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MODELING AND MODEL IDENTIFICATION OF A PRESSURIZER AT THE PAKS NUCLEAR POWER PLANT

IFAC Proceedings Volumes 2006年第1期39卷 678-683页

作者： I. Varga G. Szederkényi K.M. Hangos J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences H-1111 Budapest Kende u. 13-17 Hungary Phone: +361-279-6227 Fax: +361-466-7503

The modeling and identification of a pressure controlling tank located in the primary circuit of the Paks Nuclear Power Plant in Hungary is presented in this paper. The main goal of the identification procedure is to produce a physically meaningful process model which is simple enough but still applicable for controller design. Based on first engineering principles a second order dynamic model has been constructed the structure of which has been validated by using the ESS structure estimation algorithm. The estimated model forms the basis of an already implemented controller in Paks NPP.

关键词： process control identification for control model structure selection

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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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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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DYNAMIC ANALYSIS AND control OF CHEMICAL AND BIOCHEMICAL REACTION NETWORKS

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IFAC Proceedings Volumes 2006年第2期39卷 165-170页

作者： Irene Otero-Muras Gábor Szederkényi Antonio A. Alonso Katalin M. Hangos Department of Process Engineering IIM-CSIC Eduardo Cabello 6 36208 Vigo Spain Process Control Research Group Computer and Automation Research Institute H-1518 Budapest P.O.Box 63 Hungary

Metabolic or cell signalling pathways are examples of biochemical networks exhibiting possible complex dynamics in the form of steady-state multiplicity, sustained oscillations or even deterministic chaos. The origin of these nonlinear phenomena is not always well understood, nor it can be systematically predicted beyond a case by case basis. Despite considerable progress in dynamic aspects, efforts are still needed to develop efficient and robust methods of stabilization and control of reaction networks. In this work, we combine concepts and tools from irreversible thermodynamics and systems theory to explore the underlying dynamic properties of a general class of chemical and biochemical networks. Lyapunov and passivity based methods are given for the systematic design of globally stabilizing feedback controllers in both the concentration space and a novel minimal description of the kinetic networks dynamics: the reaction space.

关键词： biochemical reaction networks passivity nonlinear control entropy

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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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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48.0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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NONLINEAR PROCESS IDENTIFICATION IN CLOSED-LOOP

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IFAC Proceedings Volumes 2006年第1期39卷 897-902页

作者： Cs. Bányász L. Keviczky Computer and Automation Research Institute of the H. Ac. of Sc. Control Engineering Research Group of the H. Ac. of Sc. at the Department of Automation and Informatics Budapest Univ. of Techn. and Ec. H-1111 Budapest Kende u 13-17 HUNGARY Phone: +361-466-5435 Fax: +361-466-7503

A generic two degree of freedom controller introduced for linear plants is extended for nonlinear processes. The nonlinear controller consists of two parts: the first depending on the design parameters and the invariant part of the process, the second only on the model of the plant. A simple iterative controller refinement scheme is constructed. The efficiency of this scheme is presented by simulation examples.

关键词： nonlinear two-degree of freedom regulator iterative controller refinement

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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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