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IEEE Conference on Decision and control

作者： A. Banerji R.N. Banavar D. Venkatesh Division of Remote Handling & Robotics (DRHR) Bhabha Atomic Research Centre Mumbai India IIT Bombay Mumbai India Systems and Control Engineering Indian Institute of Technology Mumbai India Electronics & Control Section DRHR Bhabha Atomic Research Centre Mumbai India

A dual-arm robotic manipulator needs to maintain its end-effectors' orientations with reference to each other as defined by the task constraints at various locations. To give one example, the task of operating a pair of pliers by rigidly grasping its handles will require that the orientation of the two end-effectors with respect to each other should vary as a function of their respective locations. Due to the wrist joint range limitations, dexterity is very limited and it may not be possible to achieve a desired maneuver along a desired trajectory. We present here a systematic approach to judge the feasibility of such demands and a method to find other reasonable target trajectories or orientations. The approach here is based on simple geometry with little computation load.

关键词： Wrist Manipulators Remote handling Robot kinematics Trajectory Computational geometry Arm control engineering Electric variables control control systems

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Robust PID tuning using closed-loop identification 7th

Robust PID tuning using closed-loop identification

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7th International Symposium on Advanced control of Chemical Processes, ADCHEM 2003

作者： Zhu, Yucai control, Tai-Ji Control Systems Section Faculty of Electrical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands Grensheuvel 10 Best5685 AG Netherlands

Identification based PID tuning is studied. The proposed approach consists of the identification of linear or nonlinear process model and model based control design. The identification test can be performed in both open loop and closed-loop. The so-called ASYM method is used to solve the identification problem. The method identifies a low order process model with a quantification of model errors (uncertainty). The PID tuning is based on internal model control (IMC) tuning rules. Two case studies will be performed to demonstrate the methodology. The first one is the adaptive control of the dissolved oxygen of a bioreactor;the second one is the nonlinear PID control of a pH process. © 2004 IFAC

关键词： Three term control systems

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Robust PID Tuning Using Closed-Loop Identification

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IFAC Proceedings Volumes 2004年第1期37卷 161-166页

作者： Yucai Zhu Control Systems Section Faculty of Electrical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands Phone: +31.40.2473246 Tai-Ji Control Grensheuvel 10 5685 AG Best The Netherlands Phone: +31.499.465692

Identification based PID tuning is studied. The proposed approach consists of the identification of linear or non linear process model and model based control design. The identification test can be performed in both open loop and closed-loop. The so-called ASYM method is used to solve the identification problem. The method identifies a low order process model with a quantification of model errors (uncertainty). The PID tuning is based on internal model control (IMC) tuning rules. Two case studies will be performed to demonstrate the methodology. The first one is the adaptive control of the dissolved oxygen of a bioreactor; the second one is the nonlinear PID control of a pH process.

关键词： PID control adaptive control identification perfonnance robustness

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Completion of Hitachinaka Thermal Power Station Unit No. 1 - 1,000-MW power generating plant of the Tokyo Electric Power Co., Inc.

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Hitachi Review 2004年第3期53卷 104-108页

作者： Matsumoto, Nobuyuki Iwamoto, Hideaki Kaneda, Takao Shigihara, Koichi Hitachi Ltd. Thermal Pwr. Plant Eng. Department Elec. and I and C Syst. Eng. Section Hitachi Works Bobcock-Hitachi K.K. Boiler Design Section Thermal Engineering Department Kure Office Pwr. Generation Contr. Syst. P.D. Information Control Systems Division Info. and Telecommunication Systems Hitachi Engineering Co. Ltd. No. 1 Engineering Division Elec. Power Systems Headquarters

In recent years, from the viewpoint of environmental conservation, it has become a top priority to improve the heat efficiency of thermal power plants. Under such circumstances, in December 2003, a 1,000-MW coal-fired power plant with the world's highest efficiency - Unit No. 1 of Hitachinaka Thermal Power Station of The Tokyo Electric Power Co., Inc. - was put into service. This generator consists of a coal-fired boiler with an extremely high critical pressure and a main steam temperature of 600°C as well as a state-of-the-art steam turbine with 41-inch-long (about 104 cm) final-stage turbine blades. Hitachi, Ltd. was in charge of the design and construction of the facilities for these two main components (i.e. the boiler and turbine) of Unit No. 1. Upon completing the plant design, Hitachi drew upon its collective strengths and latest technologies to develop these components. That is, by introducing the large-capacity, coal-fired boiler -which can handle many varieties of coal and meet the optimum steam conditions through increased pressure and temperature - and the high-efficiency steam turbine, both plant efficiency and reliability have been improved. Furthermore, a newly developed remote-monitoring system installed in the central control room of the plant utilizes expanded-display devices [large-size LCD (liquid crystal display) displays] and wider-scope operation by means of highly functional CRT (cathode ray tube) displays. As a result of this system set-up, plant operation in terms of labor saving and monitorability is improved. In addition, the remote-monitoring system is directly connected to the switchgear for auxiliary electrical equipment;consequently, the amount of cable materials used is reduced and the construction cost is lowered.

关键词： Fossil fuel power plants

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The effect assessment method of excitation systems on transient stability of power systems

The effect assessment method of excitation systems on transi...

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： T. Miki R. Sugino Y. Kono Department of Electrical and Electronic Engineering Anan National College of Technology Tokushima Japan Department of Systems and Control Engineering Anan National College of Technology Tokushima Japan System Analysis Section System Integration Department Public-Use e-Solution Center Mitsubishi Electric Corporation Limited Kobe Japan

The objective of this paper is to investigate the method which can assess accurately and efficiently the effects of excitation systems on transient stability of power systems. At first, critical fault clearing time functions CCT(W:load) are defined by taking notice of the fact that transient stability is mainly controlled by fault clearing time and load. Next, the method to be enable to assess accurately and efficiently the effects of excitation systems on transient stability has been newly developed by using the above functions. Finally, it has been applied to the effect assessment in the occurrence of a three- phase fault in a model power system. Results of application have been clarified the effectiveness of the developed method.

关键词： Power system transients Power system stability Power system simulation Power generation Power system faults Power system modeling Flowcharts Power system control Power systems Power system analysis computing

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Suppressing shock waves on the A1 in The Netherlands-model calibration and model-based predictive control

Suppressing shock waves on the A1 in The Netherlands-model c...

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International Conference on Intelligent Transportation

作者： A. Hegyi D.N. Duy B. De Schutter J. Hellendoorn S.P. Hoogendoorn S. Stramigioli Delft Center for Systems and Control Delft University of Technnology Delft Netherlands Transponation Planning and Traffic Engineering Section Fac. Civil Engineering & Geosciences Delft University of Technnology Delft Netherlands Control Laboratory. EUCE. Fac. of Electrical Engineering Mathematics & Computer Science University of Twente Enschede Netherlands

We now apply the model predictive control (MPC) of speed limits that we have presented in previous publications to a calibrated METANET model of a 19 km stretch of the real-world freeway A1 in The Netherlands. This freeway regularly suffers from shock waves originating mainly from on-ramps, and speed limits are now used to suppress these shock waves. First, we calibrate and validate the extended METANET model with data from the A1 freeway, and we use the Delft OD method to estimate the origin-destination patterns that are needed for the simulation of the destination oriented traffic. Next, we verify from data whether the necessary conditions for applying speed limits against shock waves are satisfied. We show that the MPC controller performs well even under the assumption that the traffic demand is not known on the on-ramps and is known for only a few kilometers upstream and downstream of the controlled stretch. This approach results in an improvement of the total time spent in the network with about 15%.

关键词： Predictive models Shock waves Calibration Predictive control Traffic control Pollution measurement Artificial intelligence Communication system traffic control Optimal control Vehicle dynamics

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Suppressing shock waves on the A1 in The Netherlands - Model calibration and model-based predictive control

Suppressing shock waves on the A1 in The Netherlands - Model...

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2003 IEEE International Conference on Intelligent Transportation systems, ITSC 2003

作者： Hegyi, A. Duy, D.N. De Schutter, B. Hellendoorn, J. Hoogendoorn, S.P. Stramigioli, S. Delft Center for Systems and Control Delft Univ. of Technology Mekelweg 2 Delft2628 CD Netherlands Transportation Planning and Traffic Engineering Section Fac. Civil Eng. and Geosciences Delft Univ. of Technology P.O. Box 5048 Delft2600 GA Netherlands Control Laboratory EL/CE Fac. of Electrical Eng. Mathematics and Computer Science Univ. of Twente P.O. Box 217 Enschede7500 AE Netherlands

ISBN: (纸本)0780381254

关键词： Shock waves

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A multi-agent case-based traffic control scenario evaluation system

A multi-agent case-based traffic control scenario evaluation...

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International Conference on Intelligent Transportation

作者： B. De Schutter S.P. Hoogendoorn H. Schuurman S. Stramigioli Delft Center for Systems and Control Delft Univ. of Technology Delft CD The Netherlands Transportation Planning & Traffic Engineering Section Delft Univ. of Technology Delft GA The Netherlands AVV Traffic Research Center Ministry of Transport Public Works and Water Management Rotterdam Netherlands EL/CE Fac. of Electrical Eng. Univ. of Twente AE Enschede The Netherlands

Traffic operators in traffic control centers have various measures at their disposition to control the traffic flows on motorways and on urban roads such as ramp metering, variable speed limits, dynamic route guidance, opening of shoulder lanes, etc. When having to determine which of these control measures have to be applied and where they have to be applied for a given traffic situation, the traffic operator should be able to predict the effect of a control scenario in order to be able to select the best scenario. As on-line, real-time simulation of a large number of possible scenarios is usually not tractable for even relatively small motorway networks, a fast method to predict the effects of control measures on-line is a key requirement for effectively applying traffic control. In this paper we develop a multi-agent case-based approach to assist traffic operators in evaluating or predicting the effects of control measures. The proposed approach is much faster than straightforward traffic simulation so that it can be used for on-line and real-time evaluation of a large number of different control scenarios. In addition, it is scalable so that it can also be used for large networks.

关键词： Traffic control Communication system traffic control control systems Roads Humans Telecommunication traffic Current measurement Geology Laboratories Mathematics

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Weight minimisation of displacement-constrained truss structures using a strain energy criterion

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Computer Methods in Applied Mechanics and engineering 2002年第19-20期191卷 2187-2205页

作者： Makris, Panagiotis A. Provatidis, Christopher G. Department of Mechanical Engineering Mechanical Design and Control Systems Section National Technical University of Athens 9 Heroon Polytechniou Ave Zographou Athens 157 80 Greece

This paper discusses a new method for the solution of the general truss weight-minimisation problem under simultaneous stress and displacement constraints. The method introduces a novel strain-energy-density criterion that refers to the ratio of the virtual strain energy per unit volume in each structural member to its average value on the whole structure. The virtual strain energy comes from the unit-load theorem and it is proportional to the product of the axial member forces due to both the actual loads and a virtual unit load that is applied at the node with the maximum displacement. A simple recursive formula for updating the cross-sectional areas, based on displacement constraints, is presented. A general subsequent algorithm applicable to both single and multiple load cases follows this formula. The results are encouraging since in all test cases the method was found to be robust and generally led to the same weight level as the literature, in both small and large structures. © 2002 Elsevier Science B.V. All rights reserved.

关键词： Trusses

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