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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Claus Lenz Suraj Nair Markus Rickert Alois Knoll Wolgang Rosel Jurgen Gast Alexander Bannat Frank Wallhoff Robotics and Embedded Systems Laboratory Department of Computer Science Technische Universitat Munchen Munchen Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universitat Munchen Munchen Germany Human Machine Communication Department of Electrical Engineering and Information Technologies Technische Universitat Munchen Munchen Germany

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is possible. Furthermore, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robotpsilas body.

关键词： Robots

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Dual band Antennas using Metamaterial Transmission Lines

Dual band Antennas using Metamaterial Transmission Lines

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2008 IEEE Antennas and Propagation Society International Symposium (APSURSI 2008), vol.8

作者： Jae-Hyun Park Young-Ho Ryu Seung-Wook Lee Jeong-Hae Lee Eun-Seok Park Young-Eil Kim Department of Electronic Information and Communication Engineering Hongik University Seoul South Korea School of Electrical Engineering and Computer Science Kyungpook National University Daegu South Korea Embedded Systems Solution Laboratory Samsung Advanced Institute of Technology Yongin si Gyeonggi South Korea

ISBN: (纸本)9781424420414

The planar metamaterial transmission (MTL) line is a consequence of extraordinary permittivity and permeability. As it is known well, the composite right/left-handed (CRLH) transmission line (TL) has unique property of an infinite-wavelength wave at specific non-zero frequency because of zero permittivity and permeability [1-2]. Recently, the infinite wavelength resonator antenna based on the fundamental infinite wavelength property of artificial epsilon-negative (ENG) and mu-negative (MNG) TLs was also presented [3-4]. In this paper, dual band antennas using epsilon zero resonance (EZR) and mu zero resonance (MZR) are presented. Since an infinite wavelength of artificial ENG and MNG TLs occurs when their permittivity and permeability are zero, the resonance frequency does not depend on its electrical length. To design dual-band antennas, two ENG and MNG resonators with different resonance frequency which supports the infinite wavelength are analyzed. The resulting characteristics of dual band antennas using the metamaterial TLs will be presented.

关键词： dual band antennas resonant frequencies left-handed materials Electronystagmography Dielectric constant Transmission Lines Infinite wavelengths Zero Permeability

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Evaluation of UML in process automation - Results of an experimental approach

Evaluation of UML in process automation - Results of an expe...

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作者： Friedrich, David Pantfoerder, Dorothea Vogel-Heuser, Birgit Department of Computer Science and Electrical Engineering Embedded Systems University of Kassel 34121 Kassel Germany

ISBN: (纸本)9783902661371

This paper reports on a series of lab experiments to evaluate the application of modelling notations in automation and control engineering. The focus of this evaluation was on two aspects: 1) analyzing and modelling the problem or application and 2) implementing its solution into a control program in IEC 61131-3. The evaluated notations are the Unified Modeling Language (UML) and the Idiomatic Control Language (ICL): UML as nearly standard in computer science and ICL as powerful modelling notation from the distributed control systems world (DCS). Copyright © 2007 IFAC.

关键词： Knowledge representation

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EVALUATION OF UML IN PROCESS AUTOMATION – RESULTS OF AN EXPERIMENTAL APPROACH -

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IFAC Proceedings Volumes 2007年第16期40卷 269-274页

作者： David Friedrich Dorothea Pantfoerder Birgit Vogel-Heuser Embedded Systems Department of Computer Science and Electrical Engineering University of Kassel 34121 Kassel Germany

关键词： Cognitive science control engineering human-machine interface knowledge acquisition knowledge representation programmable logic controller process automation process model programming support systems engineering

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Thread warping: A framework for dynamic synthesis of thread accelerators

Thread warping: A framework for dynamic synthesis of thread ...

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International Conference on Hardware/Software Codesign and System Synthesis (CODES)

作者： Greg Stitt Frank Vahid Department of Electrical and Computer Engineering University of Florida USA Department of Computer Science and Engineering University of California Riverside USA Center of Embedded Computer Systems University of California Irvine USA

We present a dynamic optimization technique, thread warping, that uses a single processor on a multiprocessor system to dynamically synthesize threads into custom accelerator circuits on FPGAs (field-programmable gate arrays). Building on dynamic synthesis for single-processor single-thread systems, known as warp processing, thread warping improves performances of multiprocessor systems by speeding up individual threads and by allowing more threads to execute concurrently. Furthermore, thread warping maintains the important separation of function from architecture, enabling portability of applications to architectures with different quantities of microprocessors and FPGA-an advantage not shared by static compilation/synthesis approaches. We introduce a framework of architecture, CAD tools, and operating system that together support thread warping. We summarize experiments on an extensive architectural simulation framework we developed, showing application speedups of 4× to 502×, averaging 130× compared to a multiprocessor system having four ARM11 microprocessors, for eight benchmark applications. Even compared to a 64-processor system, thread warping achieves 11× speedup.

关键词： Instruction sets Field programmable gate arrays Design automation Synchronization Microprocessors System-on-a-chip

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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MODELING AND CONTROL OF ELEVATORS BY STATECHARTS

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Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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Special Issue on Variable Structure System Control — New Designs and Applications

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Asian Journal of Control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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NONLINEAR NETWORK STRUCTURES FOR FEEDBACK CONTROL

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Asian Journal of Control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

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Verifying the Distributed Real-Time Network Protocol RTnet Using Uppaal

Verifying the Distributed Real-Time Network Protocol RTnet U...

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International Symposium on Modeling, Analysis and Simulation of Computer and Telecommunication systems (MASCOTS)

作者： F. Hanssen A. Mader P.G. Jansen Distributed and Embedded Systems Group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands

RTnet is a distributed real-time network protocol for fully-connected local area networks with a broadcast capability. It supports streaming real-time and non-realtime traffic and on-the-fly addition and removal of network nodes. This paper presents a formal analysis of RTnet using the model checker Uppaal. Besides normal protocol behaviour, the analysis focuses on the fault-handling properties of RTnet, in particular recovery after packet loss. Both qualitative and quantitative properties are presented, together with the verification results and conclusions about the robustness of RTnet.

关键词： Protocols Streaming media Real time systems Local area networks Broadcasting Quality of service Timing Automata Automatic control Communication system control

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