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Design, automation and Test in Europe Conference and Exhibition

作者： M.A. Wehrmeister C.E. Pereira L.B. Becker Computer Science Institute UFRGS Brazil Electrial Engineering Department UFRGS Brazil Automation and Control Systems Department UFSC Brazil

ISBN: (纸本)9783981080100

The object-oriented paradigm has become popular over the last years due to its characteristics that help managing the complexity in computer systems design. This feature also attracted the embedded systems community, as today's embedded systems need to cope with several complex functionalities as well as timing, power, and area restrictions. Such scenario has promoted the use of the Java language and its real-time extension (RTSJ) for embedded real-time systems design. Nevertheless, the RTSJ was not primarily designed to be used within the embedded domain. This paper presents an approach to optimize the use of the RTSJ for the development of embedded real-time systems. Firstly, it describes how to design real-time embedded applications using an API based on RTSJ. Secondly, it shows how the generated code is optimized to cope with the tight resources available, without interfering in the mandatory timing predictability of the generated system. Finally it discusses an approach to synthesize the applications on top of affordable FPGAs. The approach used to synthesize the embedded real-time system ensures a bounded timing behavior of the object-oriented aspects of the application, like the polymorphism mechanism and read/write access to object's data fields

关键词： Java Real time systems Application software Embedded system Timing Virtual machining computer science Design engineering Design automation Automatic control

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Autotuning Autopilots for Micro-ROVs

Autotuning Autopilots for Micro-ROVs

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Mediterranean Conference on control and automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic B. Tovornik Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Maribor Slovenia

Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided

关键词： Automatic control Underwater vehicles Payloads control systems Remotely operated vehicles Three-term control Nonlinear control systems Employee welfare control engineering computing Nonlinear systems

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Non-holonomic Path Planning of Space Robot Based On Genetic Algorithm

Non-holonomic Path Planning of Space Robot Based On Genetic ...

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IEEE International Conference on Robotics and Biomimetics

作者： Wenfu Xu Bin Liang Cheng Li Wenyi Qiang Yangshen Xu Ka Keung Lee Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

The nonholonomic characteristic of space robot is used to plan the path of the manipulator, by whose motion the base attitude and the manipulator joints attain the desired states. Firstly, the functions of the joint angles are parameterized by sinusoidal functions. Secondly, the objective function is defined according to the accuracy requirement and the constraints of the system state. Finally, genetic algorithm (GA) is used to search the global optimal solution of the parameters. Comparing with other methods, our approach has a number of advantages: 1) The kinematic and dynamic constraints of the manipulator are taken into consideration in the planning process; 2) The dynamic singular point doesn't affect the algorithm since only the direct kinematic equations are utilized; 3) The planned path is very smooth and more applicable in controlling the manipulator; 4) The state converges to the global optimal values. The simulation results verify the method.

关键词： Path planning Orbital robotics Genetic algorithms Manipulator dynamics Satellites Space technology Equations Space vehicles Kinematics Bismuth

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Embedded computer based non-linear vehicle control: A quadrotor helicopter experiment

Embedded computer based non-linear vehicle control: A quadro...

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10th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2006

作者： Soumelidis, Alexandres Lantos, Béla ProháSzka, Zoltán Regula, Gergely Bauer, Péter Computer and Automation Research Institute Hungarian Academy of Science H-l 111 Budapest Kende u. 13-17 Hungary Department of Control Engineering and Information Technology Budapest University of Technology and Economics Magyar tudósok körútja 2 H-l 117 Budapest Hungary Department of Transportation Automation Budapest University of Technology and Economics H-l 111 Budapest Bertalan L.u.2 Hungary

ISBN: (纸本)9789634209683

Because of the largely nonlinear nature of the problem, controlling vehicles implies complicated control algorithms that require the use of embedded computing on board. Solving a control problem in this field involves numerous tasks from the modeling and identification of the vehicle object through the control design based upon several control paradigms (e.g. optimal, robust, linear, LPV, or nonlinear design), to the implementation of the controller in on-board electronics. For prototyping purposes a MATLAB/Simulink environment of Math-works complemented with a variety of the real/time and embedded control design tools has proved to be advantageous. A small-size indoor quadrotor helicopter has been selected as a platform to find the correct methodology, to explore the capabilities of the applicable tools, by covering the full design and implementation process as well as ensuring low implementation costs and risk-free test environment. The quadrotor helicopter uses brush-less DC motors as actuators, an internal sensor module is used to get measurements of its movement while a vision-based indoor position system provides its exact position. The control is realized by a Freescale MPC555 microcomputer, which is equipped with high level development tools in MATLAB. The embedded control is developed on the basis of the nonlinear model of the quadrotor helicopter by applying the technique of back-stepping.

关键词： Embedded systems

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Modeling and Analyzing Multi-agent Task Plans for Intelligent Virtual Training System using Petri Nets

Modeling and Analyzing Multi-agent Task Plans for Intelligen...

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World Congress on Intelligent control and automation (WCICA)

作者： Linqin Cai Tao Mei Yining Sun Lei Sun Zuchang Ma Department of Automation Center for Biomimetic Sensing and Control Research Center for Biomimetic Sensing and Control ResearchChinese Academy of sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering and Physics Mianyang China

Integrated virtual reality with intelligent tutoring system, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, hierarchy colored Petri nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model

关键词： Intelligent systems Petri nets Machine intelligence Virtual reality Railway safety Sun Biomimetics Automatic control control systems computer architecture

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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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Factors influencing on flux distribution on focal region of parabolic concentrators

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Journal of Physics: Conference Series 2006年第1期48卷 59-63页

作者： Liu, Y. Dai, J.M. Sun, X.G. Yu, T.H. Department of Automation Measurement and Control Harbin Institute of Technology Heilongjiang Harbin 150001 China Computer Centre Harbin University of Science and Technology Heilongjiang Harbin 150001 China

The random surface error, tracking error, position error and shadow of receiver of parabolic dish concentrators are analysed by using the ray tracing and the Monte-Carlo method. Several examples are given. The analysis is help to optimizing the system efficiency and measuring the flux density distribution. © 2006 IOP Publishing Ltd.

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The Tinyphoon's control Concept

The Tinyphoon's Control Concept

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International Conference on Mechatronics (ICM)

作者： Gregor Novak Charlotte Roesener Markus Bader Tobias Deutsch Stefan Jakubek Stefan Krywult Martin Seyr Institute of Computer Technology University of Technology Vienna Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic University of Technology Vienna Vienna Austria

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entail new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75times75times150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of realtime communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control

关键词： Service robots Motion control Robotics and automation Automatic control Mobile robots control systems Electrical equipment industry Robot sensing systems Mobile computing Robotic assembly

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Configuration control of Space Robots for Impact Minimization

Configuration Control of Space Robots for Impact Minimizatio...

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IEEE International Conference on Robotics and Biomimetics

作者： Panfeng Huang Wenfu Xu Bin Liang Yangsheng Xu College of Astronautics Northwestern Polytechnical University Xi'an China Department of Control Science and Engineering Harbin Institute of Technology China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

On-orbital services of space robot are playing more and more important roles in the space operation. Nearly all space operation can not possibly avoid to contact the target. The contact and impact do not possibly avoid when the space robot captures the object. The impulse caused by impact is bad to the space robot and object. This paper derives the impact dynamic equations according to the dynamic model of space robot system and the object. We propose a genetic algorithm (GA) based on approach to search the optimal configuration of space robot at capturing moment in order to minimize or avoid the impact. An illustrative example has verified that the proposed method has satisfactory performance and real significance for reducing the impact.

关键词： Robot control Orbital robotics Robot kinematics Aerodynamics Space technology Manipulator dynamics Robotics and automation Equations Trajectory Genetic algorithms

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Trajectory Planning of Space Robot System for Target Berthing and Reorientation after Capturing

Trajectory Planning of Space Robot System for Target Berthin...

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World Congress on Intelligent control and automation (WCICA)

作者： Wenfu Xu Bin Liang Wenyi Qiang Panfeng Huang Yangsheng Xu Department of Control Science and Engineering Harbin Institute of Technology Harbin China College of Astronautics Northwestern Polytechnical University Xi'an China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, genetic algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation

关键词： Trajectory Orbital robotics Space technology Satellites Space vehicles Path planning Robotics and automation Attitude control control systems Genetic algorithms

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