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International Symposium on Electronics in Marine (ELMAR)

作者： Radu-Emil Precup Mircea-Bogdan Rădac Stefan Preitl Emil M. Petriu János Fodor Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Budapest Hungary

The paper suggests an approach to the optimal design of original Takagi-Sugeno PI-fuzzy controllers (PI-FCs) applied in ship course control. The optimization is done in terms of the Iterative Feedback Tuning algorithms making use of new gradient experiments. Signal processing aspects are discussed with this regard to enable the implementation of low-cost fuzzy controllers. One case study concerning the optimal design of a PI-FC for a servo system position control application is included to validate the theoretical approaches. The real-time experimental results show the performance improvement with respect to a classical control solution.

关键词： Optimal control Fuzzy control Marine vehicles Signal processing algorithms Control systems Automatic control Cascading style sheets Nonlinear dynamical systems Feedback Iterative algorithms

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Tire slip fuzzy control of a laboratory anti-lock braking system 10

Tire slip fuzzy control of a laboratory anti-lock braking sy...

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2009 10th European Control Conference, ECC 2009

作者： Radac, Mircea-Bogdan Precup, Radu-Emil Preitl, Stefan Tar, Jozsef K. Burnham, Keith J. Department of Automation and Applied Informatics 'Politehnica' University of Timisoara Bd. V. Parvan 2 Timisoara300223 Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Bécsi út 96/B Budapest1034 Hungary Control Theory and Applications Centre Coventry University Armstrong Siddeley Building Priory Street CoventryCV1 5FB United Kingdom

ISBN: (纸本)9783952417393

A tire slip fuzzy control solution is designed and implemented in the framework of an Anti-lock Braking System (ABS) comprising a highly nonlinear controlled plant. The fuzzy controllers are designed to work for locally linearized models of the plant. Their parameters are tuned by mapping from simple PI controllers in terms of the modal equivalence principle. The experience from the experiments is incorporated in the design of the rules and the stability analysis enables the controller design. The benefits of filtering the input of the fuzzy controller are highlighted in real-time experimental results. © 2009 EUCA.

关键词： Fuzzy control

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Very low speed performance of active flux based sensorless control: Interior permanent magnet synchronous motor vector control versus direct torque and flux control

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IET Computers and Digital Techniques 2009年第6期3卷 551-561页

作者： Paicu, M.C. Boldea, I. Andreescu, G.-D. Blaabjerg, F. University Politehnica of Timisoara Department of Electrical Engineering 2 Vasile Parvan Boulevard 300223 Timisoara Romania University Politehnica of Timisoara Department of Automation and Applied Informatics 2 Vasile Parvan Boulevard 300223 Timisoara Romania Aalborg University Institute of Energy Technology 101 Pontoppidanstraede 9220 Aalborg East Denmark

This study is focused on very low speed performance comparison between two sensorless control systems based on the novel 'active flux' concept, that is, the current/voltage vector control versus direct torque and flux control (DTFC) for interior permanent magnet synchronous motor (IPMSM) drives with space vector modulation (SVM), without signal injection. The active flux, defined as the flux that multiplies iq current in the dq-model torque expression of all ac machines, is easily obtained from the stator-flux vector and has the rotor position orientation. Therefore notable simplification in the rotor position and speed estimation is obtained. For IPMSM, a stator-flux observer is employed based on combined current and voltage models, with speed-dependent smooth transition between them using a PI compensator of flux error. Comparative experimental results using both sensorless control systems are presented to verify the principles and to demonstrate the effectiveness of the active flux observer at very low speeds from 20 to 2rpm (1-0.1Hz). © 2009 The Institution of Engineering and Technology.

关键词： Sensorless control

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Interpolation based fuzzy automaton for human-robot interaction 9th

Interpolation based fuzzy automaton for human-robot interact...

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9th IFAC Symposium on Robot Control, SYROCO 2009

作者： Kovács, Szilveszter Vincze, Dávid Gácsi, Márta Miklósi, Ádám Korondi, Péter Department of Automation University of Miskolc Miskolc-Egyetemváros MiskolcH-3515 Hungary Department of Cybernetics and AI Technical University of Kosice Letná 9/B Košice04120 Slovakia Department of Information Technology University of Miskolc Miskolc-Egyetemváros MiskolcH-3515 Hungary Department of Ethology Eötvös University Pázmány P. 1/c BudapestH-1117 Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Department of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics Po.Box. 91 BudapestH-1521 Hungary

ISBN: (纸本)9781617825583

One way of handling Human-Robot Interaction (HRI) is based on the concept, that the robot acts like an animal companion to human. According to this paradigm the Robot should not be molded to mimic the human being, and form human-to-human like communication, but to follow the existing biological examples and form inter-species interaction. The 20.000 year old human-dog relationship is a good example for this paradigm of the HRI, as interaction of different species. One good reason of this approach in HRI is the lack of the "uncanny valley" effect i.e. increasing similarity of robots to humans will actually increase the chances that humans refuse interaction (will be frightened). In this paper, for ethologically inspired HRI model implementation, a fuzzy model structure built upon the framework of low computational demand Fuzzy Rule Interpolation (FRI) methods and fuzzy automaton is suggested. The application of FRI methods fits well the conceptually "spare rule-based" structure of the existing descriptive verbal ethological models. (In case of the descriptive verbal ethological models, the "completeness" of the rule-base is not required). The main benefit of the FRI method adaptation in ethological model implementation is the fact, that it has a simple rule-based knowledge representation format. Because of this, even after numerical optimization of the model, the rules are still "human readable", and helps the formal validation of the model by the ethological experts. On the other side due to the FRI base, the model has still low computational demand and fits directly the requirements of the embedded implementations. For demonstrating the applicability of the proposed structure, some components of a human-dog interaction FRI model, which also suitable for HRI, will be briefly introduced in this paper.

关键词： Human robot interaction

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Evolutionary optimization methods for predictive on-off control

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IFAC Proceedings Volumes 2009年第19期42卷 408-413页

作者： Ulrich Schmitz Robert Haber Ruth Bars Shell Deutschland Oil Rhineland Refinery Department for Technology and Services Ludwigshafener Strasse l D-50389 Wesseling Germany University of Applied Science Cologne Institute of Process Engineering and Plant Design Betzdorfer Str. 2 D-50679 Cologne Germany Budapest Univ. of Technology and Economics Dept. of Automation and Applied Informatics MTA-BME Control Research Group Goldmann Gy.ter 3 H-1111 Budapest Hungary

Abstract On-off control is still widely used in the industry, especially for discontinuous actuators, e.g. compressors, steam turbines or furnace burners. Exact set-point control is not possible by an on-off controller. Lower and upper limits are defined for the control signal which should not be violated. For this predictive gap control quadratic and horizon dependent cost functions are defined. Traditional numerical optimization fails with longer prediction horizons, but a genetic algorithm can be effectively applied even for long horizons.

关键词： predictive control on-off control discontinuous actuators genetic algorithms

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Structure for behaviourist representation of knowledge

Structure for behaviourist representation of knowledge

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10th International Symposium of Hungarian Researchers on Computational Intelligence and informatics, CINTI 2009

作者： Pozna, Claudiu Precup, Radu-Emil Preitl, Stefan Petriu, Emil M. Tar, József K. Department of Product Design and Robotics University Transilvania of Brasov Bd. Eroilor 28 RO-500036 Brasov Romania Department of Automation and Applied Informatics Politehnica University of Timisoara Bd. v. Parvan 2 RO-300223 Timisoara Romania School of Information Technology and Engineering University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Bécsi úT 96/B H-1034 Budapest Hungary

The paper suggests a three level hierarchical structure dedicated to the behaviourist representation of knowledge. The first level, referred to as the strategic one, is used in the problem solving providing the solution. The second level, called the tactical one, is employed in the solution implementation. The third level, named as the operational one, is meant for the solution execution. The first level is a strategically level the second is a tactical level and the third is an operational level. Feedback information from all higherhierarchical levels is used in learning to develop the lower levels. A case study concerning the control system of an autonomous car is considered to exemplify the design of the new knowledge representation structure.

关键词： Knowledge representation

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Interpolation based Fuzzy Automaton for Human-Robot Interaction

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IFAC Proceedings Volumes 2009年第16期42卷 317-322页

作者： Szilveszter Kovács Dávid Vincze Márta Gácsi ádám Miklósi Péter Korondi Department of Automation University of Miskolc Miskolc-Egyetemváros Miskolc H-3515 Hungary Department of Cybernetics and AI Technical University of Kosice Letná 9/B 04120 Košice Slovakia Department of Information Technology University of Miskolc Miskolc-Egyetemváros Miskolc H-3515 Hungary Department of Ethology Eötvös University Pázmány P. 1/c H-1117 Budapest Hungary Computer and Automation Research Institute of the Hungarian Academy of Sciences Department of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics H-1521 Budapest Po.Box. 91. Hungary

Abstract One way of handling Human-Robot Interaction (HRI) is based on the concept, that the robot acts like an animal companion to human. According to this paradigm the Robot should not be molded to mimic the human being, and form human-to-human like communication, but to follow the existing biological examples and form inter-species interaction. The 20.000 year old human-dog relationship is a good example for this paradigm of the HRI, as interaction of different species. One good reason of this approach in HRI is the lack of the “uncanny valley” effect i.e. increasing similarity of robots to humans will actually increase the chances that humans refuse interaction (will be frightened). In this paper, for ethologically inspired HRI model implementation, a fuzzy model structure built upon the framework of low computational demand Fuzzy Rule Interpolation (FRI) methods and fuzzy automaton is suggested. The application of FRI methods fits well the conceptually “spare rule-based” structure of the existing descriptive verbal ethological models. (In case of the descriptive verbal ethological models, the “completeness” of the rule-base is not required). The main benefit of the FRI method adaptation in ethological model implementation is the fact, that it has a simple rule-based knowledge representation format. Because of this, even after numerical optimization of the model, the rules are still “human readable”, and helps the formal validation of the model by the ethological experts. On the other side due to the FRI base, the model has still low computational demand and fits directly the requirements of the embedded implementations. For demonstrating the applicability of the proposed structure, some components of a human-dog interaction FRI model, which also suitable for HRI, will be briefly introduced in this paper.

关键词： Fuzzy Rule Interpolation Fuzzy Automaton Behaviour-based Control Human-Robot Interaction

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Current harmonic compensation by three-phase converters controlled by space vector modulation

Current harmonic compensation by three-phase converters cont...

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作者： Paire, Damien Cirrincione, Maurizio Pucci, Marcello Járdán, Rafael K. Nagy, István Miraoui, Abdellatif Belfort France I.S.S.I.A.-C.N.R. Institute on Intelligent Systems for the Automation Palermo Italy Budapest University of Technology and Economics Department of Automation and Applied Informatics Budapest Hungary Computer and Automation Institute Hungarian Academy of Science Budapest Hungary

ISBN: (纸本)9781424417667

This paper deals with the application of a method developed for the compensation of harmonic currents generated by nonlinear loads, connected to the utility grid, using three phase dc/ac converters. The converters are supplied by renewable power sources, i.e. they are part of a Distributed Generation System. Nonlinear load current harmonics are compensated by a voltage oriented control (VOC). Current control is performed directly on the grid current so no additional current sensors are needed for ensuring sinusoidal grid current. The proposed method has been verified both by computer simulation and experimentally on a test setup where the control algorithm is implemented in a computer embedded card (dSPACE). © 2008 IEEE.

关键词： Harmonic analysis

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3d virtual model for intelligent space

3d virtual model for intelligent space

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9th International Symposium of Hungarian Researchers on Computational Intelligence and informatics, CINTI 2008

作者： Zanaty, Péter Sziebig, Gábor Korondi, Péter Frei, Zsolt Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary Department of Industrial Engineering Narvik University College Norway Institute of Physics Eötvös University Hungary

By virtually re-creating and visualizing an intelligent space (iSpace) geographically far from the original version, one opens up the possibility of remote control and interaction between the real iSpace and the virtual copy. Here we present the required components for such a mixed environment: the actual iSpace in a form of a laboratory built for such experiments, the stereoscopic (real 3D) visualization tool at the far end to reproduce the original iSpace, and the middleware embodied by the computer network that connects the two. To remotely operate in the iSpace one has to overcome the important problem of synchronization that is made difficult by the time delay in the computer network. Here we present our first approach to solve this problem by demonstrating a successful remote control of a mobile robot in this mixed environment.

关键词： Remote control

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Safe robot control in the intelligent space using mobile code technology

Safe robot control in the intelligent space using mobile cod...

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9th International Symposium of Hungarian Researchers on Computational Intelligence and informatics, CINTI 2008

作者： Jeni, László A. Istenes, Zoltán Tejfel, Máté Korondi, Péter Hashimoto, Hideki Institute of Industrial Science University of Tokyo Japan Dep. of Software Technology and Methodology Eötvös Loránd University Hungary Dep. of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

This paper describes how the safe mobile code technology can be integrated into the Intelligent Space environment. In the Intelligent Space, several Distributed Intelligent Network Devices communicate and share their information about a human environment. In this environment mobile robots can be controlled with mobile code technology. The mobile code is a program-component obtained from a remote system, transferred across a network and dynamically downloaded and executed on the robots. This code is created, verified, stored and transmitted to the robot using the CPPCC architecture, where properties and their proofs also attached to the code. The receiver can verify the proofs and it can decide whether to use or to refuse the received mobile component. Information about the robot's environment is also sent to the robot from the Intelligent Space. Robots contain explicit and formally expressed security requirements. Explicit and formal properties of the mobile code are attached to the mobile code. Then a formal verification system can verify the mobile code properties correspondence against the robots requirements. The robot refuses to execute those mobile code tasks violating it's requirements.

关键词： Mobile robots

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