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Adaptive Neuro controller for a Precise Maneouvring of Underwater Vehicle

IFAC Proceedings Volumes 2000年第21期33卷 173-178页

作者： Zoran Vukić Bruno Borović Boris Tovornik Department of Control and Computer Engineering in Automation University of Zagreb Control Engineering Department Brodarski institute d.o.o. Institute of Automation University of Maribor Faculty of Electrical Engineering and Computer Science

A neuro controller for high precision manoeuvring of underwater vehicles require special attention to a number of factors including thruster and vehicle’s nonlinearities, couplings which exist between various degrees of freedom as well as effects of the sea currents. The neuro control system for underwater vehicle maneouvring described here is based on the conventional controller supported with the so called adaptive neural network.

关键词： neural networks underwater vehicle trajectory guidance

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On-line Reconfiguration of Real-Time Robot Motion and Force control

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IFAC Proceedings Volumes 2000年第27期33卷 171-176页

作者： A. Robertsson A. Valera K. Nilsson R. Johansson Dept. of Automatic Control Lund University SE-22100 Lund Sweden Dept. of Systems Engineering & Automation Valencia Technical University ES-46022 Valencia Spain Dept of Computer Science Lund Institute of Technology Lund University SE-22100 Lund Sweden

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

关键词： Robot control Force control Embedded systems Rapid prototyping Non-linear control

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Interactive on-line evaluation of robot motion control

Interactive on-line evaluation of robot motion control

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Valera A. Robertsson K. Nilsson R. Johansson Department of System Engineering & Automation Valencia Technical University Valencia Spain Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Lund Institute of Technology Department of Computer Science Lund University Lund Sweden

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.

关键词： Robot motion Motion control Robot control Industrial control control systems Electrical equipment industry Service robots Robot sensing systems Safety Logic

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Simultaneous Fault Detection Of Heat Exchangers

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IFAC Proceedings Volumes 1998年第10期31卷 365-370页

作者： Gcibor Szederkényi Erik Weyer Katalin M. Hangos Dept. of Computer Science University of Veszprem H-8201 Veszprem Egyetem u. 3. Hungary Dept. of Electrical and Electronic Engineering The University of Melbourne Parkville VIC 3052 Australia Systems and Control Research Laboratory Computer and Automation Institute HAS H-1518 Budapest PO Box 63 Hungary

A grey box model-based method for fault diagnosis is proposed in this paper. The method is based on a first principle model of the process unit: a heat exchanger, and on a grey box model of the faults: the deterioration of the heat transfer surface by aging and the leaking of the outer container. The deterioration of the heat transfer surface is due to material settling, and in old heat exchangers pieces of this material can break off and cause damage in the equipment. A recursive least squares estimator with forgetting factor is used to track both the heat transfer coefficients and the cold side volume. The heat transfer coefficients are estimated both from the hot and cold side equations. The settled material breakage fault is detected via detection of abrupt positive jumps in the estimated heat transfer coefficients using a detector based on a cumulative sum (CUSUM) test. The proposed method enables simultaneous detection of the two fault types considered. Fault localization along the equipment length is also possible when temperature measurements are available along the length.

关键词： Fault detection Fault isolation Fault location Process model Grey box modelling Identification

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Fault detection filter for linear time varying systems: An algebraic-geometric approach 4

Fault detection filter for linear time varying systems: An a...

引用

4th European control Conference, ECC 1997

作者： Szigeti, F. Bokor, J. Edelmayer, A. Tarantino, R. Department of Control Engineering Faculty Universidad de los Andes Mérida5101 Venezuela Systems and Control Laboratory Computer and Automation Institute Hungarian Academy of Science XI Kende u. 13-17 BudapestH1111 Hungary Maraven Oil Refinery Punta Cardon Venezuela Universidad de Los Andes Mérida5101 Venezuela

ISBN: (纸本)9783952426906

In this paper we consider the fault isolation problem for the linear time varying systems. Our approach is based on characterization of the observability of LTV systems by Kalman's rank condition, which permits us to design fault detection filters, feeding also the derivatives of the inputs and the outputs. We prove, using a computable method, that the isolation problem can be solved by generalized Luenberger's observer if and only if the detectability and the weak separability of fault signatures holds.

关键词： Observability

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Fault detection filter for linear time varying systems: An algebraic-geometric approach

Fault detection filter for linear time varying systems: An a...

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European control Conference (ECC)

作者： F. Szigeti J. Bokor A. Edelmayer R. Tarantino Universidad de Los Andes Merida MÃ©rida VE Systems & Control Laboratory Computer & Automation Institute Hungarian Academy of Science H1111 Budapest XI Kende u. 13-17 Hungary

关键词： Observers Time-varying systems Linear systems Mathematical model Kalman filters Algebra Observability

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Developing a prototype concurrent design tool for composite topside structures

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent Engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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Neuro-fuzzy recognition of K-complexes in sleep EEG signals

Neuro-fuzzy recognition of K-complexes in sleep EEG signals

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： V. Pohl E. Fahr Institute for Automation Control and Computer Science Inc. Germany

A new pattern recognition procedure is introduced for the automatic detection of K-complexes in EEG sleep polygraphies employing fuzzy logic and neural networks. The developed detection system was implemented in C, supplying a hardware-independent solution with a very rapid recognition of the K-complexes. With the aid of the determined K-complexes and detected sleep spindles, the respective stage 2 in the sleep polygraphy can be evaluated directly from the EEG signal and visualized. This represents a significant criterion for the objective assessment of a patient's sleep quality.

关键词： Sleep Electroencephalography Detectors Intelligent networks Neural networks Pattern recognition Intelligent systems Fuzzy sets Neurons automation

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