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International Carpathian Control Conference (ICCC)

作者： Andrzej Samek Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The life of a machine may be divided in two main periods: virtual - the time of designing the machine, and real - the time of production and exploitation. The quality of machine exploitation depends mainly on the former. The quality of the designing system may be considered as a quality of a hybrid system of the designing team and equipment, and a computer with software. The quality of the production system is more conditional upon the quality of the machining and assembling stands and their equipment. The quality of control and management has a significant influence on the quality of production system activity. Last but not least, correct exploitation of a machine allows to obtain the required quality of activity. The aforementioned factors have different effects and are mutually interconnected. In all periods of the life of a machine, analysis is necessary to use adequate strategies to obtain a satisfactory final effect and exploitation quality.

关键词： Software Machining Prototypes Computers Production systems Control engineering

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Determining the orientation of a body in space using the Kalman filter

Determining the orientation of a body in space using the Kal...

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International Carpathian Control Conference (ICCC)

作者： Janusz Kowal Slawomir Blok Andrzej Sioma Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

Using measurements from inertial sensors such as gyroscopes and accelerometers and other, orientation of solids can be defined in space. To solve this task, one type of sensor is not enough, because there are certain dependencies between the individual measurements. Estimation of orientation must be used in navigation and autopilot systems in aircraft. It uses a unique combination of well known filters, transformation and advanced Kalman filter in order to determine the three Euler angles that define the orientation of the body in space.

关键词： Acceleration Accelerometers Mathematical model Vectors Low pass filters Kalman filters Gyroscopes

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A set-valued approach to FDI and FTC: Theory and implementation issues

A set-valued approach to FDI and FTC: Theory and implementat...

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8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Rosa, P. Casau, P. Silvestre, C. Tabatabaeipour, S.M. Stoustrup, J. Institute for Systems and Robotics Av. Rovisco Pais 1 1049-001 Lisboa Portugal Aalborg University 9220 Aalborg East Denmark Faculty for Science and Technology University of Macau Taipa China

ISBN: (纸本)9783902823090

A complete methodology to design robust Fault Detection and Isolation (FDI) filters and Fault Tolerant Control (FTC) schemes for Linear Time-Varying (LTV) systems is proposed. The paper takes advantage of the recent advances in model invalidation using Set-Valued Observers (SVOs) that led to the development of FDI methods for uncertain linear time-varying systems, with promising results in terms of the time required to diagnose faults. An integration of such SVO-based FDI methods with robust control synthesis is described, in order to deploy new FTC algorithms that are able to stabilize the plant under faulty environments. The FDI algorithm is assessed within a wind turbine benchmark model, using Monte-Carlo simulation runs. © 2012 IFAC.

关键词： Fault detection

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Fault detection and isolation and fault tolerant control of wind turbines using set-valued observers

Fault detection and isolation and fault tolerant control of ...

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8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Casau, P. Rosa, P. Tabatabaeipour, S.M. Silvestre, C. Institute for Systems and Robotics Av. Rovisco Pais 1 1049-001 Lisboa Portugal Aalborg University 9220 Aalborg East Denmark Faculty for Science and Technology University of Macau Taipa China

ISBN: (纸本)9783902823090

Research on wind turbine Operations & Maintenance (O&M) procedures is critical to the expansion of Wind Energy Conversion systems (WEC). In order to reduce O&M costs and increase the lifespan of the turbine, we study the application of Set-Valued Observers (SVO) to the problem of Fault Detection and Isolation (FDI) and Fault Tolerant Control (FTC) of wind turbines, by taking advantage of the recent advances in SVO theory for model invalidation. A simple wind turbine model is presented along with possible faulty scenarios. The FDI algorithm is built on top of the described model, taking into account process disturbances, uncertainty and sensor noise. The FTC strategy takes advantage of the proposed FDI algorithm, enabling the controller reconfiguration shortly after fault events. Additionally, a robust controller is designed so as to increase the wind turbine's performance during low severity faults. Finally, the FDI algorithm is assessed within a publicly available benchmark model, using Monte-Carlo simulation runs. © 2012 IFAC.

关键词： Wind turbines

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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2012 IEEE International Conference on Automation science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Tang, Hui Li, Yangmin Yang, Qinmin Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781467304283

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks. © 2012 IEEE.

关键词： Controllers

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Control system simulation for endoscopie surgical manipulator based on virtual chain approach

Control system simulation for endoscopie surgical manipulato...

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2012 1st International Conference on Innovative Engineering Systems, ICIES 2012

作者： Ibrahim, Khalil Ramadan, Ahmed Farmi, Mohamed Kobayashi, Yo Abo-Ismail, Ahmed Fujie, Masakatus G. Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dep. Tanta University Tanta Egypt Mechanical Department Mansoura University Mansoura Egypt Faculty of Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781467344388

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error. © 2012 IEEE.

关键词： MATLAB

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Supervisory System for Supporting Decision-Making Process in Proactive Maintenance of Technical Object

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IFAC Proceedings Volumes 2012年第31期45卷 30-35页

作者： J. Smoczek J. Szpytko AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Av. A. Mickiewicza 30 PL 30-059 Krakow Poland

The proactive maintenance involves the advances warming of the failure possibility, that can bring the attention of maintenance personnel to impending danger, and realizing preventive and corrective operations. The paper describes the application type of HMI/ SCADA equipped with tools created using soft computing techniques applied to design the fuzzy predictive models of time between failures, and to aid decision-making process of user by collected in database heuristic maintenance strategy. The method of off-line and on-line learning predictive models was based on the genetic algorithm and recursive least squares algorithm. The application of supervisory system was tested on the laboratory stand equipped with the physical model of an overhead travelling crane.

关键词： proactive maintenance failure prediction fuzzy logic genetic algorithm.

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Multibody bionic systems modeling - The puppet master approach

Multibody bionic systems modeling - The puppet master approa...

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International Carpathian Control Conference (ICCC)

作者： Janusz Kowal Wojciech Lepiarz Andrzej Sioma Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

In this study, the puppet master approach to solve the kinematics of complex multi-body systems is introduced. The puppet master approach is shown in comparison with traditional analytical one. The method is used to solve multi-body systems of bio-inspired concept prototypes. In these examples the strong and weak sides of this approach are shown. The puppet master approach can be used to rapidly evaluate and compare different concept prototypes.

关键词： Legged locomotion Kinematics Prototypes Algorithm design and analysis Joints Dynamics

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Learning the reachable space of a humanoid robot: a bio-inspired approach

Learning the reachable space of a humanoid robot: a bio-insp...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Lorenzo Jamone Lorenzo Natale Kenji Hashimoto Giulio Sandini Atsuo Takanishi Faculty of Science and Engineering Waseda University Department of Robotics Brain and Cognitive Sciences Italian Institute of Technology

ISBN: (纸本)9781457711992

In this paper we describe how a humanoid robot can learn a representation of its own reachable space from motor experience: a Reachable Space Map. The map provides information about the reachability of a visually detected object (i.e. a 3D point in space). We propose a bio-inspired solution in which the map is built in a gaze-centered reference frame: the position of a point in space is encoded with the motor configuration of the robot head and eyes which allows the fixation of that point. We provide experimental results in which a simulated humanoid robot learns this map autonomously and we discuss how the map can be used for planning whole-body and bimanual reaching.

关键词： Humanoid robots maps MAPPING(MATHEMATICAL) Humanoid Motor Accessibility

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The application of a non-uniform magnetic field to semi-active vibration control of a beam with magnetorheological fluid

The application of a non-uniform magnetic field to semi-acti...

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International Carpathian Control Conference (ICCC)

作者： Jacek Snamina Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

The influence of non-uniform magnetic field on the beam with magnetorheological fluid is used to build the vibration control algorithms. A special laboratory stand with appropriate electromagnet was built to test free and forced vibrations of the beam with and without control. Experiments were done to determine the stiffness and damping parameters of the beam for various currents flowing in electromagnet coils. A vibration control algorithm was proposed, based on the system identification data and using the averaging technique of nonlinear system analysis.

关键词： Vibrations Laser beams Magnetic fields Electromagnets Damping Fluids Equations

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