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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control Intelligent robots Robot kinematics Instruments computer science Intelligent systems Intelligent control control system synthesis

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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Optimal choice of cupola furnace nominal operating point

Optimal choice of cupola furnace nominal operating point

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Southeastern Symposium on System Theory

作者： M.A. Abdelrahman K.L. Moore Electrical and Computer Engineering Department Tennessee Technological University Cookeville TN USA Measurement and Control Engineering Research Center College of Engineering Idaho State University Pocatello ID USA

One of the main goals in the operation of a cupola furnace is to keep the molten iron properties within prescribed bounds while maintaining the most economical operation for the cupola. We present a procedure to obtain the nominal values for the manipulated process variables. The nominal values are calculated by solving a constrained nonlinear programming optimization problem. Two different optimization problems are discussed and examples for using the procedure are presented.

关键词： Furnaces Iron Foundries Cost function Automatic control Fuel economy Constraint optimization Production Optimal control Electric variables measurement

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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Experimental control of a cupola furnace

Experimental control of a cupola furnace

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1998 American control Conference, ACC 1998

作者： Moore, Kevin L. Abdelrahman, Mohamed A. Larsen, Eric Clark, Denis King, Paul Measurement and Control Eng. Research Center College of Engineering Idaho State University Pocatello ID 83209-8060 United States Electrical and Computer Engineering Department Tennessee Technological University Cookeville TN 38505-0001 United States Lockheed Martin Idaho Technologies Company Idaho National Eng. and Env. Laboratory P.O. Box 1625 Idaho Falls ID 83415 United States U. S. Department of Energy Albany Research Center 1450 Queen Ave. SW Albany OR 97321 United States

ISBN: (纸本)0780345304

In this paper we present some final results from a research project focused on introducing automatic control to the operation of cupola iron furnaces. The main aim of this research is to improve the operational efficiency and performance of the cupola furnace, an important foundry process used to melt iron. Previous papers have described the development of appropriate control system architectures for the cupola. In this paper experimental data is used to calibrate the model, which is taken as a first-order multivariable system with time delay. Then relative gain analysis is used to select loop pairings to be used in a multiloop controller. The resulting controller pairs meltrate with blast volume, iron temperature with oxygen addition, and carbon composition with metal-to-coke ratio. Special (nonlinear) filters are used to compute meltrate from actual scale readings of the amount of iron produced and to smooth the temperature measurement. The temperature and meltrate loops use single-loop PI control. The composition loop uses a Smith predictor to discount the deadtime associated with mass transport through the furnace. Experiments conducted at the department of Energy Albany research center's experimental research cupola validate the conceptual controller design and provide proof-of-concept of the idea of controlling a foundry cupola. © 1998 AACC.

关键词： Automation

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Experimental control of a cupola furnace

Experimental control of a cupola furnace

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American control Conference (ACC)

作者： K.L. Moore M.A. Abdelrahman E. Larsen D. Clark P. King Measurement and Control Engineering Research Center College of Engineering Idaho State University Pocatello USA Electrical and Computer Engineering Department Tennessee Technological University Cookeville USA Lockhecd Martin Idaho Technologies Company Idaho National Engineering and Environmental Laboratory Idaho Falls USA U. S. Department of Energy Albany Research Center Albany USA

We present some final results from a research project focused on introducing automatic control to the operation of cupola iron furnaces. The main aim of this research is to improve the operational efficiency and performance of the cupola furnace. Experimental data are used to calibrate the model, which is taken as a first-order multivariable system with time delay. Then relative gain analysis is used to select loop pairings to be used in a multiloop controller. The resulting controller pairs melt-rate with blast volume, iron temperature with oxygen addition, and carbon composition with metal-to-coke ratio. Special (nonlinear) filters are used to compute the melt-rate from actual scale readings of the amount of iron produced and to smooth the temperature measurement. The temperature and melt-rate loops use single-loop PI control. The composition loop uses a Smith predictor to discount the deadtime associated with mass transport through the furnace. Experiments results validate the conceptual controller design.

关键词： Furnaces Iron Foundries Automatic control US department of Energy Temperature measurement Power engineering and energy Production Instruments Educational institutions

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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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Robust control of cupola iron furnaces

Robust control of cupola iron furnaces

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American control Conference (ACC)

作者： M.A. Abdelrahman K.L. Moore Electrical and Computer Engineering Department Tennessee Technological University Cookeville TN USA Measurement and Control Engineering Research Center Idaho State University College of Engineering Pocatello ID USA

We present the results of a continuing effort towards the introduction of automatic control to the operation of cupola iron furnaces. The cupola furnace has played an important role in the foundry industry since its invention in 1794. The main aim of this research is to improve the operational efficiency and performance of the cupola furnace. A lumped model for the cupola is used for the controller design. The controller is divided into three parts. A feedforward controller is used to decouple the model into delayed and undelayed dynamics. A robust controller is designed for the delayed dynamics of the model based upon a combination of H/sub /spl infin// control and a Smith predictor. The controller for the undelayed portion of the model is designed using an LQR procedure.

关键词： Robust control Iron Furnaces Foundries Temperature control Delay Electric variables measurement control engineering Educational institutions Automatic control

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Digital Adaptive Motion control for a Servo Mechanism

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IFAC Proceedings Volumes 1997年第11期30卷 323-328页

作者： T. Suehiro F. Ohkawa T. Hokamura S. Sagara Electronics Division Mechanics & Electronics Research Institute Fukuoka Industrial Technology Center 3-6-1 Norimatsu. Yahatanishi-ku Kitakyushu-shi 807 Japan Department of Control Engineering and Science Faculty of Computer & System Engineering Kyushu Institute of Technology lizuka 820 Japan Department of Control Engineering Faculty of Engineering Kyushu Institute of Technology Tobata Kitakyushu 804 Japan

This paper is concerned with an application of a digital adaptive control system to a servo mechanism. Mechanical systems in general include nonlinearities and additional uncertainties and which result from inertia and friction. So it is difficult to ensure robust performance and high accuracy for motion control. The digital adaptive control system presented here is considered to overcome the above stated problem. Experimental results from a feed drive system demonstrate the effectiveness of the proposed control scheme.

关键词： Adaptive control Servomechanism Nonlinearity Uncertainty Friction

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