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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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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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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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Exponential Tracking control of a Mobile Car Using a Cascaded Approach

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IFAC Proceedings Volumes 1998年第27期31卷 201-206页

作者： Elena Panteley Erjen Lefeber Antonio Loria Henk Nijmeijer Institute of Problems of Mech. Engg. Academy of Sciences of Russia St. Petersbourg RUSSIA Faculty of Mathematical Sciences Department of Systems Signals and Control University of Twente P.O. Box 217 7500 AE Enschede The Netherlands Center for Control Engineering and Computation (CCEC) Department of Electrical and Computer Engineering University of California Santa Barbera CA 93106-9560 USA Faculty of Mechanical Engineering Eindhoven University of Technology PO Box 513 5600 MB Eindhoven The Netherlands

In this paper we address the problem of designing simple global tracking controllers for a kinematic model of a mobile robot and a simple dynamic model of a mobile robot. For this we use a cascaded systems approach, r... 详细信息

关键词： mobile robot trajectory tracking persistency of excitation global K -exponential stabilization

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Artificial potential field based robot navigation, dynamic constrained optimization and simple genetic hill-climbing

Artificial potential field based robot navigation, dynamic c...

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IEEE International Conference on Evolutionary Computation

作者： G. Dozier A. Homaifar S. Bryson L. Moore Department of Computer Science andEngineering Aubum University USA Center for Autonomous Control Engineering North Carolina Agriculture and Technical State University Greensboro NC USA Machine Intelligence Laboratory NC A&T State University Greensboro NC USA

The authors show a relationship between artificial potential field (APF) based motion planning/navigation and constrained optimization. They then present a simple genetic hill-climbing algorithm (SGHC) which is used to navigate a point robot through an environment using the APF approach. The motivation for the research is a robot that they are currently developing, named AGIE-3 (autonomous Guided Intelligent Equipment 3), which senses and navigates through the use of a stereo vision head. They compare the SGHC with steepest descent hill-climbing (SDHC), using two environments. The first environment is composed of stationary obstacles while the second environment is composed of non-stationary obstacles. In SDHC, candidate moves are evaluated within a 360 degree radius and the best candidate is selected by the robot. One would think that the SGHC would be at a disadvantage; however, the performance of the SGHC is comparable with SDHC even though it does not search 360 degrees for candidate moves. The SGHC has an advantage in that it is capable of evolving the appropriate step size as well as the appropriate angle of movement.

关键词： Navigation Constraint optimization Robot sensing systems Stereo vision Robot vision systems Magnetic heads Genetics Intelligent robots nasa computer science

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Fundamental design tradeoffs in filtering, prediction, and smoothing

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IEEE TRANSACTIONS ON AUTOMATIC control 1997年第9期42卷 1240-1251页

作者： Goodwin, GC Seron, MM Centre for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle NSW Australia Center for Control Engineering and Computation University of California Santa Barbara CA USA

This paper examines fundamental design tradeoffs that apply to all linear filtering, prediction, and smoothing problems, We introduce sensitivity functions that quantify filter performance, and we show that their frequency response satisfies constraints imposed by unstable poles and nonminimum phase zeros of the system, The constraints allow one to determine, a priori, whether or not a desired filter performance is attainable and how different arrangements of the measurement system influence the achievable performance.

关键词： Bode limits linear filtering performance limits

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A 2.4-GHz silicon-on-sapphire CMOS low-noise amplifier

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IEEE MICROWAVE AND GUIDED WAVE LETTERS 1997年第10期7卷 350-352页

作者： Johnson, RA Chang, CE delaHoussaye, PR Wood, ME Garcia, GA Asbeck, PM Lagnado, I IEEE Department of Electrical and Computer Engineering University of California Rockwell Science Center Naval Command Control and Ocean Surveillance Center RDT&E Division (NRaD)

A low-noise amplifier operating at 2.4 GHz has been fabricated with MOSFET's in silicon-on-sapphire technology, The amplifier has a 2.8-dB noise figure, IO-dB gain, and 14-dBm output referred IP3 with 14-mW power ... 详细信息

关键词： microwave FET amplifiers noise MMIC's

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Neural network based identification of robot dynamics used for neuro-fuzzy controller

Neural network based identification of robot dynamics used f...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K.K. Kumbla M. Jamshidi NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

A technique of identifying the dynamics of a robotics system using neural network is presented. The identified model is used by a fuzzy controller to evaluate the range of the control variables and also the performance of the adaptive control laws on the identified model. An overview of the neuro-fuzzy control architecture is also discussed. This architecture uses two neural networks, one which identifies the system dynamics and another classifies the temporal response of the robotic system. The information from the neural networks is used to make suitable adjustments in the parameter of the fuzzy controller. This paper however concentrates on the theory and operation of identifying the dynamics of a Adept-Two industrial robot. Simulation results are presented.

关键词： Neural networks Robots Fuzzy control Fuzzy neural networks Automatic control Adaptive control System identification control systems nasa Electric variables control

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Real time control of a direct drive motor by a learning neuro-fuzzy controller

Real time control of a direct drive motor by a learning neur...

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IEEE International Conference on Systems, Man and Cybernetics

作者： K.K. Kumbla M. Jamshidi NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

A neuro-fuzzy controller is presented which uses neural networks to modify the parameters of an adaptive fuzzy logic controller. The adaptiveness of the fuzzy controller is derived from a rule generation mechanism and changing the scaling factor or the shape of the membership functions. The neural network functions as a classifier of the system's temporal responses. A multilayer perceptron is used to classify the temporal response of the system into different patterns. Depending on the type of pattern such as "response with overshoot", "damped response", "oscillating response", etc. the scaling factor of the input and output membership functions are adjusted to make the system respond in a desired manner. The rule generation mechanism also utilizes the temporal response of the system to evaluate new fuzzy rules. The non-redundant rules are appended to the existing rule base during the tuning cycles. This controller architecture is used in real-time to control a direct drive motor. The control system hardware utilizes a digital signal processor and a PC to implement the controller architecture. Experimental results are illustrated.

关键词： Neural networks Shape control control systems Programmable control Adaptive control Fuzzy logic Fuzzy control Multilayer perceptrons Fuzzy systems Hardware

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Fuzzzy constraint network topology and evolutionary hill-climbing 35

Fuzzzy constraint network topology and evolutionary hill-cli...

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35th ACM Annual Southeast Regional Conference, ACM-SE 1997

作者： Dozier, Gerry Homaifar, Abdollah Bowenf, James Esterline, Albert NASA Center for Autonomous Control Engineering North Carolina a and T State University GreensboroNC27411 United States Department of Computer Science National University of Ireland at Cork Cork Ireland

ISBN: (纸本)0897919254

Tematic hybrid which combines the concept of evolutionary hill-climbing search with the systematic search concept of arc revision to form a hybrid that quickly find solutions to Fuzzy Constraint Satisfaction Problems (FCSPs). The performance of this hybrid on 250 randomly generated FCSPs in which th e fuzzy co n stra in ts are evenly d is trib u ted amongst th e variables of th e FCSP is compared with its p e rformance on 250 randomly generated FCSPs where the fuzzy constraints are unevenly dis trib u ted . The results provide some interes ting insights in th e role th a t Fuzzy C ons tra in t Network Topology has on Evolutionary Search. copy;1997 ACM 0-89791-925-4.

关键词： Network topology

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