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IEEE International Conference on Computer-Aided Design

作者： Minh Duc Duong Kazuhiko Terashima Takashi Imamura System and Control Engineering Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan Instrumentation Systems Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan

In this paper, teleoperation of a master-slave robot system with haptic feedback and network traffic reduction for rehabilitation are presented. At first, the stability of the teleoperation system with haptic feedback via time delay communication environment is mathematically shown for multi-joint robot arm system. Experiments show that the system is stable, despite of time delay. In order to reduce packet transfer rate for transmission of data, deadband control approach is used. A new data reconstruction algorithm is proposed to improve system's performance for telerehabilitation while keeping the stability of the system. The validity of the approach is shown in simulations

关键词： Haptic interfaces Feedback Communication system control Rehabilitation robotics Stability Delay effects Master-slave Communication system traffic control Reconstruction algorithms System performance

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Robust control for uncertain singularly perturbed systems using periodic output feedback

Robust control for uncertain singularly perturbed systems us...

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American control Conference (ACC)

作者： J.M. Nair A. Lazar B. Bandyopadhyay Departmentof Instrumentation VES Institute of Technology Mumbai India Systems and Control Engineering Department Indian Institute of Technology Mumbai India

We deal with the design of robust controllers for linear time invariant uncertain singularly perturbed systems using periodic output feedback. The singularly perturbed uncertain system is represented using interval matrix representation. The fast and slow subsystems are obtained using interval arithmetic. The fast modes are assumed to be stable. The periodic output feedback gain is obtained for slow subsystem. The reduced control obtained from the slow subsystem is shown to stabilize the original uncertain system. A numerical example illustrates the proposed method

关键词： Robust control Output feedback control systems Uncertain systems Sampling methods Feeds Arithmetic controllability Instruments Linear feedback control systems

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Dynamic-order-extended time-delay dynamic neural units

Dynamic-order-extended time-delay dynamic neural units

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8th Seminar on Neural Network Applications in Electrical engineering, Neurel-2006

作者： Bukovsky, Ivo Simeunovic, Goran Centre for Applied Cybernetics Faculty of Mechanical Engineering Czech Technical University Prague Czech Republic Laboratoire d'Etudes des Phenomenes de Transfer Appliques au Batiments Université de La Rochelle La Rochelle France Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University Prague Czech Republic Intelligent Systems Research Laboratory University of Saskatchewan Canada

ISBN: (纸本)1424404339

The paper introduces a linear dynamic-order-extended time-delay dynamic neural unit, which is one possible modification of novel class of artificial neurons called time-delay dynamic neural units (TmD-DNU). In standalone implementations, these artificial dynamic neural architectures can be understood as an analogy to continuous time-delay differential equations. TmD-DNU are capable of identification of all parameters of continuous time differential equation including unknown time delays both in the unit's inputs as well as in its state variable. A modification of dynamic backpropagation learning algorithm is shown. Results on system identification of an unknown system with dynamics of higher-order including unknown time delays are shown in comparison to achievements by common identification methods applied to the same system. Robust identification capabilities and network implementations of TmD-DNU are briefly discussed. © 2006 IEEE.

关键词： Time delay

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Discrimination of old/young persons from acceleration data during walking based on neural networks

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systems and Computers in Japan 2006年第4期37卷 1-10页

作者： Morita, Yoshifumi Kakami, Hironori Ukai, Hiroyuki Kando, Hisashi Graduate School of Engineering Nagoya Institute of Technology Nagoya 466-8555 Japan Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama 226-8502 Japan Department of Systems Management Engineering Institute of Electrical Engineers of Japan Society of Instrumentation and Control Engineers of Japan Atomic Energy Society of Japan IEEE Department of Electrical and Computer Engineering Institute of Systems Control and Information of Japan

An analytical algorithm based on neural networks is proposed for the problem of discrimination of seven subjects into the two groups of old persons and young persons on the basis of acceleration data during walking. An old person model and a young person model are constructed using neural networks, and subjects are discriminated by comparison of the degree to which the subject data match the models. To improve discrimination accuracy, a method is further proposed in which data that clearly manifest a difference in the degree of matching are added to learning data, and model reconstruction is iterated. Frequency analysis is also used to extract and quantify a feature from data on old persons and young persons and to discriminate this characteristic quantity by comparison of the degree of similarity between subjects and old persons/young persons. Validity of the discrimination results based on neural networks is examined by comparison with the results of frequency analysis. © 2006 Wiley Periodicals, Inc.

关键词： Algorithms

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A two-input two-output robust multiple model adaptive control (RMMAC) case study

A two-input two-output robust multiple model adaptive contro...

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American control Conference (ACC)

作者： S. Fekri M. Athans A. Pascoal Instituto Superior Técnico Institute for Systems and Robotic Lisboa Portugal Research Associate in Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK Department of EE&CS MIT Cambridge MA USA

We use the RMMAC architecture and design methodology, introduced in the work of M. Athans et al. (2005) and S. Fekri et al. (2004), to design and evaluate a truly multivariable adaptive control system; this fills a void that is present in the literature. A three-cart problem with two uncertain parameters, two controls, and two outputs is used as the case study. We show that the RMMAC significantly improves disturbance-rejection compared with the "best" non-adaptive controller designed by mixed-mu synthesis. In the example considered, in addition to two uncertainties in mass and spring constants, there are unmodeled dynamics as well as (unmeasured) stochastic disturbance inputs and noisy sensor measurements. Numerous simulation results are presented that demonstrate the superior performance of the RMMAC

关键词： Robust control Adaptive control Computer aided software engineering Design methodology Stochastic processes control system synthesis control systems Robust stability Robustness Springs

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Uncertainty vs Performance Trade-Offs in Robust Feedback control: A Mimo Case Study

Uncertainty vs Performance Trade-Offs in Robust Feedback Con...

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IEEE Conference on Decision and control

作者： J.F. Vasconcelos M. Athans S. Fekri C. Silvestre P. Oliveira Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal EECS (emeritus) M.I.T. USA Research Associate Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK

ISBN: (纸本)1424401704;9781424401703

We use a non-trivial MIMO three-cart Mass-Spring-Dashpot (MSD) system to demonstrate how performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased in the presence of unmodeled dynamics. All designs are carried out by the mixed-mu robust synthesis methodology. Comparisons are made: (a) in the frequency-domain, (b) by RMS values of key signals and (c) in time-domain simulation results

关键词： Uncertainty Robust control Feedback control MIMO Robustness Robust stability Frequency domain analysis Mathematical model control systems MATLAB

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Dynamic-Order-Extended Time-Delay Dynamic Neural Units

Dynamic-Order-Extended Time-Delay Dynamic Neural Units

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Seminar on Neural Network Applications in Electrical engineering

作者： Ivo Bukovsky Goran Simeunovic Department of Instrumentation and Control Engineering the Faculty of Mechanical Engineering Czech Technical University Prague Czech Republic Intelligent Systems Research Laboratory University of Saskatchewan Canada Centre for Applied Cybernetics Faculty of Mechanical Engineering Czech Technical University Prague Czech Republic Laboratoire d'etudes des phenomenes de transfer appliquca aubätiments Universitè de La Rochelle La Rochelle France

The paper introduces a linear dynamic-order-extended time-delay dynamic neural unit, which is one possible modification of novel class of artificial neurons called time-delay dynamic neural units (TmD-DNU). In standalone implementations, these artificial dynamic neural architectures can be understood as an analogy to continuous time-delay differential equations. TmD-DNU is capable of identification of all parameters of continuous time differential equation including unknown time delays both in the unit's inputs as well as in its state variable. A modification of dynamic backpropagation learning algorithm is shown. Results on system identification of an unknown system with dynamics of higher-order including unknown time delays are shown in comparison to achievements by common identification methods applied to the same system. Robust identification capabilities and network implementations of TmD-DNU are briefly discussed

关键词： Delay effects Differential equations Backpropagation algorithms Neurons Mechanical engineering Stability Seminars Neural networks Heuristic algorithms System identification

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Rod control system oriented for improving operational capability of BWR plants

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Hitachi Review 2005年第3期54卷 131-135页

作者： Ishii, Kazuhiko Nozaki, Takeshi Kohara, Kohei Udono, Shigeru Miyashita, Katsuhiko Hitachi Ltd. Nuclear Power Control and Instrumentation Systems Engineering Department Power Control Systems Division Information and Telecommunication Systems Nuclear Plant Control and Instrumentation Engineering Department Control and Instrumentation Design Section Hitachi Works Nuclear Power Service Engineering Development Department Nuclear Systems Division Service Project Group

An RMCS (reactor manual control system) and RPIS (rod position information system), which are next-gene ration products, were developed to assist in stable operation of existing BWR (boiling water reactor) plants. Installation tests of these systems were completed at The Tokyo Electric Power Company Incorporated, Kashiwazaki Kariwa Nuclear Power Station Unit 4, and The Chugoku Electric Power Co., Inc., Shimane Nuclear Power Station Unit 2. The new systems started operation at both of plants in June 2005. The basic concept of these systems is to improve performance [avoidance of LCO (limiting condition of operation)] by maintaining compatibility with existing facilities and by utilizing the functions of a redundant decentralized system. It is a system that monitors the positions of control rods while operating them manually in the BWR plants. A soft logic method was created by adopting the latest controller and optical data transmissions that use the latest IC (CMOS: complementary metal-oxide semiconductor). This method is used in place of the logic method, which uses IC technology (TTL: transistor-transistor logic).

关键词： Boiling water reactors

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Robot motion generation considering external and internal impulses

Robot motion generation considering external and internal im...

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作者： So, Byung Rok Lee, Jae Hoon Yi, Byung-Ju Kim, Wheekuk School of Electrical Engineering and Computer Science University of Hanyang Korea Republic of Institute of Engineering Mechanics and Systems University of Tsukuba Japan Department of Control and Instrumentation Engineering University of Korea Korea Republic of

ISBN: (纸本)0780389123

This paper deals with motion generation algorithm considering the external and internal impulses. Initially, we analyze the trend of the impulses with a simple 3-DOF planar robot arm in various contact positions and present a problem that is in discord with the general trend. To cope with this problem, we propose a new motion generation algorithm considering both the external and internal impulse. The gradient projection method is employed to exploit the kinematic redundancy of robot systems. Initially, the effectiveness of the proposed algorithms is verified through simulation of a 3-DOF planar robot arm model, and two application examples considering both the external and internal impulses are investigated. Through simulations for the landing of a 4-DOF planar human-body model and the sawing motion by a dual-arm model, it is shown that the posture is stable and the trend of the impulses calculated by the analytical models is coincident to the human experiences. © 2005 IEEE.

关键词： Motion planning

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Knowledge model integrated in SCADA/HMI system for failure process prediction

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WSEAS Transactions on Circuits and systems 2005年第4期4卷 309-318页

作者： Zolotová, Iveta Landryová, Lenka Department of Cybernetics and Artificial Intelligence Faculty of Electrotechnics and Informatics Technical University Košice Letná 9 042 00 Košice Slovakia Department of Control Systems and Instrumentation Faculty of Mechanical Engineering VŠB - Technical University Ostrava 17. listopadu 15 708 33 Ostrava-Poruba Czech Republic

In this contribution, human interaction with the supervisory control systems and the necessity to utilise experience and knowledge in cooperation with functions performed by direct and supervisory control and their connection to information systems are strongly emphasised;as is the required enterprise wide interfacing to manufacturing execution systems, management information systems and resources planning systems. Successful knowledge integration is dependent on the projection of the right knowledge to the right decision process at the right time. The supervisory control SCADA technology has been shown to facilitate this in a flexible and effective manner. This article contributes to a discussion about plant intelligence on the basis of the integration of knowledge model in SCADA/HMI (Supervisory control and Data Acquisition/ Human Machine Interface) systems. It emphasises supporting the process operators and management not only with measured data, chemical analysis results and process visualization, but with knowledge expressed by expert evaluation for process operation and decision making, too. It is demonstrated by an open and scalable application on the requirements coming from real time operation at plants - risk based inspection and failure process prediction in an oil refinery.

关键词： SCADA systems

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