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American Control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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International Journal of Manufacturing Technology and Management: Editorial

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International Journal of Manufacturing Technology and Management 2007年第3-4期11卷 275-277页

作者： Fang, Liping Xi, Fengfeng Zolfaghari, Saeed Department of Mechanical and Industrial Engineering Ryerson University 350 Victoria Street Toronto Ont. M5B 2K3 Canada Department of Aerospace Engineering Ryerson University 350 Victoria Street Toronto Ont. M5B 2K3 Canada Department of Mechanical and Industrial Engineering Ryerson University Toronto Ont. Canada Department of Systems Design Engineering University of Waterloo Canada International Journal of Industrial and Systems Engineering Canada Canada Canada Canada Canada Department of Aerospace Engineering Ryerson University Toronto Ont. Canada International Journal of Manufacturing Research Canada Recent Patents on Engineering Canada Society of Manufacturing Engineers Canada Industrial Engineering Program Ryerson University Toronto Ont. Canada Department of Mechanical Engineering University of Ottawa Canada Canada

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Investigation to the Use of Vibration Energy for Supply of Hearing Aids

Investigation to the Use of Vibration Energy for Supply of H...

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IEEE Instrumentation and Measurement Technology Conference

作者： N. Ben Amor O. Kanoun Sfax National School of Engineering Research unit on Intelligent Control design& Optimization of complex Systems (ICOS) BPW Tunisia Chair of Metrology University of Kassel Germany

Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved. In this paper we investigate the possibilities to design hearing aids as power aware system scavenging energy directly from its environment. The energy source we consider is vibration produced by movements primarily in the neighbourhood of the ear and other movements of the human body. Experimental measurements of vibration were evaluated by means of a theoretical model. The results show that an interesting improvement of battery operation time can be reached.

关键词： Hearing aids Auditory system Batteries Testing Humans Vibration measurement Power supplies Energy consumption Costs Detectors

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CONTROL SYSTEM DESIGN CONSIDERING A TRADEOFF BETWEEN EVALUATED UNCERTAINTY RANGES AND CONTROL PERFORMANCE

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Asian Journal of Control 2008年第1期1卷

作者： Y. Wakasa Y. Yamamoto Dept. of Applied Analysis and Complex Dynamical Systems Graduate School of Informatics Kyoto University Kyoto Japan. Yuji Wakasa was born in Okayama Japan in 1968. He received the B.S. and M.S. degrees in engineering from Kyoto university Japan in 1992 and 1994 respectively. From 1994 to 1998 he was a Research Associate in the Department of Information Technology Okayama University. Since April 1998 he has been a Research Associate in the Graduate School of Informatics Kyoto University. His current research interests include robust control and control system design via mathematical programming. Yutaka Yamamoto received his B.S. and M.S. degrees in engineering from Kyoto University Kyoto Japan in 1972 and 1974 respectively and the M.S. and Ph.D. degree in mathematics from the University of Florida in 1976 and 1978 respectively. From 1978 to 1987 he was with Department of Applied Mathematics and Physics Kyoto University and from 1987 to 1997 with Department of Applied System Science. Since 1998 he is a professor at the current position. His current research interests include realization and robust control of distributed parameter systems learning control sampled-data systems and digital signal processing. Dr. Yamamoto is a receipient of the Sawaragi memorial paper award (1985) the Outstanding Paper Award of SICE (1987) Best Author Award of SICE (1990) the George Axelby Outstanding Paper Award of IEEE CSS in 1996 Takeda Paper Prize of SICE in 1997. He is a Fellow of IEEE. He was an associate editor of Automatica. He is currently an associate editor of IEEE Transactions on Automatic Control Systems and Control Letters and Mathematics of Control Signals and Systems. He is a member of the IEEE the Society of Instrument and Control Engineers (SICE) and the Institute of Systems Control and Information Engineers.

This paper presents a design method of control systems such that a designer can flexibly take account of tradeoffs between evaluated uncertainty ranges and the level of control performance. The problem is reduced to a BMI problem and approximately solved by LMIs. The convergence of the proposed approximation is proved in a modified sense. A numerical example shows the effectiveness of the proposed method in comparison with the standard robust control.

关键词： Control system design LMI BMI tradeoff curves

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MODELING AND CONTROL OF ELEVATORS BY STATECHARTS

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Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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Sequential sampling for solving stochastic programs 07

Sequential sampling for solving stochastic programs

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Simulation Winter Conference

作者： Guzin Bayraksan David P. Morton Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Graduate Program in Operations Research University of Texas Austin Austin TX USA

ISBN: (纸本)9781424413065

We develop a sequential sampling procedure for solving a class of stochastic programs. A sequence of feasible solutions, with at least one optimal limit point, is given as input to our procedure. Our procedure estimates the optimality gap of a candidate solution from this sequence, and if that point estimate is sufficiently small then we stop. Otherwise, we repeat with the next candidate solution from the sequence with a larger sample size. We provide conditions under which this procedure: (i) terminates with probability one and (ii) terminates with a solution which has a small optimality gap with a prespecified probability.

关键词： Sampling methods Stochastic processes Stochastic systems Mathematical programming Random variables Monte Carlo methods State estimation Operations research Decision making Uncertainty

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Transformation from H‐ to J‐Aggregated Perylene Bisimide Dyes by complexation with Cyanurates†

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Angewandte Chemie 2008年第18期120卷

作者： Shiki Yagai Tomohiro Seki Takashi Karatsu Akihide Kitamura Frank Würthner Department of Applied Chemistry and Biotechnology Faculty of Engineering Chiba University 1‐33 Yayoi‐cho Inage‐ku Chiba 263‐8522 Japan Fax: (+81) 43‐290‐3039 http://www.eng.chiba‐u.ac.jp/outProfile.tsv?no=1228 PRESTO Japan Science and Technology Agency (JST) 4‐1‐8 Honcho Kawaguchi Saitama Japan Universität Würzburg Institut für Organische Chemie and Röntgen Research Center for Complex Material Systems Am Hubland 97074 Würzburg Germany

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Redesigning a college-wide multidisciplinary engineering design program at RIT

Redesigning a college-wide multidisciplinary engineering des...

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114th Annual ASEE Conference and Exposition, 2007

作者： Walter, Wayne Webb, Jeffrey Smith, Mark DeBartolo, Elizabeth Bailey, Margaret Slack, George Rochester Institute of Technology United States Department of Mechanical Engineering RIT United States Engineering Modeling and Simulations Group Southeast Division of Applied Research Associates Programs Rochester Institute of Technology United States United States Engineering Honors Program United States Multidisciplinary Capstone Design Leadership Team United States Senior Design and Digital Systems United States Xerox Corp Bosch Corp. United States

Since 2002, the Kate Gleason College of engineering (KGCOE) at the Rochester Institute of Technology (RIT) has seen its Multidisciplinary Senior Design (MSD) program grow from a small pilot project into a college-wide initiative, involving four departments and almost 400 students annually. While subtle adjustments have been made each year, a major redesign effort was undertaken prior to the 2006 academic year to improve program alignment with departmental objectives, to improve delivery efficiency and effectiveness, and to improve student and faculty satisfaction. The project definition process was overhauled to focus on the definition of related projects within a set of disciplinary "tracks," consistent with academic programs and faculty interests. Emphasis was placed on development of reusable and scalable platforms to lay the foundation for future project extensions, and to encourage cross-project and cross-department collaboration. To reduce startup time normally associated with student projects, day-long workshops were developed for the first four weeks that forced intense focus on customer requirements, engineering specifications, and concept development and selection. The workshop structure and format further encouraged collaboration within and across teams. Lastly, a Wiki-based online environment was created to support knowledge capture and emergent collaboration. This paper provides an overview of changes to the MSD program in three key areas: course delivery, project definition, and communications infrastructure. Attention is given to innovative approaches to challenges inherent in serving a large and diverse constituency with limited resources. © American Society for engineering Education, 2007.

关键词： Curricula

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Multimedia tutorials for minority non-english speaking students and software engineering methods for the same

Multimedia tutorials for minority non-english speaking stude...

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114th Annual ASEE Conference and Exposition, 2007

作者： Baggs, Rhoda Kasza, Tamas Fraites, Patrice Pravata, Ian Witmer, Kohl Shaykhian, Gholam Ali Florida Institute of Technology United States MS in Computer Information Systems Florida Institute of Technology's University College United States International Association of Computer Information Systems Association of Computing Machinery and Several ACM SIGs MS CIS Program F.I.T. Harris Corp. United States NASA United States Engineering Directorate United States Bethune Cookman College Daytona Beach FL United States Operations Research Florida Institute of Technology United States United States Minorities in Engineering Division of ASEE

Multimedia tutorials available online are becoming popular as a means of providing canned explanations for difficult material for brick and mortar classes and online courses. The availability of free multimedia products like Flashplayer by Macromedia ©and the increasing proliferation of high speed access also provides the perfect set of circumstances to produce and make obtainable tutorials for K-12 children who may be especially challenged in some way. For instance, these tutorials would be appropriate and helpful for non-English speaking children to help them learn English and acclimate to their new American environment. This is the perfect time with the increasing Hispanic population within the borders of the United States. Students in the Computer Sciences and Computer Information systems programs at Florida Institute of Technology have been working on such tutorials that have video, animation, audio, text, and images to help get across new ideas and topics to school age children. At the same time, software engineering methods for designing such tools are being developed and explored. The scope of this research is being extended to include audio in multiple languages for non-English speaking students. © American Society for engineering Education, 2007.

关键词： Multimedia services

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Inferring Markov chains: Bayesian estimation, model comparison, entropy rate, and out-of-class modeling

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Physical Review E 2007年第1期76卷 011106-011106页

作者： Christopher C. Strelioff James P. Crutchfield Alfred W. Hübler Center for Computational Science & Engineering and Physics Department University of California at Davis One Shields Avenue Davis California 95616 USA Center for Complex Systems Research and Physics Department University of Illinois at Urbana-Champaign 1110 West Green Street Urbana Illinois 61801 USA

Markov chains are a natural and well understood tool for describing one-dimensional patterns in time or space. We show how to infer kth order Markov chains, for arbitrary k, from finite data by applying Bayesian methods to both parameter estimation and model-order selection. Extending existing results for multinomial models of discrete data, we connect inference to statistical mechanics through information-theoretic (type theory) techniques. We establish a direct relationship between Bayesian evidence and the partition function which allows for straightforward calculation of the expectation and variance of the conditional relative entropy and the source entropy rate. Finally, we introduce a method that uses finite data-size scaling with model-order comparison to infer the structure of out-of-class processes.

关键词： STATISTICAL complexITY HOLLIDAY JUNCTIONS DYNAMICS INFORMATION INFERENCE INDUCTION ORDER

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