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A system structure with trajectory planning and control for robotic dynamic manipulation

Advanced Robotics 1996年第7期11.0卷 695-711页

作者： Zheng, Xin-Zhi Ono, Kazuya Yamakita, Masaki Katayama, Masazumi Ito, Koji Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama 226 Japan Department of Information and Computer Sciences Toyohashi University of Technology Toyohashi 441 Japan Department of Control and System Engineering Tokyo Institute of Technology Tokyo 152 Japan Ishikawajima-Harima Heavy Industries Co. Ltd. Tokyo Japan

We present a control framework for robot systems to perform dynamic manipulation tasks, with robotic batting as an example. A properly preplanned trajectory for manipulators is recognized to be important to increase the probability of success. A nominal path for a manipulator to travelin a swing motion is computed while optimizing the stochastic dynamic manipulability measure to cope with the unpredictable deviation of the ball. A nominal trajectory along the path is then planned in a minimum-time fashion for the benefit of catching the ball as accurately as possible, thebehavior of which is observed visually and estimated on-line. A control structure consisting interpolatively of a path velocity controller to follow the nominal trajectory and a resolved-acceleration-natured ball-deviation compensating controller, together with a ball motion prediction, isproposed. The effectiveness of the proposed approach is examined using computer simulations. The strategy provided in this paper will be useful to make manipulators perform further task requirements better for a wide range of dynamic manipulations. © VSP and Robotics Society of Japan 1998.

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A neural-net based short term load forecasting using moving window procedure

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY systemS 1995年第6期17卷 391-397页

作者： Djukanovic, M Ruzic, S Babic, B Sobajic, DJ Pao, YH Institute ‘Nikola Tesla’ Belgrade Yugoslavia Electric Power Utility cf Serbia Belgrade Yugoslavia Power System Control EPRI Palo Alto CA 94304 USA Departments of Electrical Engineering and Computer Science Case Western Reserve University USA AI WARE Inc. Cleveland OH 44106 USA

An improved neural-net approach based on a combined unsupervised/supervised learning concept is proposed. A 'moving window' procedure is applied to the most recent load and weather information for creating training set data base. A forecasting lead time that varies from 16 hours to 88 hours is introduced to produce the short term electric load forecasting that meets requirements of real electric utility operating practice. The unsupervised learning (UL) is used to identify days with similar daily load patterns. A feed forward three-layer neural net is designed to predict 24-hour loads within the supervised learning (SL) phase. The effectiveness of proposed methods is demonstrated by comparison of forecasted hourly loads in every single day during 1991 with data realized in the same period in the Electric Power Utility of Serbia (EPS). A better choice of input features and more appropriate training set selection procedure allow significant improvement in forecasting results comparing with our previous UL/SL concept characterized by a fixed neural-net structure and absence of re-training procedure. The improvement is illustrated by reduction of average error in daily energy forecasting for 0.83% and reduction of 90th percentile of 2.04%.

关键词： neural-nets load forecasting unsupervised supervised learning

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Artificial Intelligence Embedded Object-Oriented Methodology for Model Based Decision Support

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IFAC Proceedings Volumes 1995年第7期28卷 371-379页

作者： Feng Shan Tian Yuan Li Tong Cai Jun Institute of System Engineering Department of Automatic Control Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 P. R. China

The paper presents the coupling of artificial intelligence - AI and Object-oriented methodology applied for the construction of the model-based decision support system MBDSS. The MBDSS is designed for support the strategic decision making lead to the achievement of optimal path towards market economy from the central planning situation in China. To meet user’s various requirements, a series of innovations in software development have been carried out, such as system formalization with OBFRAMEs in an object-oriented paradigm for problem solving automation and techniques of modules intelligent cooperation, hybrid system of reasoning, connectionist framework utilization, etc. Integration technology has been highly emphasized and discussed in this article and an outlook to future software engineering is given in the conclusion section.

关键词： Artificial intelligence AI Object-oriented methodology OOM Knowledge-based systems KBS Intelligently cooperative systems Neural nets NNs Case Based Reasoning CBR Behavioral science Advanced Automation

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control for pneumatic actuator systems using feedback linearization with disturbance rejection

Control for pneumatic actuator systems using feedback linear...

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American control Conference (ACC)

作者： T. Kimura S. Hara T. Fujita T. Kagawa Department of Systems Science Tokyo Institute of Technology Yokohama Kanagawa Japan Department of Control System Engineering Tokyo Institute of Technology Meguro Tokyo Japan

Though a pneumatic actuator is widely used in industrial applications, it is not easy to control due to the nonlinearities. We apply a method of feedback linearization for a pneumatic actuator system to handle them. It is shown that any SISO pneumatic system with a linearizable load and an isothermal pneumatic actuator is linearizable by state feedback. A method of feedback linearization with step-type disturbance rejection is proposed by measuring disturbances. Experimental results with a rubber artificial muscle actuator verify the validity of the proposed method.

关键词： Linear feedback control systems control systems Pneumatic actuators Electrical equipment industry Industrial control control nonlinearities Pneumatic systems Isothermal processes State feedback Rubber

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Intelligent fuzzy controller design on WARP for mechanical systems with complex dynamic behaviors

Intelligent fuzzy controller design on WARP for mechanical s...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： S.V. Ulyanov T. Yamafuji V.G. Gradetsky A. Pagni Department of Mechanical and Control Engineering University of Electro-Communications Chofu Tokyo Japan Institute for Problems in Mechanics Russian Academy of Science Russia SGS-THOMSON Microelectronics Corporate Advanced System Architectures Italy

The methodology of intelligent fuzzy controller design is introduced. The basis of the methodology is simulation of computer dynamics for mechanical systems with the help of qualitative physics and the search of possible solutions with genetic algorithm (GA). On artificial neural networks optimal solutions are defined and knowledge base of fuzzy controller on the Weight Associative Rule Processor (WARP) is formed. Applications of this methodology on examples including a mobile robot for service use, a wall climbing robot (WCR) for decontamination of nuclear-power plant, a DC/DC converter and an apparatus for artificial ventilation of lungs, are examined.< >

关键词： Fuzzy control Fuzzy systems control systems Mechanical systems Artificial intelligence Computational modeling Computer simulation Physics computing Genetic algorithms Artificial neural networks

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A study on the design and characteristics of the high frequency resonant inverter for ultrasonic motor drive using fuzzy controller

A study on the design and characteristics of the high freque...

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International Conference on Industrial Electronics, control and Instrumentation

作者： In-Su Cha Hae-Am Park Gwon-Jong Yu Young-Dong Kim Hyung Lae Baek Department of Electric & Electronic Engineering Dong Shin University Choongnam South Korea Department of Computer & Information Processing Kwangju Institute of Science and Technology Kwangju South Korea Department of Photovoltaic System Korea Institute of Energy and Research Daejeon South Korea Department of Control & Measurement Engineering Chosun University Sesekdong South Korea Department of Electrical Engineering Chosun University Sesekdong South Korea

ISBN: (纸本)0780330269

In the present paper, a fuzzy logic based ultrasonic motor (USM) is used in order to properly control the speed and phase difference for the elasticity and viscosity of a robot joint. The traveling wave USM is driven by two-phase sine wave signals, and the phase difference of the signals is usually selected to +90/spl deg/ and -90/spl deg/ meaning high speed and maximum torque of the USM. In this paper, we describe USM rotational speed characteristics at no load. The first phase difference is adjusted in the range from +90/spl deg/ to -90/spl deg/ by fuzzy controller as is the reached target speed.

关键词： Resonant frequency Resonant inverters

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on Computer Aided control system Design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control control design Design engineering Robot kinematics

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Dvelopments in the Field of control Libraries and their Impact on control Eduction

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IFAC Proceedings Volumes 1994年第9期27卷 269-272页

作者： Ad Van Den Boom Aloys Geurts Georg Grübel Andras Varga Dept. of Electrical Engineering Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands Dept. of Mathematics and Computing Science Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics D-82230 Wessling Germany

The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLIC... 详细信息

关键词： control libraries computer aided system design numerical control software education educational aids

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Fault Detection of Large Parameter Changes in a Wastewater Plant

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IFAC Proceedings Volumes 1994年第5期27卷 153-158页

作者： M.J. Fuente P. Vega M.B. Zarrop Dept. Ingeniería de Sistemas y Automatica. Facultad de Ciencias Universidad de Valladolid C/Prado de la Magdalena S/N 47011 Valladolid SPAIN Control System Centre Department of Electrical Engineering and Electronics University of Manchester Institute of Science and Technology. Manchester M60 1QD U.K.

This report deals with the detection and diagnosis of faults (FDD) when they develop in different parts of a wastewater treatment plant, situated in Manresa, Spain. When a fault occurs estimates of parameters in a non-linear mathematical model of the plant change. Some methods for detection and tracking the values of different parameters are proposed, where only large parameter changes are considered in this work. The methods have a common structure with three basic elements: a basic identification algorithm, a detector of the parameter changes and an adaptive procedure for improving the tracking capability of the identifier. A set of simulation experiments are presented in order to compare them.

关键词： Fault Detection and Diagnosis biotechnology wastewater plant estimation algorithms RLS

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PERFORMANCE OF A PRIORITIZED ON-BOARD BASEBAND SWITCH FOR A MULTISERVICE MULTIBEAM SATELLITE

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 283-297页

作者： BOHM, S ELHAKEEM, AK HACHICHA, M Department of Electrical and Computer Engineering Concordia University 1455 De Maisonneuve Blvd. West Montreal H3A 1M8 Canada Was born in Montreal Canada on 14 September 1966. He received the B. Eng. degree in electrical engineering from Concordia University Montreal Canada in 1989. He is at present completing the M.A.Sc. degree in electrical engineering at Concordia University. (S'75–S'79–M'79–SM'86) received the Ph.D. degree from Southern Methodist University Dallas TX in 1979. He spent the next two years working as a Visiting Professor in Egypt after which he moved to Ottawa Canada in 1982. He assumed teaching and research positions in Carleton and Manitoba Univerities and later moved to Concordia University Montreal Canada in 1983 where he is now a Professor in the Electrical and Computer Engineering Department. He has published numerous papers in IEEE and international journals in the areas of spread spectrum and networking. He is a well-known expert in these areas and serves as a consultant to many companies. His current research interests include wide-band metropolitan networks switching architectures and performance of on-board multibeam satellites acquisitionless CDMA networks code distribution and orthogonalization of CDMA signals responsive congestion control for ATM-based networks ARQ techniques and investigation of the novel SUGAR CDMA systems in fading channels. Dr. Elhakeem is a Senior Member of the Canadian Electrical Engineering Society and Armed Forces Association. He has chaired numerous technical sessions in IEEE Conferences was the Technical Program Chairman for IEEE Montech 1986 Montreal Canada. Dr. Elhakeem is the key guest editor of theIEEE Journal of Selected Areas in Communicationsfor the May June issues 1993 covering CDMA networks. Advanced Technology & Networks VISTAR Telecommunications Inc. Ottawa Ontario K1G 3J4 Canada An Associate Director of Advanced Technology & Networks Group VISTAR Telecommunications Inc. Ottawa Canada. He is also an Adjunct Pr

In this paper, we study the performance of a prioritized on-board baseband switch in conjunction with a multibeam satellite handling integrated services. The services considered for the analysis include voice, video, file transfer and interactive data. The prioritized switch uses both input and output buffering, switch speed-up as well as a two-phase head-of-line resolution algorithm, in order to reduce the buffer loss while maintaining acceptable user delays. The minimum required buffer capacity and switch speed-up for each service in a prioritized environment are found under uniform traffic conditions. It is shown that under uniform traffic conditions, only minimal buffering and switch speed-up are needed even for the lowest priority users. The performance dependence on the switch size is also substantially reduced with head of line resolution and buffering even in a prioritized environment.

关键词： SWITCH ON-BOARD BASEBAND MULTIBEAM PRIORITIZED HEAD-OF-LINE UNIFORM LOAD SPEED-UP

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