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Port-Hamiltonian Theory of Motion control for Marine Craft

IFAC Proceedings Volumes 2010年第20期43卷 201-206页

作者： Alejandro Donaire Tristan Perez Centre for Complex Dynamic Systems and Control (CDSC) The University of Newcastle Callaghan NSW 2308 AUSTRALIA School of Engineering Discipline of Mechanics and Mechatronics The University of Newcastle Callaghan NSW 2308 AUSTRALIA Centre for Ships and Ocean Structures (CeSOS) Norwegian University of Science and Technology (NTNU) Trondheim NO-7491 NORWAY

Port-Hamiltonian Systems (PHS) have a particular form that incorporates explicitly a function of the total energy in the system (energy function) and also other functions that describe structure of the system in terms of energy distribution. For PHS, the product of the input and output variables gives the rate of energy change. This type of systems have the property that under certain conditions on the energy function, the system is passive; and thus, stable. Therefore, if one can design a controller such that the closed-loop system retains—or takes—a PHS form, such closed-loop system will inherit the properties of passivity and stability. In this paper, the classical model of marine craft is put into a PHS form. It is shown that models used for positioning control do not have a PHS form due to a kinematic transformation, but a control design can be done such that the closed-loop system takes a PHS form. It is further shown how integral action can be added and how the PHS-form can be exploited to provide a procedure for control design that ensures passivity and thus stability.

关键词： Port-Hamiltonian Systems Marine control Systems

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Motion planning of multiple mobile robots with formation requirement

Motion planning of multiple mobile robots with formation req...

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International Conference on Information and Automation (ICIA)

作者： Shuang Liu Dong Sun Changan Zhu Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong Suzhou Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Precision Instrumentations University of Science and Technology Hefei China

ISBN: (纸本)9781424457014

This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots' velocities along the paths, which is modeled as a velocity optimization problem. An objective function to minimize the formation errors is established. A solution to achieve this objective function is obtained by the optimizer of LINGO (a linear interactive and general optimizer). Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach.

关键词： Motion planning Mobile robots Robot kinematics Acceleration Path planning Manufacturing automation Technology planning Collision avoidance Mathematical programming Robot programming

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On Evaluation of Robust Autonomy for Uninhabited Vehicles and Systems

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IFAC Proceedings Volumes 2010年第16期43卷 348-353页

作者： Tristan Perez Alejandro Donaire Brendan P. Willams School of Engineering Discipline of Mechanics and Mechatronics The University of Newcastle Callaghan NSW 2308 AUSTRALIA Centre for Complex Dynamic Systems and Control (CDSC) The University of Newcastle Callaghan NSW 2308 AUSTRALIA Advanced UAS Applications Program Boeing Research & Technology Australia GPO Box 767 Brisbane QLD 4001 AUSTRALIA

This paper discusses a method to quantify robust autonomy of Uninhabited Vehicles and Systems (UVS) in aerospace, marine, or land applications. Based on mission-vehicle specific performance criteria, we define an system utility function that can be evaluated using simulation scenarios for an envelope of environmental conditions. The results of these evaluations are used to compute a figure of merit or measure for operational effectiveness (MOE). The procedure is then augmented to consider faults and the performance of mechanisms to handle these faulty operational modes. This leads to a measure of robust autonomy (MRA). The objective of the proposed figures of merit is to assist in decision making about vehicle performance and reliability at both vehicle development stage (using simulation models) and at certification stage (using hardware-in-the-loop testing). Performance indices based on dynamic and geometric tasks associated with vehicle manoeuvring problems are proposed, and an example of a two-dimensional fly scenario is provided to illustrate the use of the proposed figures of merit.

关键词： uninhabited vehicles performance evaluation manoeuvring problem

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Optimal Design of Brushless DC Motor by Utilizing Novel Coefficient Modeling for Skewed PM and Overhang Structure

Optimal Design of Brushless DC Motor by Utilizing Novel Coef...

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Biennial Institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

作者： Kyu-yun Hwang Se-hyun Rhyu Byung-il Kwon Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Intelligent Mechatronics Research Center Korea Electronics Technology Institute

ISBN: (纸本)9781424470594

A novel coefficient modeling for skewed PM and overhang structure as a coefficient estimation method is introduced for optimal design in the 2D region for a PM motor. The novel model is constructed using 3D FEM and a response surface method (RSM) based on moving least square method (LSM). Then the novel model is coupled with an additional approximated model for optimal design in the 2D region. Finally, by combining the novel model and evolution algorithm (EA), an optimal design is performed. The usefulness of the proposed design is verified by 3D FEM simulation results.

关键词： Optimal design brushless direct current motor Overhang preventive maintenance florentium

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Expansion-based depth map estimation for multi-view stereo

Expansion-based depth map estimation for multi-view stereo

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Peng Song Xiaojun Wu Michael Yu Wang Jianhuang Wu Postgraduate of Shenzhen Graduate School Harbin Institute of Technology China Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology China Mechanical and Automation Engineering Department Chinese University of Hong Kong New Territories Hong Kong China Shenzhen Institutes of Advanced Technology Chinese Academy and Sciences China

This paper presents an algorithm for acquiring high-quality models from multiple calibrated photographs by computing and merging depth maps. The algorithm first computes depth maps from multi-view stereo using a proposed expansion-based approach that returns a 3D point cloud with noisy and redundant information. Then the estimated depth maps are merged into an accurate surface model by a cleaning, downsampling, surface normal estimation and Poisson surface reconstruction process. The proposed approach has been implemented and the experimental results with several real datasets demonstrate that the approach can produce accurate surface models efficiently.

关键词： Clouds Surface reconstruction Image reconstruction Three dimensional displays Pixel Estimation Octrees

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Motion planning of multirobot formation

Motion planning of multirobot formation

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shuang Liu Dong Sun Changan Zhu University of Science and Technology Suzhou China Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong Suzhou Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Instrumentations University of Science and Technology Hefei China

This paper presents a motion planning approach to coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity optimization process. An objective function for minimizing formation errors is established and solved by a linear interactive and general optimizer. Motion planning can be further adjusted online to address emergent demands such as avoiding suddenly-appearing obstacles. Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed coordinated motion planning in multirobot formations.

关键词： Robot kinematics Collision avoidance Planning Optimization Mobile robots Lead

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engineering self-coordinating software intensive systems

Engineering self-coordinating software intensive systems

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FSE/SDP Workshop on the Future of Software engineering Research, FoSER 2010

作者： Schäfer, Wilhelm Birattari, Mauro Blömer, Johannes Dorigo, Marco Engels, Gregor O'Grady, Rehan Platzner, Marco Rammig, Franz Reif, Wolfgang Trächtler, Ansgar Heinz Nixdorf Institute University of Paderborn Fürstenallee 11 Paderborn Germany Heinz Nixdorf Institute University of Paderborn Pohlweg 98 Paderborn Germany Heinz Nixdorf Institute University of Paderborn Warburger Str. 100 Paderborn Germany Department of Computer Science University of Paderborn Warburger Str. 100 Paderborn Germany Department of Control Engineering and Mechatronics University of Paderborn Pohlweg 98 Paderborn Germany IRIDIA CoDE Université Libre de Bruxelles Ave. F. Roosevelt 50 1050 Brussels Belgium Department of Software Engineering and Programming Languages University of Augsburg Universitätsstr. 6a Augsburg Germany

ISBN: (纸本)9781450304276

It my great pleasure and honor to welcome you to FoSER 2010: The FSE/SDP Workshop on the Future of Software engineering Research. This workshop was organized in collaboration with and made possible by generous support from the Software Design and Productivity Coordinating Group (SDP) of the U.S. National Coordination Office (NCO) for Networking and Information Technology Research and Development (NITRD), and the National Science Foundation (NSF). This one-time, international working conference has brought together top academic and industrial researchers and government research funding agency personnel from around the world to engage in an extended discussion of consequential new ideas about the future of our field. The ideas produced by this workshop will be disseminated in two forms. First, the position papers accepted by the program committee will be published in a companion to the Proceedings of FSE-18. Second, the workshop findings will be published subsequently in a special report by NITRD/SDP. The call for papers for FoSER 2010 solicited 4-page position papers with new ideas about the future of software and software-reliant systems, and the research that will be needed to meet future needs. Papers were expected to be creative and thought-provoking, and to articulate compelling new perspectives, positions, problem formulations, assumptions and approaches. The workshop did not seek, and did not accept, technical research papers or abstracts. The workshop received a total of 139 position papers. Of these, 90 papers (65%) were accepted. Each paper was reviewed by at least two members of the workshop program committee. The committee was asked to accept all papers presenting significant new ideas about how our field should move forward. Copyright 2010 ACM.

关键词： Software design

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Coverage rolling path planning of unknown environments with dynamic heuristic searching

Coverage rolling path planning of unknown environments with ...

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2009 WRI World Congress on Computer Science and Information engineering, CSIE 2009

作者： Xiaoqin, Guo College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China

ISBN: (纸本)9780769535074

A new complete coverage path planning algorithm based on rolling path planning, dynamic heuristic searching and directly filling is proposed to improve efficiency of path planning for mobile robot in unknown environments. The biological inspired neural network was used to model the environment of mobile robot. After the characteristic of local environment around robot was identified on line, the dynamic heuristic planning method combing static searching and following the boundary of obstacle is applied and generated path is much shorter and less turning. Using virtual obstacle and directly filling algorithm, the continuously covered area in U shape obstacle is obtained in unknown environments. The effectiveness of the proposed algorithm is validated by simulation in unknown complicated environments. © 2008 IEEE.

关键词： Motion planning

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Efficiency characteristics of piezostack pump for linear actuators

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中国高等学校学术文摘·机械工程 2009年第4期4卷 407-414页

作者： Junwu KAN Taijiang PENG Kehong TANG Chenghui SHAO Guoren ZHU College of Mechanical Science and Engineering Jilin UniversityChangchun 130025 China College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060 China

A piezostack pump for linear actuators is presented and studied in terms of mechanical energy efficiency (MEE), energy conversion efficiency (ECE) and design method. MEE is defined as the ratio of the output mechanical energy to that converted from input electrical energy, and ECE is the ratio of output mechanical energy to input electrical energy. The analysis results show that both MEE and ECE decrease with the increase of stiffness of the chamber diaphragm (ks), which is a function of the radius ratio (rigid disk radius to chamber radius). There is respective optimal external load (Fc) for them to achieve peak value for a given piezostack with blocked force (Fb) and stiffness (ka). The optimal force ratio (Fc/Fb) is a constant of 0.5 for maximum MEE, and between 0.57 and 0.5 for maximum ECE. Considering the deflection of the pump chamber and dynamic response of the piezostack,the stiffness ratio (ks/ka) should be limited between 0.3 and 1, and the relative radius ratio is between 0.7 and 0.8. With the increase of the radius ratio in the range, the maximal MEE decreases from 0.38 to 0.25, and the peak ECE decreases from 0.20 to 0.14.

关键词： piezostack actuator piezostack pump mechanical efficiency energy conversion efficiency (ECE)

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Sensitivity Analysis of a Two-dimensional Microbiological Risk Assessment

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IFAC Proceedings Volumes 2010年第6期43卷 323-328页

作者： Pieter Busschaert Annemie H. Geeraerd Mieke Uyttendaele Jan F. Van Impe CPMF2 - Flemish Cluster Predictive Microbiology in Foods -http://www.cpmf2.be BioTeC - Chemical and Biochemical Process Technology and Control Department of Chemical Engineering Katholieke Universiteit Leuven Leuven Belgium MeBioS - Division of Mechatronics Biostatistics and Sensors Department of Biosystems (BIOSYST) Katholieke Universiteit Leuven Leuven Belgium Laboratory of Food Microbiology and Food Preservation Department of Food Safety and Food Quality Ghent University Ghent Belgium

Quantitative microbiological risk assessment aims at estimating the risk of illness that is related to a certain pathogen and food type combination through the use of simulations. A recent trend can be seen in which uncertainty about the risk estimate is characterized separately from variability, generally implemented by means of a two-dimensional Monte Carlo simulation. This research aims at identifying the key parameters that contribute to the obtained risk while keeping the effect of uncertainty and variability separated using a methodology based on analysis of variance. The risk related to Listeria monocytogenes in meat preparations is used as a case study. It is found that uncertainty about the correct dose-response model is determining the output most. Also the variability distribution of storage duration and storage temperature have a major effect on the final risk. Furthermore, uncertainty about the location of the storage duration distribution is an important factor determining risk. These findings illustrate how the methodology proposed in this research enables identification of the relative importance of all model parameters such as temperature, storage duration, food contamination, etc., and also comparison of the impact of variability versus uncertainty about model parameters on the final risk estimate.

关键词： Quantitative microbiological risk assessment sensitivity analysis variability uncertainty analysis of variance L. monocytogenes meat preparations

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