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Asian control Conference

作者： R. Ghazali Y. M. Sam M. F. Rahmat C. C. Soon H. I. Jaafar Zulfatman Center for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781479978632

The main objective of this paper is to perform a robust controller design using discrete-time sliding mode control (DSMC). In the control scheme, two-degree-of-freedom (2-DOF) control strategy turns the DSMC, which generally utilized state feedback into output feedback controller. The designed control scheme is considered with feedback and feedforward combination by implementing the zero phase error tracking control (ZPETC), which particularly intended for the nonminimum phase electro-hydraulic actuator (EHA) system application. In the experimental works, a sinusoidal trajectory with different frequencies is employed to assess the DSMC performance under nonlinear and uncertain condition. Experimental results show the DMSC with perfect tracking control approach is capable to reduce the phase lag occurred due to nonlinear phenomenon. The proposed controller also is highly robust under various points of trajectories and significantly shows enhancement in tracking control performance as compared to the conventional controllers.

关键词： Output feedback control Discrete sliding mode control Zero-phase-error-tracking control Electro-hydraulic actuator system

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Thermal and visible sensor application: Physiological thermal moment invariant analysis for infrared-based face identification

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Sensors and Transducers 2014年第1期163卷 262-269页

作者： Abas, Khairul Hamimah Rahim, Herlina Abdul Department of Control and Mechatronics Engineering Universiti Teknologi Malaysia UTM Skudai 81310 Johor Malaysia

Up to date methods and approaches in face identification field heavily depend on facial characteristics;such as location of eyes, length of nose and mouth. Ambient lightings have much influenced the visibility of these facial characteristics;where the visibility varies significantly with inconsistent external light source. In this paper, we present an extended framework for face identification based on thermal information extracted from facial images acquired from a Raytheon Palm-IR-Pro and Raytheon L-3 Thermal-Eye 2000AS sensored lense for themal images and Panasonic WV-CP234 for visible images. The inspiration initiating to this research is to engage in extracting significant facial characteristics from the acquired bio-thermal distribution information within a face, which differs from current facial characteristics that are visible over the skin. Encouraging results are produced which demonstrates the high capability of Hu's classical moment invariants as a feature in thermal based face identification and introducing new ways for classical methods to be further utilized in theoretical and empirical research area. © 2014 IFSA Publishing, S. L.

关键词： Visibility

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Revision of the Tennessee Eastman Process Model

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IFAC-PapersOnLine 2015年第8期48卷 309-314页

作者： Andreas Bathelt N. Lawrence Ricker Mohieddine Jelali Laboratory of Control Engineering and Mechatronics Cologne University of Applied Science Betzdorfer Strajie 2 50679 Cologne Germany Professor Emeritus Department of Chemical Engineering University of Washington Seattle WA 98195-1750 USA

In this paper, a closer look at the underlying computer code of the well-known Tennessee Eastman Process model is taken. Since its introduction in the 1990s typical simulation software, e.g. MATLAB, which is used to simulate the process model, has changed. Thus the original program flow devised by Downs & Vogel no longer holds. This results in problems regarding the repeatability of simulation results. This problem and its cause are considered in the following and a solution in terms of a modified code is presented. Furthermore, some additional changes are discussed, widening the useability of the simulation model (e.g. lower simulation runtime, additional process measurements).

关键词： Benchmark example Chemical industry Process models Process simulators Process control

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Production Operation Management Using Manufacturing Execution Systems (MES)

Production Operation Management Using Manufacturing Executio...

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International Computer engineering Conference

作者： M. I. Mahmoud Hossam Hassan Ammar Mohamed. M. Hamdy Mostafa Hassan Eissa Industrial Electronics and Automatic Control Department Faculty of electronics engineering Minoufiya University Mechatronics Engineering Department Faculty of engineering Misr University for Science and Technology (MUST) Physics and Mathematics Engineering Department Faculty of electronics engineering Minoufiya University

ISBN: (纸本)9781509002764

This work concerns with the improvement of industrial process performance by integration of MES and automation tools. The strength of MES and weakness of paper work system have been explained. Managing the relations between production execution with other effective activities (e.g. quality, maintenance, inventory ...etc.) in production management has been introduced. The aim of the present work is to reduce the gap between manufactures expertise and IT expertise and also reduces paper work drawbacks and its side effect on production execution management operation. A design of MES has been proposed and implemented over El-Araby Plastic Injection Molding (PIM) factory as a case study. The results show that MES is beneficial.

关键词： Manufacturing Execution Systems (MES) Software and database design Production operation management ISA-95 Plastic injection molding (PIM)

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Arrhythmia disease classification using a higher-order neural unit 4

Arrhythmia disease classification using a higher-order neura...

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4th International Conference on Future Generation Communication Technology, FGCT 2015

作者： Rodriguez, Ricardo Villegas, Osslan O. Vergara Sánchez, Vianey G. Cruz Bila, Jiri Mexicano, Adriana Department of Mechatronics Technological University of Ciudad Juarez Ciudad Juarez Mexico Autonomous University of Ciudad Juarez Ciudad Juarez Mexico Department of Instrumentation and Control Engineering Czech Technical University in Prague Prague Czech Republic Postgraduate Studies and Research Division Technological Institute of Ciudad Victoria Ciudad-Victoria-Tamaulipas Mexico

ISBN: (纸本)9781479982660

This paper presents a quadratic neural unit with error backpropagation learning algorithm to classify electrocardiogram arrhythmia disease. The electrocardiogram arrhythmia classification scheme consists of data acquisition, feature extraction, feature reduction, and a quadratic neural unit classifier to discriminate three different types of arrhythmia. A total of 44 records were obtained from MIT-BIH arrhythmia database to test the efficiency of arrhythmia disease classification method, the obtained results were a specificity of 97.60 % and a sensitivity of 97.05 %. The best accuracy classification rate obtained using the presented approach has been of 98.16 %. © 2015 IEEE.

关键词： Electrocardiograms

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Generalization of optimal motion trajectories for bipedal walking

Generalization of optimal motion trajectories for bipedal wa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Werner D. Trautmann Dongheui Lee R. Lampariello German Aerospace Center (DLR) Institute of Robotics and Mechatronics Chair of Automatic Control Engineering Department of Electrical and Computer Engineering Technische Universität München (TUM)

control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.

关键词： Trajectory Legged locomotion Machine learning algorithms Cost function Splines (mathematics)

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Predictive functional control of tandem cold metal rolling

Predictive functional control of tandem cold metal rolling

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IEEE Conference on control Technology and Applications (CCTA)

作者： T. Friebel K. Zabet R. Haber M. Jelali Faculty of Process Engineering Cologne University of Applied Science Köln Germany Department of Control Engineering and Mechatronics Cologne University of Applied Science Köln Germany

This paper deals with the thickness control of single cold rolling mills and with the combined thickness and tension control of tandem cold rolling mills. It is shown that PI(D) controllers can be effectively replaced by the predictive functional control (PFC), which can be easily implemented and tuned under industrial automation environments. The rolling mill was first physically modelled based on literature data. Data required for the model-based control are identified from a physical model of the processes. Simulations show the advantage of the PFC controller over the PI control.

关键词： Mathematical model Strips Process control Thickness control Force Stress Metals

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A robust eigenvalue assignment approach to integrated system and control design

A robust eigenvalue assignment approach to integrated system...

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Mediterranean Conference on control and Automation (MED)

作者： Gregor L. Stein Jan Strubel Ulrich Konigorski Department of Control Engineering and Mechatronics Technische Universität Darmstadt Darmstadt Germany Technische Universitat Darmstadt Fachbereich Biologie Darmstadt Hessen DE

In this contribution parameterizations of constant state feedback controllers are given that assign the closed-loop eigenvalues of a linear system to predefined locations and encompass, besides the degrees of freedom due to the controller, freedom in the choice of system parameters. These parameterizations are subsequently used in an optimization procedure in order to simultaneously obtain a controller and assign the degrees of freedom available in system design for robust and minimum gain eigenvalue assignment.

关键词： Eigenvalues and eigenfunctions Optimization Robustness State feedback Output feedback Linear programming Vibrations

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Optimization of a class of nonlinear switched systems with fixed-levels control inputs

Optimization of a class of nonlinear switched systems with f...

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2015 American control Conference, ACC 2015

作者： Azhmyakov, Vadim Martinez, Javier Cabrera Poznyak, Alexander Serrezuela, Ruthber Rodriguez Faculty of Electronics Biomedical Engineering and Mechatronics University of Antonio Nariño Neiva410001 Colombia Department of Automatic Control CINVESTAV A.P. 14-740 Av. I.P.N. no. 2508 C.P. Mexico D.F.07360 Mexico

ISBN: (纸本)9781479986842

This paper is devoted to a consistent numerical method for Optimal control Problems (OCPs) associated with a specific class of nonlinear systems. We study dynamic models equipped with the piecewise constant (fixed-level) control inputs. The presented formalism also includes some switched dynamic models. We develop an implementable control algorithm for the above-mentioned classes of switched-type OCPs, study convexity characteristics and discuss some key properties of the proposed numeric scheme. We also consider a computational example. The computational scheme we propose is based on the Armijo-type projected gradient methodology. © 2015 American Automatic control Council.

关键词： Dynamic models

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Sliding Mode control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Sliding Mode Control of an Exoskeleton Robot for Use in Uppe...

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RSI/ISM International Conference on Robotics and mechatronics

作者： Mahdieh Babaiasl Saeede Nazari Goldar Mojtaba Hadi barhaghtalab Vahid Meigoli School of Engineering Emerging Technologies Mechatronics Research Lab University of Tabriz Tabriz Iran Department of electrical engineering Amirkabir University of technology Tehran Iran Department of Control Engineering Persian Gulf University Bushehr Iran

ISBN: (纸本)9781467372350

In this paper, mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterwards, direct and inverse kinematics, Jacobian matrix, singular points, and dynamics of the robot are presented. In order to study the ability of the robot to follow the optimized trajectories, sliding mode controller (SMC) is proposed to track desired trajectories. In most rehabilitation robots, the attention is on robot's mechanical design, so linear controllers are used to control the robot. However, rehabilitation robots are non-linear in nature and non-linear control methods are required that can reject uncertainties and are resistant to parameter changes. SMC is robust due to its nonlinear nature, and can reject uncertainties and disturbances applying on the system such as patient's hand tremor. The parameters of the SMC are tuned using Genetic Algorithm (GA). The main advantage of this robot compared to similar systems are being low weight, having a special mechanism for third joint that solves the known issues associated with long wiring and closed mechanisms, allowing translational degrees of freedom of the shoulder, ease of use, comfort for the patient and the tracking performance of the controllers.

关键词： exoskeleton robots upper-limb rehabilitation Sliding Mode controller (SMC) PID controller trajectory tracking

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