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Application of fuzzy neural networks for instrument fault diagnosis of condensation turbine control 15th

Application of fuzzy neural networks for instrument fault di...

引用

15th World Congress of the International Federation of Automatic Control, 2002

作者： Pawlak, Mariusz Koscielny, Jan M. Bartys, Michal Z. Institute of Heat Engineering Dąbrowskiego 113 Lódź93-208 Poland Warsaw University of Technology Faculty of Mechatronics Institute of Automatic Control and Robotics Chodkiewicza 8 Warszawa02-525 Poland

ISBN: (纸本)9783902661746

In the paper an application of fuzzy neural networks (FNN) for sensor fault diagnosis in condensation turbine control unit was given. The FNN are applied for fault detection and isolation processes. This approach gives the homogenous solution of fault detection and isolation process (FDI). The FNN models of turbine power, live steam pressure and steam mass flow rate were created and verified. Satisfactory models' performance indexes were obtained. The fault sensitivity of residuals was investigated and approved. Copyright © 2002 IFAC.

关键词： Fault detection

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Data fusion for compliant motion tasks based on human skills

Data fusion for compliant motion tasks based on human skills

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Cortesao R. Koeppe U. Nunes G. Hirzinger Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal Institute of Robotics and Mechatronics German Aerospace Center Germany

The paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (peg-in-hole) emerged from human skills are reported. Stereo vision and pose sense are fused to execute the task. Feedforward artificial neural networks (ANNs) are trained to transfer human skills to robotic manipulators.

关键词： Humans Sensor phenomena and characterization Stochastic resonance Robot sensing systems State estimation Information filtering Information filters Aerospace engineering mechatronics Stereo vision

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Inverse kinematics of multi-link flexible robots for high speed applications

Inverse kinematics of multi-link flexible robots for high sp...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Joono Cheong Youngil Youm Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper proposes an improved differential inverse kinematics algorithm which works good for high speed motion control. The dynamic constraint as well as the kinematic constraint is utilized for the inverse kinematics. The singular perturbation method helps to reduce inverse kinematics to be solvable. The numerical and experimental results show the performance of the proposed method clearly.

关键词： Kinematics Robots Iterative algorithms Motion control Torque Biomechatronics Mechanical engineering Perturbation methods Nonlinear dynamical systems

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Determining contact force distribution for enveloping grasps: subspace structure and dynamical balance

Determining contact force distribution for enveloping grasps...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper addresses one of standard problems in enveloping grasp analysis, the so-called contact force distribution. First, a subspace structure is analyzed using projection matrices into four subspaces of contact force space. Motivated by an example demonstrating that a careless definition of contact force subspaces leads to completely invalid result, we propose a proper set of projection matrices using a special weighted pseudo-inverse. Next, an example of statical ambiguity is provided in obtaining contact force distribution, which implies that contact forces can not be determined in light of statical viewpoint. To resolve such ambiguity, we propose the notion of dynamical balance. By presenting a tool for identification of dynamically balanced motions and forces, we can have a complete characterization of the force distribution for a general enveloping grasp system.

关键词： Space technology Distributed computing Robots Biomechatronics Mechanical engineering Friction

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Characterization of instability of dynamic control for kinematically redundant manipulators

Characterization of instability of dynamic control for kinem...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Wan-Kyun Chung Youngil Youm Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

In redundant manipulator research community, the phenomenon called torque instability has not yet been completely characterized using unanimous agreement on its mechanism. This article shows that the behavior is indeed caused by incomplete compensation of null dynamics related with self-motion. This instability can be avoided by proper control with compensation of nonlinear null dynamics, and we propose a method to stabilize conventional redundancy resolution schemes extended to dynamic controls.

关键词： Manipulator dynamics Torque control Acceleration Equations Temperature control Kinematics Control systems Robots Biomechatronics Mechanical engineering

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Obtaining passivity of micro-teleoperation handling a small inertia object

Obtaining passivity of micro-teleoperation handling a small ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Kyongho Park Wan Kyun Chung Y. Youm Robotics & Bio-Mechatronics Lab Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

There have been many bilateral micro-teleoperation systems handling a small object. Historically, Lawrence (1991) proposed the transparency-optimized architecture and passivity theorem for stability analysis of bilateral teleoperation. He claimed that unless the task(or environment) impedance contains a significant inertial behavior, passivity condition for transparency-optimized architecture can not be satisfied. To overcome this problem, we analyze and propose a method which can satisfy passivity condition for the micro-teleoperation system handling a small inertial object based on the structures originated by Lawrence and Hashtrudi-Zaad et al. (1999) and velocity-force scaling property of micro-teleoperation.

关键词： Impedance Master-slave Force control Velocity control Stability Control systems Iron Robots Biomechatronics Mechanical engineering

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Workspace optimization of 3-UPU parallel platforms with joint constraints

Workspace optimization of 3-UPU parallel platforms with join...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Badescu J. Morman C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

In this paper the workspace optimization of translational 3-UPU parallel platforms with prismatic and universal joint constraints is performed. The workspace is parameterized using two design parameters, which are the prismatic joint stroke and the difference between the distances of the center to one of the corners of the triangular plate of the base and of the moving platform. For a large range of values for these design parameters the workspace of the corresponding 3-UPU platforms is calculated. This workspace is called the constrained workspace. For each design of the constrained workspace, three performance indices are calculated: 1) the workspace volume; 2) the average of the inverse of the condition number; and 3) a global condition index which is a combination of the other two performance indices. Plots of each performance index as a function of the two design parameters are generated and optimal values for these design parameters are determined. Finally, for the optimal design, it is shown that by introducing limits to the angles of the universal joints axis, the isotropy of the parallel platform is improved.

关键词： Constraint optimization Parallel robots Orbital robotics Payloads Educational robots Space exploration mechatronics Aerospace engineering Performance analysis Shape

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PID composite controller and its tuning for flexible link robots

PID composite controller and its tuning for flexible link ro...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Joono Cheong Wan Kyun Chung Youngil Youm Department of Mechanical Engineering Robotics 8 Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea

This paper proposes a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach, and investigates a tuning method based on the proposed controller structure. For the slow sub-controller, a PD plus disturbance observer is used, which eventually takes on PID form, and for the fast sub-controller, modal feedback PID control is utilized. The effects of design parameters of the controller on the closed loop response are investigated. Through simulation and experiments, the adequacy and performance of the proposed method are verified.

关键词： Three-term control Feedback PD control Uncertainty Friction Steady-state Robot kinematics Gravity Bandwidth Biomechatronics

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Adaptive non model-based piezoelectric control of flexible beams with translational base

Adaptive non model-based piezoelectric control of flexible b...

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American Control Conference (ACC)

作者： N. Jalili M. Dadfarnia F. Hong S.S. Ge Robotics and Mechatronics Laboratory Department of Mechanical Engineering Clemson University Clemson SC USA Department of Electrical and Computer Engineering National University of Singapore Singapore

An adaptive, nonmodel-based controller is proposed for the tracking control of a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the beam to apply a controlled moment for vibration suppression requirement. By selecting a Lyapunov function candidate based on a very simple energy relationship, an adaptive nonlinear feedback gain for the PZT input voltage and a simple PD controller for the moving base input force are designed to make the closed-loop system energy dissipative and hence stable. Due to the non model-based nature of the controller, some favorable features appear such as elimination of control spillovers, suppression of residual oscillations of the beam and simplicity of the control implementation. The feasibility of the controller is demonstrated using numerical simulations. Although the controller derivation is based on the original distributed partial differential model, a two-node finite element model is used for the numerical solution of the coupled PDE of the system.

关键词： Programmable control Adaptive control Force feedback Structural beams Piezoelectric actuators Bonding Vibration control Lyapunov method PD control Force control

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Real-time ZMP compensation method using null motion for mobile manipulators

Real-time ZMP compensation method using null motion for mobi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea

The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems Intelligent robots Performance analysis Motion control Acceleration Real time systems Biomechatronics

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