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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Aitor J. Garrido Izaskun Garrido M. Goretti Sevillano Modesto Amundarain Mikel Alberdi Oscar Barambones Manuel De la Sen Department of Systems Engineering and Automatic Control School of Technical Industrial Engineering Bilbao Spain Department of Systems Engineering and Automatic Control School of technical Industrial Engineering Vitoria Spain Department of Electricity and Electronics Institute of Research and Development of Processes Faculty of Science and Technology Bilbao Spain

The control of plasma in nuclear fusion has been revealed as a promising application of control Engineering, with increasing interest in the control community during last years. In this paper it is developed a control-oriented linear model for the control of plasma current. For this purpose, it is provided a summary of the background necessary to deal with control problems in tokamak-based nuclear fusion reactors as it is the case of the future ITER tokamak. Besides, it is also given a review of the most used simulators and plasma models, with the aim of providing an adequate background for control engineers to derive their own control-oriented model or to choose the appropriate existing one. Finally, the proposed plasma model performance is proven in a current drive profile trajectory tracking problem using a modified anti-windup PID-based control scheme.

关键词： Mathematical model Equations Tokamaks Magnetohydrodynamics Magnetic fields Computational modeling

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Help on SOS [Ask the Experts]

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IEEE control systems 2010年第4期30卷 18-23页

作者： Ufuk Topcu Andy Packard Peter Seiler Gary Balas Mechanical Engineering Department University of California Berkeley USA California Institute of Technology USA Aerospace Engineering and Mechanics Control Science and Dynamical Systems program University of Minnesota USA Aerospace Engineering and Mechanics Department University of Minnesota USA Research and Development Honeywell International Inc. USA

In this issue of IEEE control systems Magazine, Andy Packard and friends respond to a query on determining the region of attraction using sum-of-squares methods.

关键词： Polynomials Symmetric matrices Convergence Yield estimation control theory Matrix decomposition

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Configuration Synthesis and Performance Evaluation Metrics of Lunar Rover Locomotion systems

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Transactions of Tianjin University 2009年第3期15卷 193-200页

作者：邓宗全张朋高海波胡明 State Key Laboratory of Robotics and Systems Harbin Institute of Technology Research Center of Aerospace Mechanism and Control Harbin Institute of Technology

A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were *** evaluation and comparison between two LER with locomotion systems of different configurations were *** analysis results indicate that the new locomotion system configuration has good trafficability performance.

关键词： configuration synthesis evaluation metrics locomotion system lunar rover

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Evaluation of commercial off-the-shelf sorbents & catalysts for control of ammonia and carbon monoxide

Evaluation of commercial off-the-shelf sorbents & catalysts ...

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40th International Conference on Environmental systems, ICES 2010

作者： Luna, Bernadette Somi, George Winchester, J. Parker Grose, Jeffrey Mulloth, Lila Perry, Jay L. NASA Ames Research Center Bioengineering Branch Biosciences Division Building N239 Moffett Field CA 94035-1000 United States NASA Ames Research Center Bioengineering Branch Arizona Space Grant Consortium Embry-Riddle Aeronautical University 3700 Willow Creek Rd. #8206 Moffett Field CA 94035-1000 United States NASA Ames Research Center Bioengineering Branch University Space Resarch Association Mail Stop 226-8 NASA ARC Moffett Field CA 94035-1000 United States NASA Ames Research Center Bioengineering Branch Bay Area Environmental Research Institute 560 3rd St. West Sonoma CA 94035-1000 United States NASA Ames Research Center Bioengineering Branch SAIC Technology Services Company 2450 NASA Parkway Houston TX 77058 United States Environmental Control Systems Space Systems Department NASA Marshall Space Flight Center ECLS System Development Branch MSFC AL 35812 United States

ISBN: (纸本)9781600869570

Designers of future space vehicles envision simplifying the Atmosphere Revitalization (AR) system by combining the functions of trace contaminant (TC) control and carbon dioxide removal into one swing-bed system. Flow rates and bed sizes of the TC and CO2 systems have historically been very different. There is uncertainty about the ability of trace contaminant sorbents to adsorb adequately in high-flow or short bed length configurations, and to desorb adequately during short vacuum exposures. There is also concern about ambient ammonia levels in the absence of a condensing heat exchanger. In addition, new materials and formulations have become commercially available, formulations never evaluated by NASA for purposes of trace contaminant control. The optimal air revitalization system for future missions may incorporate a swing-bed system for carbon dioxide (CO2) and partial trace contaminant control, with a reduced-size, low-power, targeted trace contaminant system supplying the remaining contaminant removal capability. This paper describes the results of a comparative experimental investigation into materials for trace contaminant control that might be part of such a system. Ammonia sorbents and low temperature carbon monoxide (CO) oxidation catalysts are the foci. The data will be useful to designers of AR systems for future flexible path missions. This is a continuation of work presented in a prior year, with extended test results.

关键词： Carbon monoxide

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Robotic Workstation for AFM-Based Nanomanipulation Inside an SEM

Robotic Workstation for AFM-Based Nanomanipulation Inside an...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： U. Mick M. Weigel-Jech S. Fatikow Division Microrobotics and Control Engineering (AMiR) Oldenburg Research and Development Institute of Information Technology Tools and Systems (OFFIS) Technology Cluster Automated Nanohandling (TCANH) University of Oldenburg Oldenburg Germany

Combining the SEM as a visual sensor with the force control of an AFM promises to provide a unique tool for automated robotic nanomanipulations. This article presents the development of a nanorobotic workstation that can use AFM capabilities for robotic nanomanipulations inside an SEM. The hardware architecture for the AFM setup inside the SEM is described in detail. The AFM capabilities are demonstrated by in-situ acquired AFM and SEM images of identical sample locations. Initial AFM-based manipulation experiments on manipulating a graphene sheet and on pushing nanosized polymer beads are presented. The integration of the system with haptic feedback for teleoperation and into a robotic automation and visual control framework is discussed.

关键词： Robot sensing systems Scanning electron microscopy Force Automation Polymers Haptic interfaces

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Modelling and simulation of a combustion turbogenerator for control analysis and design

Modelling and simulation of a combustion turbogenerator for ...

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IFAC Symposium on Power Plants and Power systems control, PP and PSC 2009

作者： Garduno-Ramirez, Raul Delgadillo-Valencia, Miguel A. Hernandez-Rodriguez, Isaura Alcaide-Godinez, Indira X. Guevara-Gordillo, Ricardo Electrical Research Institute Division of Control Systems GCI 29-1 Cuernavaca 62490 Mexico Department of Electronics National Research and Development Centre Cuernavaca 62490 Mexico

This paper introduces the mathematical model of a 32 MVA combustion turbogenerator, including its control system, which has been implemented to perform real-time simulation experiments. The turbogenerator model comprehends the interconnection of the gas turbine, synchronous generator, turbine control system and generator control systems. The turbogenerator model allows simulation of turbogenerator startup, from turngear-speed up to synchronization-speed, and turbogenerator loading throughout the generator capability curve, from minimum-load condition up to peak-load condition. The proposed model is intended for the development of control systems, including speed, voltage, real power and reactive power controls. Simulation results using digital PI control algorithms are presented.

关键词： Power control

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Realtime KLT feature point tracking for high definition video

Realtime KLT feature point tracking for high definition vide...

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1st International Workshop on Computer Graphics, Computer Vision and Mathematics, GraVisMa 2009

作者： Fassold, Hannes Rosner, Jakub Schallauer, Peter Bailer, Werner JOANNEUM RESEARCH Institute of Information Systems Steyrergasse 17 8010 Graz Austria Silesian University of Technology Faculty of Automatic Control and Robotics Ulica Academicka 2 44-100 Gliwice Poland

ISBN: (纸本)9788086943909

Automatic detection and tracking of feature points is an important part of many computer vision methods. A widely used method is the KLT tracker proposed by Kanade, Lucas and Tomasi. This paper reports work done on porting the KLT tracker to the GPU, using the CUDA technology by NVIDIA. For the feature point detection, we propose to do all steps of the detection process, except the final one (enforcing a minimum distance between feature points), on the GPU. The feature point tracking is done on a multi-resolution image representation to allow tracking of large motion. Each feature point is calculated in parallel on the GPU. We compare the CUDA implementation with the corresponding OpenCV (using SSE and OpenMP) routines in terms of quality and speed, noticing a significant speedup of up to factor 10. Some additional experiments are done regarding the influence of different parameterization on the runtime. Our GPU implementation achieves realtime (> 25 fps) performance for High Definition (HD) video sequences, successfully tracking several thousands of points. In summary, the GPU implementation achieves a significant speedup compared with an optimized CPU implementation and allows the analysis of high resolution video sequences in realtime.

关键词： Motion estimation

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development of an underwater vehicle that has functions of acquisition and tracking target objects using images acquired by itself

Development of an underwater vehicle that has functions of a...

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19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE

作者： Tanaka, Toshinari Yoshie, Muneo Oosato, Mutsuo Construction and Control Systems Department Port and Airport Research Institute Yokosuka City Kanagawa Prefecture Japan Sendai Research and Engineering Office for Port and Airport Tohoku Regional Development Bureau Sendai City Miyagi Prefecture Japan

ISBN: (纸本)9781880653531

ROVs are often used to underwater observation and research mission. However, the operation of conventional ROVs under disturbances such as wave and current conditions are often problem. If the target object is moving by disturbances, the operation will not be able to continue. Therefore, we are aiming at realization of smart and secure in situ operations onboard. Especially, objective of our project is maintenance examination for swinging mooring facility of GPS buoys by our developed underwater vehicle. The buoys were deployed for survey hydrographic phenomena. Our key methods for semi-autonomous underwater vehicle are optical navigation technology and smart operational interface. Copyright © 2009 by The International Society of Offshore and Polar Engineers (ISOPE).

关键词： Global positioning system

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Mobile robotic dynamic tracking for assembly tasks

Mobile robotic dynamic tracking for assembly tasks

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bradley Hamner Seth Koterba Jane Shi Reid Simmons Sanjiv Singh Robotics Institute Carnegie Mellon Institute Pittsburgh PA USA Manufacturing Systems Research Laboratory GM Research and Development Center Warren MI USA

Traditional industrial robots have been widely used in automotive manufacturing for nearly 30 years. However, there have been very few attempts to automate mobile robotic systems for final assembly operations, despite their potential for high flexibility and capability. This paper focuses on methods of tracking a dynamic moving vehicle that is similar to the vehicle body on a moving assembly line. We have investigated two tracking methods, one using a laser scanner and the other using a visual fiducial marker. We have also studied the tracking performance of a mobile base using the pure pursuit algorithm with low pass filtering. Experimental results are presented to illustrate the remaining main challenges in achieving robotic assembly on moving assembly lines.

关键词： Robotic assembly Mobile robots Service robots robotics and automation Vehicle dynamics Vehicles Manufacturing industries Automotive engineering Assembly systems Pursuit algorithms

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Modelling and Simulation of a Combustion Turbogenerator for control Analysis and Design

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IFAC Proceedings Volumes 2009年第9期42卷 320-325页

作者： Raul Garduno-Ramirez Miguel A. Delgadillo-Valencia Isaura Hernandez-Rodriguez Indira X. Alcaide-Godinez Ricardo Guevara-Gordillo Electrical Research Institute Division of Control Systems GCI 29-1 Cuernavaca 62490 Mexico (Tel: +52-777-362-3811) Department of Electronics National Research and Development Centre Cuernavaca 62490 Mexico

关键词： Combustion turbogenerator Gas turbine model Synchronous generator model Real-time simulation Speed control Power control

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