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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： J. Kreuzinger A. Schulz M. Pfeffer T. Ungerer U. Brinkschulte C. Krakowski Institute for Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper investigates real-time scheduling algorithms on upcoming multithreaded processors. As evaluation testbed we introduce a multithreaded processor kernel which is specifically designed as core processor of a micro-controller or system-on-a-chip. Handling of external real-time events is performed through multithreading. Real-time threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed micro-controller supports multiple ISTs with zero-cycle context switching overhead. We investigate the behavior of fixed priority preemptive, earliest deadline first, least laxity first and guaranteed percentage scheduling with respect to multithreaded processors. Our finding is that the strategies GP and LLF result in a good blending of instructions of different threads thus enabling a multithreaded processor to utilize latencies best. Assuming a zero-cycle context switch LLF performs best, however implementation cost context, are prohibitive.

关键词： Processor scheduling Yarn Switches Scheduling algorithm System testing Kernel Process design System-on-a-chip Multithreading Delay

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Model Based Fault Detection: The Optimal Past, The Robust Present and a Few Thoughts on the Future 1 2

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IFAC Proceedings Volumes 2000年第11期33卷 65-76页

作者： S. Rami Mangoubi M. András Edelmayer C. S. Draper Laboratory 555 Technology Square Cambridge MA 02139 USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Kende u. 13-17 H-1111 Hungary

This paper presents a formulation for a class of robust fault detection problems, and its corresponding solution approach. In order to provide insight into the robust algorithm, one needs to consider the past and understand its historical origins in optimal fault detection, where it is assumed that both plant and noise models are accurate. The deleterious effect of plant model uncertainties on the performance of the optimal tests is illustrated, thus motivating the idea of robust fault detection, which makes use of robust game theoretic ( H ∞ ) or risk sensitive estimators. These estimators provide test residuals or statistics that are insensitive to uncertainties, but still sensitive to failure modes. The paper concludes by motivating and suggesting new ideas for future research.

关键词： Detection filters Robust FDI H ∞ filtering Kalman filters Multiple hypothesis test Risk seeking estimation

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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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Modelling and Identification with Rational Orthogonal Basis Functions

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IFAC Proceedings Volumes 2000年第15期33卷 445-455页

作者： Paul Van den Hof Bo Wahlberg Peter Heuberger Brett Ninness Jozsef Bokor Tomás Oliveira e Silva Department of Applied Physics Delft University of Technology Lorentzweg 1 2628 CJ Delft The Netherlands S3 - Automatic Control Royal Institute of Technology S-100 44 Stockholm Sweden. Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1502 Budapest Hungary Dept. Electrónica e Telecommunicações University of Aveiro 3810-183 Aveiro Portugal

Decomposing dynamical systems in terms of orthogonal expansions enables the modelling/approximation of a system with a finite length expansion. By flexibly tuning the basis functions to underlying system characteristics, the rate of convergence of these expansions can be drastically increased, leading to highly accurate models (small bias) being represented by few parameters (small variance). Additionally algorithmic and numerical aspects are favourable. A recently developed general theory for basis construction will be presented, that is a generalization of the classical Laguerre theory. The basis functions are applied in problems of identification, approximation, realization, uncertainty modelling, and adaptive filtering, particularly exploiting the property that basis function models are linearly parametrized. Besides powerful algorithms, they also provide useful analysis tools for understanding the underlying identification/approximation algorithms.

关键词： System identification orthogonal basis functions series expansions model reduction parametrization

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Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

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IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collaborative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking 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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Qualitative diagnostic toolbox employing propagation models

Qualitative diagnostic toolbox employing propagation models

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1999 European control Conference, ECC 1999

作者： Kavcic, M. Juricic, D. Department of Computer Automation and Control J. Stefan Institute Jamova 39 Ljubljana1000 Slovenia

ISBN: (纸本)9783952417355

The main motivation of the presented work is to realise a prototype of the CAD tool that supports the whole life cycle of the diagnostic system development process. In the proposed approach, the fault trees are automatically derived from component models. The automatic synthesis incorporates the feedback control loop structure. Fault trees are then transformed into diagnostic rules. The implemented CAD tool allows for rule processing by using the Transferable Belief Model (TBM). The limitations of the component-based synthesis of fault trees are discussed. © 1999 EUCA.

关键词： computer aided design

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Grey box process modelling for fault detection and isolation

Grey box process modelling for fault detection and isolation

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1999 European control Conference, ECC 1999

作者： Hangos, K.M. Szederkenyi, G. Systems and Control Laboratory Computer and Automation Research Institute HAS PO Box 63 BudapestH-1518 Hungary

ISBN: (纸本)9783952417355

The effect of the type and quality of process models applied for fault detection and isolation is investigated in this paper. It is shown that the level of details and the modelled processes within the applied grey box model determine the detectability of the faults as well as the sensitivity and detection delay of a particular fault detection method. The concepts and results are illustrated on the example of fault detection of heat exchange surface deterioration and leaking in a countercurrent heat exchanger. © 1999 EUCA.

关键词： Fault detection

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automation of specification process for PLC control systems software

Automation of specification process for PLC control systems ...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： M. Rihar G. Godena Department Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

The specification process for advanced industrial process control systems should be conducted by means of a methodology that takes into consideration the specification of control functions and the system architecture. For the domain of industrial process control by PLCs, we have implemented the automation of the specification process within a pragmatic low-cost and easy to use CASE environment, comprising commercial computer tools extended by a dedicated software. Such an environment makes possible domain-oriented non-redundant data entry, automatic data expansion and transfer into the CASE tool repository, and remains an advantage of CASE tool generic functions.

关键词： automation Programmable control Automatic control Process control control systems computer aided software engineering Electrical equipment industry Industrial control computer architecture computer industry

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Model-based fault diagnosis of an actuator system driven by the brushless DC motor

Model-based fault diagnosis of an actuator system driven by ...

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American control Conference (ACC)

作者： O. Moseler D. Juricic A. Rakar N. Muller Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

A fault detection and isolation scheme for a brushless DC motor driving a mechanical actuation system is presented. First, a detailed mathematical model of the drive is derived. The residual generator is based on parity relations while the fault isolation part is implemented by means of the transferable belief model. The problem of distinguishing between faults with the same fault signatures is addressed. It is shown that additional improvements in terms of resolution can be achieved by employing parameter estimation. The proposed FDI scheme is tested on the actual drive under various faults. The achieved performance features the highest resolution, diagnostic stability and accuracy.

关键词： Fault diagnosis Actuators Brushless DC motors DC motors Coils Rotors Stators Fault detection Pulse width modulation Mathematical model

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