Harald Aschemann Claus Hillermeier Chair of Automation and Control Engineering University of the Bundeswehr Munich Germany Chair of Mechatronics University of Rostock Germany

A nonlinear controller structure for an overhead crane is designed and implemented on a crane plant. The energy based stabilizing controller part is derived by the method of controlled Lagrangians. In that framework, kinetic and potential shaping is performed and so-called general matching conditions are employed. control parameters well suited for the practical implementation are found by optimization using the linearization of the closed loop system. Nonlinear damping effects are counteracted in the overall controller structure by feedforward compensation and a reduced nonlinear disturbance observer.

关键词： energy based control underactuated mechanical systems controlled Lagrangians

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Identification and MPC control of a circulation fluidized bed boiler using an LPV model

Identification and MPC control of a circulation fluidized be...

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作者： Huang, Jiangyin Ji, Guoli Zhu, Yucai Lin, Wei Department of Automation Xiamen University Xiamen 361005 China Control Systems Faculty of Electrical Engineering Eindhoven University of Technology Netherlands

ISBN: (纸本)9783902661692

This work studies the identification and control of circulation fluidized bed (CFB) boilers. The CFB boiler under investigation shows strong nonlinearity due to big changes of steam load. A linear parameter varying (LPV) model is used to represent the process dynamics and used in control. The steam flow is used as the working-point variable (scheduling variable) of LPV model. Multivariable plant tests were carried out and a LPV model and a linear model were identified. The identification results of the industrial CFB boiler show that the LPV model has much higher accuracy than the linear model. The simulation studies for the MPC control of the CFB boiler have been performed using both the LPV model and the linear model. The simulation results show that the MPC using the LPV model performs better than the MPC using the linear model. © 2009 IFAC.

关键词： Fluidized beds

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Observer-based estimation of pressure signals in hydrostatic transmissions

Observer-based estimation of pressure signals in hydrostatic...

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作者： Schulte, Horst Gerland, Patrick Department of Engineering I Electrical Engineering and Automation Wilhelminenhofstr. 75A 12459 Berlin Germany University of Kassel Faculty of Mechanical Engineering Measurement and Control Moenchebergstr. 7 34125 Kassel Germany

ISBN: (纸本)9783902661722

Hydrostatic transmissions, also called hydrostatic gears, have been widely used in mobile working machines and off-road vehicles such as construction and agricultural machines. This kind of transmission offers important advantages like continuously variable transmission with high power density, maximum tractive force at low speeds and reversing without changing gear. The automatic electronic control of hydrostatic transmissions, which depend on a number of measurable values, has become more common in industrial practice. To ensure the reliability and safety at least a two-channel redundant system for the measuring channels is required. In this paper, a general model-based approach using a Takagi-Sugeno (T-S) fuzzy observer for analytical redundancy of the oil pressure measuring process in hydrostatic transmissions is developed. It has been shown by experimental results that this approach can be used to estimate the pressure values under varying load conditions and different driving situations. © 2010 IFAC.

关键词： Off road vehicles

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