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European Control Conference (ECC)

作者： C. Belavý P. Buček P. Noga G. Hulkó Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Bratislava Slovak Republic

In the paper, a robust control of temperature fields of the casting mould in the benchmark casting plant is presented. Temperature fields are represented as distributed parameter systems with dynamic models in the form of lumped-input/distributed-output system. This representation enables decomposition of control synthesis problem to time domain and space domain tasks. Control synthesis in the space domain is solved as an approximation problem. In time domain, it is possible to apply various control synthesis methods established well for lumped parameter systems. For robust control synthesis with internal model control structure, model uncertainty of the controlled system was considered. Simulation analysis of the robust control of the temperature field in the casting mould was carried out using the Distributed Parameter Systems Blockset for MATLAB & Simulink - Third-party MathWorks product.

关键词： Decision support systems Europe Robust control Temperature control Casting Distributed parameter systems

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Safe Mobile Robot Control in the iSpace Environment

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IFAC Proceedings Volumes 2009年第16期42卷 305-310页

作者： Laszlo A. Jeni Peter Korondi Zoltan Istenes Hideki Hashimoto University of Tokyo Institute of Industrial Science Tokyo Japan (Tel: 81+3-5452-6258) Computer and Automation Research Institute of the Hungarian Academy of Sciences Department of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics Eotvos Lorand University Faculty of Informatics

Abstract Robots and other intelligent systems in human environment need high-level cognitive capabilities to enable the achievement of complex goals in complex environments using limited computational resources. Robotic cognitive capabilities include attention allocation, planning, perception processing, reasoning about the other agents and the environment. This paper presents an approach for safe robot controlling using the Intelligent Space. In the iSpace networked distributed sensors observe and gather information from the space. In this environment mobile robots can be tracked with ultrasonic positioning system, the topological map can be build using laser range finders and other properties of the space can be recognized. The recognized properties of the space and the mobile code technology make it possible to extend the control framework of mobile robots with components in a safe way. 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 Certified Proved-Property-Carrying Code 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.

关键词： Intelligent Space recognition CPPCC mobile code mobile robots requirement verification

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An Iterative GPC-like nonlinear predictive control algorithm for the parametric Volterra model

An Iterative GPC-like nonlinear predictive control algorithm...

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European Control Conference (ECC)

作者： Robert Haber Ruth Bars Fakhredin Arousi Institute of Chemical Process Engineering and Plant Design University of Applied Science Cologne Germany Dept. of Automation and Applied Informatics Budapest University of Technology and Economics (BME) Hungary

Predictive control recently has gained wide acceptance in the process industry. In practice mostly linear algorithms are applied. Control algorithms considering the nonlinearities of the processes would provide better control performance than the linear algorithms. A new iterative nonlinear predictive control algorithm is presented here based on the quadratic parametric Volterra model. The algorithm uses a GPC-like structure. The control performance is demonstrated by a simulation case study of level control of a two-tank system. The behavior of the new algorithm is compared with other suboptimal nonlinear algorithms.

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Discontinuous iterated map model of bifurcation phenomena in DTC drives

Discontinuous iterated map model of bifurcation phenomena in...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Zoltán Sütő Eisuke Masada István Nagy Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Railway Technology Research Institute Chiyoda Tokyo Japan

The scope of the paper is to reveal the strange behavior of Direct Torque Controlled (DTC) drives resulting from the nonlinearity of hysteresis comparators. A piecewise-defined, non-stroboscopic, discrete-time Poincare¿ map can be constructed for the system which takes into account the fast switching operations of the Voltage Source Converter (VSC). The evolution of the stator flux linkage and the electric torque within the hysteresis loops are determined from switch to switch. The movement of the two controlled state variables exhibits periodic, subharmonic, chaotic and intermittent chaotic states along a special series of border collision bifurcations induced by discontinuity of the Poincare¿ mapping function. In order to give a better insight into these bifurcations, a one-dimensional piecewise linear discontinuous iterated map is developed and analyzed.

关键词： Bifurcation Drives Switches Hysteresis Chaos Torque control Voltage Switching converters Power conversion Stators

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Uncertainty analysis and robust control of temperature fields of casting mould as distributed parameter systems

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IFAC Proceedings Volumes 2009年第4期42卷 2155-2160页

作者： C. Belavý G. Hulkó B. Rohal'-Il'kiv P. Buček P. Noga Institute of Automation Measurement and Applied Informatics Slovak University of Technology in Bratislava Faculty of Mechanical Engineering Nám. Slobody 17 812 31 Bratislava Slovak Republic (Tel: ++421 2 57294555)

In the paper, an uncertainty analysis and simulation of a robust control of temperature fields of the casting mould in the benchmark casting plant are presented. Temperature fields are supposed as distributed parameter systems with dynamic models in the form of lumped-input/distributed-output system. For this representation, uncertainty of the controlled system was considered and robust control synthesis with internal model control structure was designed. Simulation of the robust control of the temperature field in the casting mould was carried out using the Distributed Parameter Systems Blockset for MATLAB & Simulink – Third-party MathWorks product.

关键词： distributed parameter systems lumped-input/distributed-output system uncertainty robust control internal model control temperature field casting mould

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Object Categorization Based on Biologically Inspired Features Using a Hierarchical Categorization System *

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IFAC Proceedings Volumes 2009年第16期42卷 251-256页

作者： A. Csapo B. Resko G. Sziebig H. Hashimoto P. Baranyi Budapest Univ. of Technology and Economics Dept. of Telecommunications and Media Informatics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Budapest Univ. of Technology and Economics Dept. of Mechatronics Optics and Applied Informatics Budapest Hungary Univ. of Tokyo Institute of Industrial Science Tokyo Japan

Abstract The computerized modeling of cognitive visual information has been a research field of great interest in the past several decades. The research field is interesting not only from a biological perspective, but also from an engineering point of view when systems are developed that aim to achieve similar goals as biological cognitive systems. This paper briefly describes a general framework for the extraction and systematic storage of low-level visual features, and demonstrates its applicability in image categorization using a linear categorization algorithm originally developed for the characterization of text documents. The performance of the algorithm together with the newly developed feature array was evaluated using the Caltech 101 database. Extremely high (95% and higher) success rates were achieved when distinguishing between pairs of categories using independent test images. Efforts were made to scale up the number of categories using a hierarchical, branch-and-bound decision tree, with limited success.

关键词： Cognitive computational models visual features image categorization

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Engineering methods and software support for control of Distributed Parameter Systems

Engineering methods and software support for control of Dist...

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Asian Control Conference

作者： G. Hulko C. Belavy P. Bucek K. Ondrejkovic P. Zajicek University Center of Control of Distributed Parameter Systems Slovak University of Technology Bratislava Bratislava Slovakia Institute of Automation Measurement and Applied Informatics Slovak University of Technology Bratislava Bratislava Slovakia

ISBN: (纸本)9781424454402

In this paper, advanced engineering methods for modeling and discrete-time control of distributed parameter systems are presented. The dynamics of these systems is modeled by means of numerical structures defined on complex-shape 3D definition domains, similarly to a vast majority of engineering analysis and software simulation tools, which are heavily utilized among the engineering community for modeling and simulation of continuum mechanics systems. Inspired by a powerful capability of these numerical software packages along with the wide acceptance and utilization of Matlab/Simulink as a control systems design environment, the package distributed parameter systems blockset for Matlab & Simulink is used for modeling and simulation of a closed-loop feedback control system. In this paper, heating of a complex-shape 3D body is presented as a practical example of a methodology stated in the text. The techniques offered are completed by an user-friendly Web service tool, suitable for interactive solution of modeling and control problems of distributed parameter systems via Internet.

关键词： Distributed control Control systems Distributed parameter systems Mathematical model Power system modeling Power engineering and energy Analytical models Software packages Software tools Control system synthesis

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Raising the Abstraction of Domain-Specific Model Translator Development

Raising the Abstraction of Domain-Specific Model Translator ...

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International Conference and Workshop on Engineering of Computer-Based Systems

作者： Tamás Vajk Róbert Kereskényi Tihamér Levendovszky Ákos Lédeczi Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Software Integrated Systems Vanderbilt University Nashville USA

Model-based development methodologies are gaining ground as software applications are getting more and more complex while the pressure to decrease time-to-market continually increase. Domain-specific modeling tools that support system analysis, simulation, and automatic code generation can increase productivity. However, most domain-specific model translators are still manually written. This paper presents a technique that automatically generates a domain-specific application programming interface from the same metamodels that are used to define the domain-specific modeling language itself. This facilitates the creation of domain-specific model translators by providing a high-level abstraction hiding all the cumbersome modeling tool-specific implementation details from the developer. The approach is illustrated using the generic modeling environment and the Microsoft .NET C# language.

关键词： Mathematical model Object oriented modeling Metamodeling Application software Software systems Unified modeling language Domain specific languages Conferences automation informatics

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Incremental Type Checking in OCL Compilers

Incremental Type Checking in OCL Compilers

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IEEE Eastern European Conference on the Engineering of Computer Based Systems, ECBS-EERC

作者： Tamás Vajk Gergely Mezei Tihamér Levendovszky Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Software Integrated Systems Vanderbilt University Nashville TN USA

In software engineering, modeling tools have become widely accepted to increase application reliability and decrease development time. The UML and the OCL became industry standards and are supported by many Computer-Aided Software Engineering tools. The increasing number of modeled functionalities results in complex models that need more and more textual constraints to express the hidden restrictions applying to the systems. The usual scenario of model development is to create an initial model of the system, and then fine-tune it with simple modifications. During development, rebuilding all the constraints is unnecessary when only a few changes have been applied. In this paper, we present an algorithm that handles changes incrementally on expression level, thus required rebuilds are kept to a minimum. The background and implementation framework for the discussed compiler is the Visual Modeling and Transformation System, but the algorithm is general enough to support any tree-based compiler integrated into an IDE.

关键词： Unified modeling language Tree graphs Computer aided software engineering Database languages automation informatics Software systems Software tools USA Councils Software engineering

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An SVD based modification of the Adaptive Inverse Dynamics Controller

An SVD based modification of the Adaptive Inverse Dynamics C...

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International Symposium on applied Computational Intelligence and informatics ( SACI)

作者： J.K. Tar J.F. Bito I.J. Rudas S. Preitl Radu-Emil Precup Institute of Intelligent Engineering Systems Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Automation and Applied Informatics Polytechnic University of Milan Timisoara Romania

The most popular classical adaptive robot control methods as the Adaptive Inverse Dynamics Control or the Slotine-Li Adaptive Robot Controller are constructed on the basis of exact knowledge on the form of the equations of motion, and on the application of Lyapunov's 2 nd Method. This generic technique makes it possible to guarantee the stability of the controlled system using only simple estimations without having any detailed knowledge on its motion that is a great advantage. However, in the application of this elegant technique the main problem is the proper construction of the Lyapunov function. Formal elegance usually has the price of limitations in the applicable trajectory tracking policy and in the presence of a huge number of the constant control parameters set in the commencement of the controller's operation. In the here presented approach the Adaptive Inverse Dynamics control is simplified by evading the use of the Lyapunov function and the inversion of the actual estimated inertia matrix by utilizing the information encoded in the equations of motion in a quite different manner. The advantage is the limitation in the number of the fixed control parameters, and possibility for faster parameter tuning due to the evasion of the most critical step of the original method, i.e. the inversion of the actual estimation of the inertia matrix the singularity of which can interrupt and stop the whole control process. The modified control is also illustrated by numerical examples calculated via simulation for a simple Classical Mechanical System as a paradigm.

关键词： Programmable control Adaptive control Motion control Robot control Equations Motion estimation Lyapunov method Process control Stability Control systems

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