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International Joint Conference on Neural Networks (IJCNN)

作者： Wei Qiao Ganesh K. Venayagamoorthy Ronald G. Harley Intelligent Power Infrastructure Consortium (IPIC) in the School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Real-Time Power and Intelligent Systems Laboratory in the Department of Electrical and Computer Engineering University of Missouri Rolla Rolla MO USA

Wide-area coordinating control is becoming an important issue and a challenging problem in the power industry. This paper proposes a novel optimal wide-area monitor and wide-area coordinating neurocontroller (WACNC), based on wide-area measurements, for a power system with power system stabilizers, a large wind farm, and multiple flexible ac transmission system (FACTS) devices. The wide-area monitor is a radial basis function neural network (RBFNN) that identifies the input-output dynamics of the nonlinear power system. Its parameters are optimized through a particle swarm optimization (PSO) based method. The WACNC is designed by using the dual heuristic programming (DHP) method and RBFNNs. It operates at a global level to coordinate the actions of local power system controllers. Each local controller communicates with the WACNC, receives remote control signals from the WACNC to enhance its dynamic performance, and therefore helps improve system-wide dynamic and transient performance.

关键词： Power system control Control systems Power systems Wind farms Power system dynamics Power system measurements Monitoring Flexible AC transmission systems Power system transients Power industry

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Towards Content Oriented Integration of Product and Robot System Models

Towards Content Oriented Integration of Product and Robot Sy...

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International Symposium on Logistics and Industrial Informatics, LINDI

作者： Laszlo Horvath Imre J. Rudas Karel Jezernik John von Neumann Faculty of Informatics Budapest Technology Institute of Intelligent Engineering Systems Budapest Hungary Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

An approach and method to integrate virtual engineering and robot systems is introduced. The main idea is extended application of the principle of shape aspect that is well-proven in part modeling. Shape intensive robot system is engineered by using of shape modeling. Shapes are connected by special aspects in a shape aspect oriented model system. The main purpose of the proposed approach and method is better communication between product modeling and robot related engineering. Associativity definitions integrate part level functions into product level functions while behaviors and adaptivities are also handled as aspects. Paper starts with introduction and comparison of classical industrial product modeling and the proposed integrated product and robot system modeling. Following this, extended application of shape aspects and definition of connective aspects are detailed. Finally, implementation in open architecture industrial modeling systems is explained and future work is outlined.

关键词： Service robots systems engineering and theory robotics and automation intelligent robots Solid modeling Informatics Shape control computer aided manufacturing Logistics electrical products industry

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A Geometric Optimization Approach to Detecting and Intercepting Dynamic Targets

A Geometric Optimization Approach to Detecting and Intercept...

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American Control Conference (ACC)

作者： Silvia Ferrari Chenghui Cai Rafael Fierro Brent Perteet Laboratory for Intelligent Systems and Controls Department of Mechanical Engineering & Materials Science Duke University Durham NC USA MARHES Laboratory School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA

A methodology is developed to deploy a mobile sensor network for the purpose of detecting and capturing mobile targets in the plane. The sensing-pursuit problem considered in this paper is analogous to the Marco Polo game, in which the pursuer must capture multiple mobile targets that are sensed intermittently, and with very limited information. In this paper, the mobile sensor network consists of a set of robotic sensors that must track and capture mobile targets based on the information obtained through cooperative detections. Since the sensors are installed on robotic platforms and have limited range, the geometry of the platforms and of the sensors field-of- view play a key role in obstacle avoidance and target detection. Thus, a new cell decomposition approach is presented to formulate the probability of detection and the cost of operating the robots based on the geometric properties of the network. Numerical simulations verify the validity and flexibility of our methodology.

关键词： Robot kinematics Vehicle dynamics Robot sensing systems Target tracking intelligent sensors Object detection Sensor phenomena and characterization Motion planning Mobile robots Sensor systems

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Dynamic Modeling of Wind Farms with Fixed-Speed Wind Turbine Generators

Dynamic Modeling of Wind Farms with Fixed-Speed Wind Turbine...

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2007 IEEE Power engineering Society General Meeting (PES 2007), vol.10

作者： Wei Qiao Ronald G. Harley Ganesh K. Venayagamoorthy Intelligent Power Infrastructure Consortium (IPIC) School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA University of KwaZulu-Natal Durban South Africa Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla Rolla MO USA

A wind farm typically consists of a large number of individual wind turbine generators (WTGs) connected by an internal electrical network. To study the impact of wind farms on the dynamics of the power system, an important issue is to develop appropriate wind farm models to represent the dynamics of many individual WTGs. This paper presents various dynamic models, including a detailed model and three reduced-order equivalent models, of wind farms with fixed-speed WTGs. These models are developed and compared by simulation studies in the PSCAD/EMTDC environment under different wind velocity and fluctuation conditions as well as gird fault conditions. Concluding remarks are provided on how to choose an appropriate wind farm model for power system dynamic and transient studies.

关键词： Detailed model Equivalent model Fixed-speed wind turbine Squirrel-cage induction generator Wind farm

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Quantum Robots for Teenagers

Quantum Robots for Teenagers

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International Symposium on Multiple-Valued Logic

作者： Arushi Raghuvanshi Yale Fan Michal Woyke Marek Perkowski Valley Catholic Middle School Beaverton OR USA The Catlin Gabel School Portland OR USA Warsaw Poland Intelligent Robotics Laboratory Department of Electrical and Computer Engineering Portland State University Portland OR USA

Extending the ideas of quantum Braitenberg vehicles from (A. Raghuvanshi, 2006), we present here a family of Lego robots controlled by multiple-valued quantum circuits. The robots have at most 6 degrees of freedom (motors) and 6 sensors. Their basic architecture is a generalization of robots from (Ch. Brawn et al, 2006) to more versatile multiple-valued quantum automata (simulated in software). We believe that building robots with "quantum brains" is an excellent future application of quantum computing and now it helps students to learn principles of quantum circuits. We present a one-year project in "quantum robotics for teenagers". Our project brings research and educational perspectives, which are both presented in this paper.

关键词： Robot sensing systems robotics and automation Quantum computing Circuits Vehicles Automatic control Robot control computer architecture Learning automata Brain modeling

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Optimal Control of Class of Non-linear Plants Using Artificial Immune systems: Application of the Clonal Selection Algorithm

Optimal Control of Class of Non-linear Plants Using Artifici...

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IEEE International Symposium on intelligent Control (ISIC)

作者： S.A. Panimadai Ramaswamy G.K. Venayagamoorthy S.N. Balakrishnan Department of Electrical and Computer Engineering University of Missouri Rolla MO USA Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO USA Department of Mechanical AeroSpace and Engineering Mechanics University of Missouri Rolla MO USA

The function of natural immune system is to protect the living organisms against invaders/pathogens. Artificial Immune System (AIS) is a computational intelligence paradigm inspired by the natural immune system. Diverse engineering problems have been solved in the recent past using AIS. Clonal selection is one of the few algorithms that belong to the family of AIS techniques. Clonal selection algorithm is the computational implementation of the clonal selection principle. The process of affinity maturation of the immune system is explicitly incorporated in this algorithm. This paper presents the application of AIS for the optimal control of a class of non-linear plants which are affine in control. The clonal selection algorithm is adapted for optimal control. A new mutation operator that operates on real values and one that aids in fast convergence is developed in this paper. AIS is used to obtain constant coefficient Kalman gain matrices. The validation and evaluation of the results thus obtained are carried out by comparing with standard and the widely used State Dependent Algebraic Riccati Equation (SDARE) method for the non-linear plants. In case of non-linear systems with hard state constraints, the SDARE formulation requires the use of mathematically involved expressions to incorporate these state constraints. However, the modified clonal selection algorithm developed in this paper has been used with hardly any changes to incorporate the hard state constraints and obtain the Kalman gain matrix.

关键词： Optimal control Artificial immune systems Immune system Kalman filters Riccati equations Protection Organisms Pathogens Computational intelligence systems engineering and theory

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Vehicle tracking using stochastic fusion-based particle filter

Vehicle tracking using stochastic fusion-based particle filt...

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2007 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Huaping Liu Fuchun Sun Liping Yu Kezhong He Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University China College of Information & Electrical Engineering Shandong University of Science and Technology China

In this article, we propose a new observation model combination approach under particle filtering scheme, which allows robust and accurate visual tracking under typical circumstances of real-time visual tracking. This scheme stochastically selects single observation model to evaluate the likelihood of some particle. Since only one single observation likelihood is evaluated for any one particle, the time-cost can be reduced dramatically. To verify its performance, this particle Alter is used for vehicle tracking, by stochastically selecting color histogram or edge orientation histogram. The accuracy and robustness of the stochastic fusion approach are evaluated using real sequences. Furthermore, we demonstrate through these experiments that the stochastic fusion scheme performs almost as well as the deterministic fusion approach.

关键词： Particle tracking Stochastic processes Particle filters Radar tracking Histograms Colored noise Robustness intelligent vehicles Sun Helium

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intelligent Local and Hierarchical Control of FACTS Devices

Intelligent Local and Hierarchical Control of FACTS Devices

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2007 IEEE Power engineering Society Conference and Exposition in Africa (IEEE PES PowerAfrica 2007), part 1

作者： Salman Mohagheghi Ganesh K. Venayagamoorthy Ronald G. Harley Intelligent Power Infrastructure Consortium Georgia Institute of Technology Atlanta GA USA Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri MO USA Department of Electrical and Computer Engineering University of Missouri-Rolla MO USA Emeritus University of Kwazulu-Natal South Africa

This paper presents an overview of the applications of intelligent control techniques on local and hierarchical control of FACTS devices. These control techniques are superior to the conventional linear/nonlinear control schemes in the sense that they are independent of any mathematical model of the power system to be controlled. In addition, they do not depend on the operating conditions and the configuration of the system to which the FACTS device is connected. A Static Compensator (STATCOM) is used as the example in order to compare the performances of the proposed intelligent controllers with those of their linear counterparts. Nevertheless, the ideas put forth in this paper are applicable to other shunt or series FACTS devices as well. Two different control schemes are evaluated: a fuzzy logic based local controller and a neuro-fuzzy hierarchical controller for a STATCOM in a multimachine power system.

关键词： Nonlinear control systems Control systems Power system control Power systems Automatic voltage control intelligent control Mathematical model Power system modeling Control system synthesis STATCOM

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