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2007 European Conference on Power Electronics and Applications, vol.9

作者： Zoltan Suto Istvan Nagy Eisuke Masada Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary Science University of Tokyo Noda Chiba Japan

ISBN: (纸本)9789075815115;9075815115

The source of nonlinearity are the hysteresis comparators and dependence of switchings on state variables in Direct Torque Controlled (DTC) Induction Machines (IM). The nonlinearity generates some strange operation states. They are revealed, analyzed by bifurcation diagram and recurrence plots both in motoring and generating operations.

关键词： Voltage Source Converter (VSC) Direct torque and flux control Bifurcations Chaotic state Recurrence plots

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Modelling Real-time Constraints Regarding Reconfiguration Aspects for IEC 61499 Control Applications

Modelling Real-time Constraints Regarding Reconfiguration As...

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IEEE International Conference on Industrial informatics (INDIN)

作者： G. Grabmair A. Zoitl T. Strasser R. Froschauer Department for Industrial Informatics University of Applied Science Wels Austria Automation and Control Institute University of Technology Vienna Austria PROFACTOR Produktionsforschungs GmbH Steyr Austria

The complexity of automation and control systems is fast increasing in order to satisfy the arising needs of the manufacturing industry. The central exigencies for new production facilities are flexibility, adaptability and reconfigurability in combination with guarantees for downtime less operation. Additionally modern automation systems are supposed to execute control applications distributed across heterogeneous networks The standard IEC 61499 introduces a function block oriented architecture which should be able to satisfy most of these new requirements. Still some of the open issues within the standards definition are the consideration of real-time constrained applications, the missing possibilities and conventions to define an explicit execution order and the absence of an appropriate modelling technique for real-time constraint specification. Furthermore in case of reconfiguration of control applications similar or different real-time requirements must be fulfilled which have to be considered during the engineering process. Therefore the main topic of this paper discusses investigations on possibilities to define and model real-time constraints within reconfigurable IEC 61499 applications.

关键词： IEC standards Automatic control Timing Control systems Manufacturing automation Programmable control Distributed control Electrical equipment industry Manufacturing industries Industrial control

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Optimization Aspects in a Class of Fuzzy Controlled Servosystems

Optimization Aspects in a Class of Fuzzy Controlled Servosys...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： R.-E. Precup S. Preitl J.K. Tar M. Takacs Dept. of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Budapest Hungary

The paper suggests a fuzzy control solution for a class of servo systems. Simplified mathematical models of second-order integral type characterize the controlled plants. The design is done using the linear case results on the basis of the extended symmetrical optimum (ESO) method and Iterative Learning Control and by the transfer of these results to the fuzzy case. The sensitivity analysis of the fuzzy control systems with respect to the parametric variations of controlled plant is performed to enable the design of a class of Mamdani Pi-fuzzy controllers. Digital simulation results and real-time experimental results corresponding to a case study validate the new fuzzy control solution.

关键词： Fuzzy control Servosystems Mathematical model Control systems Transfer functions Iterative algorithms Servomechanisms Steady-state Open loop systems Convergence

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An Execution Environment for Real-Time Constrained Control Software based on IEC 61499

An Execution Environment for Real-Time Constrained Control S...

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IEEE International Conference on Industrial informatics (INDIN)

作者： Alois Zoitl Gunnar Grabmair Rene Smodic Thomas Strasser Automation and Control Institute University of Technology Vienna Vienna Austria Department for Industrial Informatics University of Applied Sciences Wells Australia PROFACTOR Produktionsforschungs GmbH Steyr Austria

The ever increasing complexity of manufacturing systems demands for new real-time control infrastructures. With the new standard IEC 61499 the IEC introduced a base for such a control infrastructure. An open issue of this standard is the missing definition of real-time execution. This work maps existing real-time execution theory to IEC 61499 execution elements deriving the basic element for the new execution approach-the event chain concept. A novel execution environment for an efficient execution of reconfigurable real-time control in IEC 61499 is presented.

关键词： IEC standards Programmable control Application software Delay Manufacturing systems Computer architecture Distributed control Yarn Java Real time systems

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Opto-Mechanical Filtering applied for Orientation and Length Selective Contour Detection

Opto-Mechanical Filtering Applied for Orientation and Length...

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Annual Conference of Industrial Electronics Society

作者： B. Resko P. Baranyi P. Korondi H. Hashimoto Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Industrial Sciences University of Tokyo Tokyo Japan

Cognitive informatics is a very hot topic today, trying to provide solutions to problems in computation that are easily solved by the brain but are hard for a computer. The information processing properties of the brain are taken as the basis for such artificial systems. The first step of visual information processing, the extraction of orientation selective contours, is done in the primary visual cortex. A similar, orientation based filtering can be the first step in many vision systems of cognitive informatics. This paper presents a new approach to orientation selective contour detection. Oriented motion blur is used to filter for the desired orientations. The motion blur operation is performed before digitalization, using a vibrating mirror. The proposed technique not only provides a very high speed, high resolution contour detector, but also solves the problem of contour discontinuities.

关键词： Filtering Cognitive informatics Data mining Information processing Neurons automation Machine vision Mirrors Humans Computer architecture

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Hierarchical Reinforcement Learning for Robot Navigation using the Intelligent Space Concept

Hierarchical Reinforcement Learning for Robot Navigation usi...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： L. A. Jeni Z. Istenes P. Korondi H. Hashimoto Faculty of Informatics Eōtvōs Loránd University Budapest Hungary Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Institute of Industrial Science University of Tokyo Meguro Tokyo Japan

Navigation in an unknown environment is a difficult task, because mobile robots need topological maps in order to operate in the environment. Another fundamental problem is that robot programming is a time-consuming process, so it is better to use a learning method with reinforcement. In previous work we proposed a learning framework, which used the capability of the Intelligent Space in order to build a topological map of the environment. In this paper we present an extension of this framework to decompose the learning problem into sub-problems, which can be learned faster.

关键词： Intelligent robots Learning Orbital robotics Navigation Mobile robots Robotics and automation Space technology informatics State-space methods Environmental economics

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A Distributed Energy Management Approach for Autonomous Power Supply Systems

A Distributed Energy Management Approach for Autonomous Powe...

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IEEE International Conference on Industrial informatics (INDIN)

作者： Ingo Hegny Roland Holzer Gunnar Grabmair Alois Zoitl Franz Auinger Ewald Wahlmuller Automation and Control Institute University of Technology Vienna Vienna Austria Department for Industrial Informatics University of Applied Science Wels Austria Fronius International GmbH Thalheim bei Wels Austria

Currently applied autonomous power supplies are designed for specific energy demands and therefore rather inflexible. For an increased user friendliness, allowing attaching and detaching electrical devices without new load calculations, a flexible Power Distribution System is necessary. This can be reached by applying an Energy Management System. A concept for such a system, that is scalable by distributing it to multiple devices, is presented in this work. Reconfiguration, such as changing the load distribution algorithm, can be realized without downtime. This is possible by implementing the concept as an IEC 61499 application. A field demonstrator is set up using embedded controllers, equipped with a network interface. To perform necessary measurement and switching tasks, an interface board is developed. The desired system behavior, a stable operation of a flexible autonomous power supply system, can be achieved in the simulation on PC hardware as well as on the field demonstrator set up.

关键词： Energy management Power supplies Medical services Power system modeling IEC standards Power system management Power control Power distribution Performance evaluation Hardware

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Robot Vision for RT-Middleware Framework

Robot Vision for RT-Middleware Framework

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IEEE Instrumentation and Measurement Technology Conference

作者： G. Sziebig A. Gaudia P. Korondi N. Ando B. Solvang Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary National Institute for Advanced Industrial Science and Technology Tokyo Japan Department of Industrial Engineering Narvik University College Narvik Norway

In conventional robot system development the different robot parts (sensors, processing elements, actuators) are combined together in a compact, self contained system. The need for faster development, system reconfigurability and flexibility required the introduction of middleware frameworks for robot systems. One promising middleware framework is the RT-middleware technology (and its implementation named OpenRTM-aist), which is getting more and more popular in robot system design. Vision sensors are one of the most important sensors in robot systems. When constructing a new robot system, it is desirable that vision and image processing components are just as easily integrated as any other robot components. Unfortunately, RT-middleware is not yet equipped with such RT-components. This need can be satisfied by introducing a new image processing toolbox, directly obtained from DIMAN, a existing software previously developed by the authors. DIMAN is a distributed framework for image processing, with a modular architecture very similar to RT-middleware. The modules of DIMAN satisfy the needs of robot systems with respect to vision related tasks. Through experimental results usability of DIMAN in robot vision will be shown in this paper. Furthermore DIMAN module deployment in RT-middleware based robot systems will be introduced also.

关键词： Robot vision systems Robot sensing systems Image processing Middleware Sensor systems Service robots Image sensors Robotics and automation Actuators Computer architecture

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SAPIR: Supervised and Adaptive Programming of Industrial Robots

SAPIR: Supervised and Adaptive Programming of Industrial Rob...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： B. Solvang P. Korondi G. Sziebig N. Ando Department of Industrial Engineering Narvik University College Narvik Norway Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary National Institute for Advanced Industrial Science and Technology Chiyoda Tokyo Japan

Cast parts have inconsistent geometry and grinding and deburring operations is to be carried out based on individual observation of every single workpiece. Normally, these operations are carried out manually by humans. However, due to the health risk associated with the grinding process, there is a strong incentive to explore new automated solutions. The industrial robot is viewed as a strong component for this job. Programming industrial robots is traditionally done by teach or offline programming methodologies. Both methods encounter problems in grinding/deburring operations. In traditional offline programming the robot path is generated from a CAD model of the workpiece. This CAD model holds no information on the irregularities (burrs) and then the necessary path cannot be created. This paper presents a new approach for supervised robot programming, which allows new field of application of industrial robots. In the near future, automatization of manufacturing processes with industrial robots in small and medium sized enterprise would be common. Instead of a costly, but fully automated solution, which works only from CAD model of workpiece and does not provide 100% satisfying result, an operator is involved in robot programming. The result is a 90% automated solution with the expertise of the worker. This interactive vision-based robot programming adds the required information into the offline programming environment. Thus, location and shape of any irregularities can be identified and the necessary deburring path created.

关键词： Robot programming Service robots Robotics and automation Deburring Manufacturing industries Computational geometry Humans Educational robots Manufacturing processes Programming environments

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APPROACH TO OPTIMIZATION PROBLEMS WITH CONTROLLER AND REFERENCE MODEL TUNING

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IFAC Proceedings Volumes 2007年第18期40卷 721-726页

作者： Radu-Emil Precup Stefan Preitl Axel Gräser Miroslav Mihajlov “Politehnica” University of Timisoara Dept. of Automation and Applied Informatics Bd. V. Parvan 2 300223 Timisoara Romania Phone: +40-2564032-26 -24 Fax: +40-2564032-14 E-mail: rprecup@aut.utt.ro spreitl@aut.utt.ro Bremen University Institute of Automation FBI /NW1 Otto-Hahn-Allee 1 28359 Bremen Germany Phone: +49-421-218-7326 -3217 Fax: +49-421-218-4596 E-mail: ag@iat.uni-bremen.de mihajlov@iat.uni-bremen.de

The paper suggests an Iterative Feedback Tuning (IFT)-based approach in optimization problems ensuring both controller and reference model tuning. The cost function is introduced and Newton's method in terms of Gauss-Newton approximation is applied in the minimization of the cost function. The new IFT approach is derived using matrix notation. The particular case of PI controllers for servo systems is considered where the controlled plants are characterized by second-order integral type models. For these control systems the combination between IFT and Extended Symmetrical Optimum method is successful. Real-time experimental results for a PI-controlled servo system validate the IFT approach.

关键词： servo systems model reference control reference signals PI controllers optimization problems

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