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Numerical Modelling of control Time-Delay System

IFAC Proceedings Volumes 1998年第13期31卷 155-159页

作者： O.B. Kwon A.V. Kim V.G. Pimenov Kyung Sung College Computer Science Dept. Shitl Prong-Ri 131 Pochun-Gun Kyung-Kido Seoul Korea Control Information Systems Laboratory School of Electrical Engineering Seoul National University Seoul 151-742 Korea Ural State University Turgenev Str. 4 Ekaterinburg 620083 Russia

Discrete-time control schemes are often used for realization of positional control strategies for continuous time control problems (Krasovskii and Subbotin, 1974; Osipov, 1971) . However for general systems with delays (whicb are often called functional differential equations (FDE)) exact solutions in both continuous and discrete schemes can be found in exceptional cases. So, as rule, it is necessary to solve corresponding control problems using suitable numerical algorithms . In surveys (Cryer and Tavernini, 1972; Hall and watt, 1976; Bellen, 1985) different numerical methods for FDE are discussed. In this paper positional implicit Runge-Kutta-like numerical methods of solving general FDE are presented. The elaborated methods are direct analogs of the corresponding numerical methods of ODE case. Also we present new theorem (which generalizes the results of (Kim and Pimenov, 1997; Kim and Pimenov, 1998)) on convergence order. The obtained results are based on distinguishing of finite dimensional and infinite dimensional components in the structure of FDE, on interpolation and extrapolation of the discrete prehistory of the model, on application of constructions of i- smooth analysis (Kim, 1996) . The notion of an approximation order for an optimal strategy in the discrete scheme of realization is introduced. The conditions, which guarantee required approximation order of the optimal strategy, are presented.

关键词： Delay positional control discretization Runge-Kutta metbod implicit systems accuracity

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Fast implementation of the forward positional acceleration of robots via the distributed arithmetic technique

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CIRCUITS systems AND SIGNAL PROCESSING 1997年第2期16卷 165-195页

作者： Grigoriadis, GK Mertzios, BG Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Dimocritus University of Thrace Xanthi Greece

This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of the end effector is calculated by a cascade configuration of two pipelined arrays that calculate the Jacobian matrix and its time derivative, as well as the centrifugal-Coriolis and linear accelerations. These partial accelerations are then added in the adder tree. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the positional forward acceleration of the end effector is described. The serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic (DA) implementation of the positional forward acceleration may be applied, after appropriate modifications, to the general case of robots having either revolute or prismatic joints, with any type of wrist.

关键词： End effectors

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Royal Academy of Medicine in Ireland - Section of Bioengineering - Proceedings of meeting held in Dundalk, Co. Louth, in February 1998.

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IRISH JOURNAL OF MEDICAL science 1998年第4期167卷 256-276页

作者： [Anonymous] Orthopaedic Research Unit The Queen’s University of Belfast School of Biomedical Sciences The Queen’s University of Belfast Howmedica International Ltd. Raheen Industrial Estate Limerick Department of Mechanical Engineering Trinity College Dublin 2 Mater Hospital Dublin 7 Orthopaedic Research Laboratory Århus University Hospital Denmark University of Limerick Limerick Limerick Regional Hospital Raheen Limerick Boston Scientific Ireland Ltd. Galway Department of Mechanical Engineering University College Dublin Dublin Department of Electrical and Electronic Engineering University College Dublin Dublin Bioengineering Research Centre Department of Mechanical Engineering University College Dublin Dublin Northern Ireland Bio-Engineering Centre (NIBEC) School of Electrical and Mechanical Engineering University of Ulster Newtownabbey Department of Mechanical & Manufacturing Engineering The Ashby Building The Queen’s University of Belfast Johnson and Johnson Professional Orthopaedic Division Queensway England Department of Cardiology and Department of Medical Physics & Bioengineering St. James’s Hospital Dublin 8 Burke House Ellison Street Castlebar Royal College of Surgeons in Ireland Department of Surgery Beaumont Hospital Dublin Department of Electronic and Electrical Engineering Trinity College Dublin 2 Department of Aeronautical Engineering The Queen’s University of Belfast Vascular Unit Belfast City Hospital Department of Medical Physics and Bioengineering St. James’s Hospital Dublin 8 Centre for Biomedical Electronics Department of Electronic and Computer Engineering University of Limerick Limerick Department of Mechanical and Aeronautical Engineering University of Limerick Limerick School of Health Sciences University of Ulster Ireland School of Physiotherapy University of Ulster Newtownabbey Clinical Engineering NI Medical Physics Agency Belfast and Radiology Royal Victoria Hospital Musgrave Park Hospital University of Limerick Biomedical Institute (ULBMI) Uni

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Image feature extraction using coordinate logic filters

Image feature extraction using coordinate logic filters

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International Conference on Digital Signal Processing (DSP)

作者： K. Tsirikolias B.G. Mertzios Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace Greece

In this paper we present a method for image feature extraction using coordinate logic filters. Coordinate logic filters constitute a new kind of nonlinear filter, which are closely related to morphological fillers. The key issue to the coordinate logic analysis of images is the methodology of fast successive filtering and managing of the residues. The desired processing is succeeded by executing only direct logic operations among the pixels of the given image. The coordinate logic filters can be easily implemented using logic circuits or cellular automata.

关键词： Feature extraction Filters Binary sequences Filtering Pixel Logic circuits Shape Image analysis Image processing automatic control

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A fast skeleton algorithm on block represented binary images

A fast skeleton algorithm on block represented binary images

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International Conference on Digital Signal Processing (DSP)

作者： I.M. Spiliotis B.G. Mertzios Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace Greece

This paper describes a binary image representation scheme, which is called image block representation and presents a new skeletonization algorithm, which is implemented on block represented binary images. The main purpose of the image block representation is to provide an efficient binary image representation that permits the execution of operations on image areas instead of image points. The skeletonization algorithm operates in four subiterations: each subiteration deletes the north, the south, the west and the east boundary points, respectively. Due to the substitution of the boundary points by the block's boundary points the relevant operations are performed fast, while preserving the end points and the object connectivity.

关键词： Skeleton Image representation Pixel Image coding automatic control Laboratories Two dimensional displays Computational efficiency Digital signal processing Digital images

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A Method of Robust Fault Detection for Dynamic systems by Using Quasi-ARMAX Modeling

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IFAC Proceedings Volumes 1997年第11期30卷 1157-1162页

作者： K. Kumamaru J. Hu K. Inoue T. Söderström Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Fukuoka Japan Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This paper presents a model-based approach to fault detection of dynamic systems, which is robust to unmodeled dynamics. A “Quasi-ARMAX model᾿ is first proposed for describing nonlinear systems by incorporating a group of certain nonlinear structures into a linear ARMAX structure. The model can be used for a best linear approximation of the system, as well as for the estimation of resulting unmodeled dynamics, by a hierarchical implementation of recursive identification. Then robust fault detection is performed based on thresholding approach using Kullback discrimination information as fault detection index, in which the estimated unmodeled dynamics is incorporated.

关键词： Dynamic systems fault detection Kullback discrimination information modeling errors nonlinear systems robust performance

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Reduction of loading effect in reactive ion etching using real-time closed-loop control

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JOURNAL OF THE ELECTROCHEMICAL SOCIETY 1997年第8期144卷 2865-2871页

作者： Patterson, OD Khargonekar, PP Electronics Manufacturing and Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor Michigan 48109‐2122

Real-time, in situ control of reactive ion etching is shown to reduce loading disturbance in an Applied 8300 reactive ion etch system. The etch process vehicle is CF4 etching of polysilicon. A real-time, multivariable feedback control strategy where key plasma parameters are fed back has been developed. This strategy is experimentally compared with standard industry practice and is shown to reduce the loading effect by 80%. This quantification of improvement is carried out in terms of a model from the literature which is reviewed and experimentally validated for the etch equipment and process used.

关键词： Reactive ion etching

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Fault Detection of Nonlinear systems by Using Hybrid Quasi-ARMAX Models

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IFAC Proceedings Volumes 1997年第18期30卷 1125-1130页

作者： K. Kumamaru J. Hu K. Inoue T. Söderström Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Fukuoka Japan. Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This research is concerned with fault detection of nonlinear systems using Kullback discrimination information (KDI) as an index. A hybrid quasi-ARMAX model is proposed, which combines a linear ARMAX model and a multi-ARX-model based on interpolation. In the case where the faults occur on the ARMAX model part, a KDI-based "robust" fault detection is performed, in which multi-ARX-model part is treated as error due to nonlinear undermodeling. In other cases, the model is transformed into several local ARMAX models and fault detection is performed by using the KDI to discriminate each identified local model. In this paper, we mainly concentrate our discussion on the latter cases.

关键词： Nonlinear systems dynamic systems fault detection Kullback discrimination information quasi-ARMAX modeling local model

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Fault detection filter for linear time varying systems: An algebraic-geometric approach 4

Fault detection filter for linear time varying systems: An a...

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4th European control Conference, ECC 1997

作者： Szigeti, F. Bokor, J. Edelmayer, A. Tarantino, R. Department of Control Engineering Faculty Universidad de los Andes Mérida5101 Venezuela Systems and Control Laboratory Computer and Automation Institute Hungarian Academy of Science XI Kende u. 13-17 BudapestH1111 Hungary Maraven Oil Refinery Punta Cardon Venezuela Universidad de Los Andes Mérida5101 Venezuela

ISBN: (纸本)9783952426906

In this paper we consider the fault isolation problem for the linear time varying systems. Our approach is based on characterization of the observability of LTV systems by Kalman's rank condition, which permits us to design fault detection filters, feeding also the derivatives of the inputs and the outputs. We prove, using a computable method, that the isolation problem can be solved by generalized Luenberger's observer if and only if the detectability and the weak separability of fault signatures holds.

关键词： Observability

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Emission and drivability tradeoffs in a variable cam timing SI engine with electronic throttle

Emission and drivability tradeoffs in a variable cam timing ...

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American control Conference (ACC)

作者： S.C. Hsieh A.G. Stefanopoulou J.S. Freudenberg K.R. Butts Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Scientific Research Laboratory Ford Motor Company Limited Dearborn MI USA

Tradeoffs between low feedgas emissions and smooth brake torque are discussed in the context of an engine equipped with variable camshaft timing (VCT). The use of VCT lowers the generation of feedgas emissions but adversely affects the torque response. However, with the addition of an electronic throttle and knowledge of online torque, the tradeoffs between emissions and drivability in the VCT engine can be lessened; conventional (nonVCT) engine torque response can be achieved while simultaneously preserving most of the emissions benefits gained by using VCT.

关键词： computer aided manufacturing CADCAM Timing Engines Fuel economy Exhaust systems Actuators Torque control Laboratories Couplings

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