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2007 ASME Pressure Vessels and Piping Conference, PVP 2007

作者： Lihua, Liang Zengliang, Gao Yangjian, Xu Kangda, Zhang Zhaohui, Fan Zhejiang University of Technology Institute of Process Equipment and Control Engineering MOE Key Laboratory of Mechanical Manufacture and Automation Hangzhou 310032 China Fushun Mechanical Equipment Manufacturing Co. Ltd. Fushun 113006 China

ISBN: (纸本)0791842819

Considering reinforcement pad and the cylindrical shell as an integral model and a contact model, stress analysis for opening-reinforcement structures of a cylindrical shell is performed by elastic and elastoplastic FEM. By comparison of two sub-models and two material constitutive relations (elastic and elastoplastic), the stress distribution of cylindrical shell intersections by the contact model is similar to that by the integral model, but there are some differences of the stress at contact surfaces of the shell and the reinforcement pad between by the contact model and by the integral model. In general, the stress analysis of the integral model for pad reinforcement can approximately represent that of the contact model. Finite element analyses for different nozzle diameters and different oblique angles in nozzle and cylinder shell intersections are carried out. The stress distribution and the maximum stress are affected by oblique angle. But the difference of the maximum stress intensity among different diameters is small. Copyright © 2007 by ASME.

关键词： Pressure vessels

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Application of a control vector parameterization method using an interior point algorithm

Application of a control vector parameterization method usin...

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27th IASTED International Conference on Modelling, Identification, and control

作者： Hirmajer, T. Fikar, M. Balsa-Canto, E. Banga, J.R. Institute of Information Engineering Automation and Mathematics Department of Information Engineering and Process Control Faculty of Chemical and Food Technology STU Radlinského 9 812 37 Bratislava Slovakia Spanish Council for Scientific Research C Eduardo Cabello 6 36208 Vigo Spain

ISBN: (纸本)9780889867116

This paper explores the possibilities of using the combination of the state of the art nonlinear programming problem solver IPOPT and the initial value problem solver CVODES (incorporated in SUNDIALS) for the solution of dynamic optimization problems, also regarded as open loop optimal control problems (OCP). Recent works confirm the potential of IPOPT in solving large scale optimization problems and particularly in solving optimal control problems in the framework of the complete parameterization approach [12]. Here the OCP problems are solved using the control vector parameterization scheme and the advantages and disadvantages of the combination CVP + IPOPT + CVODES are evaluated through several examples.

关键词： Ordinary differential equations

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Multiple-model control of pH neutralization plant using the SOM neural networks

Multiple-model control of pH neutralization plant using the ...

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IEEE India Conference (INDICON)

作者： Pouya Bashivan Alireza Fatehi Ehsan Peymani Advanced Process Automation and Control (APAC) Research Group Department of Control Engineering K.N. Toosi University of Technology Tehran Iran

A multiple-model adaptive controller is developed using the self-organizing map (SOM) neural network. The considered controller which we name it as multiple controller via SOM (MCSOM) is evaluated on the pH neutralization plant. An improved switching algorithm based on excitation level of plant has also been suggested for systems with noisy environments. Identification of pH plant using SOM is discussed and performance of the multiple-model controller is compared to the self tuning regulator (STR) controller.

关键词： Neural networks Automatic control Adaptive control Clustering algorithms Switches Programmable control Mathematical model State feedback Performance analysis Estimation error

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A Novel Object Recognition Method for Mobile Robot Localizing a Single Odor/Gas Source in Complex Environments

A Novel Object Recognition Method for Mobile Robot Localizin...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Ping Jiang Ming Zeng Qing-Hao Meng Fei Li Yan-Hui Li Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University TJU Tianjin China

An improved single odor/gas source searching approach using a mobile robot by combining image recognition in complex environments is presented. First, color image segmentation of prospective visual candidates is achieved using support vector machines (SVM). Second, the features of those candidates, such as color, shape and orientation (the posture of the object) are extracted. Third, the robot finds a salient object according to the characteristics of analysis areas. Last, the robot moves towards the object which is the most likely to be an odor/gas source. The robot moves upwind if gas concentration is detected. Otherwise, the robot moves along the new direction obtained from the further analysis. Experimental results show the efficiency and practicality of the approach for localizing a leaking ethanol bottle in complex indoor environments.

关键词： Object recognition Mobile robots Robot sensing systems Gas detectors Support vector machines Pollution measurement Shape Indoor environments Robustness Electric variables measurement

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Nonlinear identification and MIMO control of a laboratory helicopter using genetic algorithm

Nonlinear identification and MIMO control of a laboratory he...

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IEEE India Conference (INDICON)

作者： H. Tahersima A. Fatehi Advanced Process Automation & Control (APAC) research group Faculty of Electrical Engineering Khaje Nasir Toosi University of Technology Tehran Iran

Closed loop identification of nonlinear model and control of a laboratory helicopter using genetic algorithm is proposed in this paper. The derived model has a nonlinear structure. Using the previous results of the physical modeling of the studied plant, a nonlinear model is considered based on the physical dynamics of the system. However, there is no need to perform numerous physical experiments to estimate the model parameters. Instead, genetic algorithm as a nonlinear optimization technique is used to obtain the parameters of the model. Therefore, the advantage of both modeling and identification methods are employed. In the next step, the parameters of a multi input-multi output (MIMO) PID controller for the derived model will be tuned by GA using the obtained nonlinear model as a simulator of the plant. Applying the controller to both the real plant and the simulation model, the accuracy of the model and the performance of the controller is examined. The results demonstrate that the achieved model accurately fits to the behavior of the real plant and the controller designed based on this model, can control the real system appropriately.

关键词： MIMO Laboratories Helicopters Genetic algorithms Parameter estimation Automatic control Mathematical model Electronic mail Nonlinear dynamical systems control system synthesis

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Robust Predictive PI controller Based on First-Order Dead Time Model

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IFAC Proceedings Volumes 2008年第2期41卷 5808-5813页

作者： F. Arousi U. Schmitz R. Bars R. Haber Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Research group Dept. of Advanced Process Control Shell Rheinland Refinery Köln/Wesseling Germany Inst. of Chemical Process Engineering and Plant Design University of Applied Science Cologne Germany

Predictive control algorithms compute the manipulated variable minimizing a cost function considering expected future errors. PI control algorithms can be equipped with predictive properties. Simple predictive control algorithms are derived using approximation of an aperiodic process by a first-order model with dead time. Applying a noise model the robustness properties of the algorithm are enhanced considering plant-model mismatch. The noise filter is considered as a design parameter. Simulation examples demonstrate the behavior of the predictive PI algorithm and the robustifying effect of the noise filter.

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Decentralized Robust PI controller Design For An Industrial Utility Boiler - An IMC Method

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IFAC Proceedings Volumes 2008年第2期41卷 14235-14240页

作者： Horacio Jose Marquez Batool Labibi Tongwen Chen Advanced Process Automation and Control (APAC) Research Group K. N. Toosi University of Technology Tehran Iran Electrical and Computer Engineering Department University of Alberta Edmonton Canada

This paper presents a scheme for designing a robust decentralized PI controller for an industrial utility boiler system. First, a new method for designing robust decentralized PI controllers for uncertain LTI MIMO systems is presented. Sufficient conditions for closed-loop stability and diagonal dominance of a multivariable system are given. For each isolated subsystem a first order approximation is obtained. Then, achieving robust stability and closedloop diagonal dominance is formulated as local robust performance problems. It is shown by selecting time constants of the closed-loop isolated subsystems appropriately, these local robust performance problems are solved and the interactions between closed-loop stabilized subsystems are attenuated. The internal model control (IMC) method is used to design local PI controllers. The suggested design strategy is applicable to unstable systems as well. Thereafter, the nonlinear model of an industrial utility boiler is linearized about its operating points and the nonlinearity is modeled as uncertainty for a nominal LTI MIMO system. Using the new proposed method, a decentralized PI controller for the uncertain LTI nominal model is designed. The designed controller is applied to the real system. The simulation results show the effectiveness of the proposed methodology.

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Real-Time Level Plant control Using Improved BELBIC

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IFAC Proceedings Volumes 2008年第2期41卷 4631-4635页

作者： M. Masoudinejad R. Khorsandi A. Fatehi C. Lucas S. Fakhimi Derakhshan M.R. Jamali Advanced Process Automation & Control (APAC) Research Group Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Center of Excellence for Control and Intelligent Processing Electrical and Computer engineering Department University of Tehran Iran

Brain emotional learning based intelligent controller (BELBIC) is based on computational model of limbic system in the mammalian brain. In recent years, this model was applied in many linear and nonlinear control applications. Previous studies show that this controller has fast response, simple implementation and robustness with respect to disturbances. It is also possible to define emotional signal based on control application objectives. But in the previous studies, internal instability of this controller was not considered and control task were done in limited time period. In this article mathematical description of BELBIC is investigated and improved to avoid internal instability. Simulation and implementation of improved model was done on level plant. The obtained results showed that instability of model has been solved in the new model without loss of performance by using Integral Anti Windup (IAW).

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Hailstone Detection Based on Image Mining

Hailstone Detection Based on Image Mining

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International Conference on Fuzzy Systems and Knowledge Discovery (FSKD)

作者： Zhiying Lu Lei Wang Hongmin Ma Qimeng Zhang Huizhen Jia Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University TJU Tianjin China Tianjin Meteorological Bureau Tianjin China

Hailstone is one of the main meteorological disasters and it is very difficult to be forecasted effectively. A novel method of automatic recognition hail cloud is proposed base on association rules in this paper. Firstly, the method preprocesses the original reflectivity image. Then the color features and texture features are extracted from the radar echo image. Lastly, the association rules, which are used to distinguish hailstorm from rainstorm and super refract, are constructed, namely hail echo ensemble forecast model based on image mining is constructed. The results show that hail echo ensemble forecast model based on image mining has higher accuracy compared with the PUP products.

关键词： Data mining Association rules Predictive models Meteorology Weather forecasting Clouds Reflectivity Feature extraction Meteorological radar Radar imaging

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Mobile Robot based Odor Path Estimation via Dynamic Window Approach

Mobile Robot based Odor Path Estimation via Dynamic Window A...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Ji-Gong Li Qing-Hao Meng Fei Li Ming-Lu Zhang Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University TJU Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

This paper addresses the problem of estimating the odor path which is most likely taken by the odor patch detected by the concentration sensor on a mobile robot moving in an indoor dynamic airflow environment. The odor path estimation is useful for plume tracing and odor source declaration. A novel algorithm for odor path likelihood mapping in the dynamic airflow environment is proposed. The algorithm has a low computation cost by importing the idea of dynamic window approach. Experiments are carried out on the mobile robot in which odor concentration sensor, airflow sensor, encoder and compass are equipped. To extract useable concentration information from the odor sensor, a practicable data preprocessing method is put forward. The experiment results in the indoor dynamic airflow environment show that the odor path can be well estimated online.

关键词： Mobile robots Animals Vehicle dynamics Robot sensing systems Wireless sensor networks Life estimation Algorithm design and analysis Hidden Markov models Delay Mechanical engineering

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