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European control Conference (ECC)

作者： Gábor Rödönyi Péter Gáspár József Bokor Systems and Control Laboratory Computer and Automation Research Institute of Hungarian Academy of Sciences Budapest Hungary

In the paper the road holding of a heavy vehicle is improved by using unilateral braking. The goal of the control design is to reduce the effect of the lateral acceleration of the vehicle, when it exceeds a predefined critical limit. The safety critical requirements motivate the application of robust control theory. The design problem is solved by a three-level cascade control with H ∞ controllers on each level. The actuator dynamics of the brake system, the wheel dynamics and the nonlinear tire adhesion characteristics are taken into consideration. The effectiveness of the method is demonstrated through an overtaking maneuver.

关键词： Wheels Vehicles Mathematical model Acceleration Vehicle dynamics Actuators Dynamics

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Model predictive control of the hybrid primary circuit dynamics in a pressurized water nuclear power plant

Model predictive control of the hybrid primary circuit dynam...

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European control Conference (ECC)

作者： Tamás Péni Gábor Szederkényi József Bokor Systems and Control Laboratory of the Computer and Automation Research Institute of the Hungarian Academy of Sciences Budapest Hungary

In this paper, a model predictive controller is developed for controlling the main primary circuit dynamics of pressurized water nuclear power plants during load-change transients. The hybrid model of the plant is successfully embedded into a non-hybrid discrete time LPV form. The designed controller is able to handle the hard constraints for the state and input variables while keeping the plant stable and producing satisfactory time-domain behavior.

关键词： Integrated circuit modeling Water heating Heat transfer Inductors Mathematical model Predictive control

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Solution to the Generalized Champagne Problem on simultaneous stabilization of linear systems

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Science in China(Series F) 2007年第5期50卷 719-731页

作者： GUAN Qiang WANG Long XIA BiCan YANG Lu YU WenSheng ZENG ZhenBing Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Center for Systems and Control College of Engineering Peking University Beijing 100871 China LMAM and School of Mathematical Sciences Peking University Beijing 100871 China Shanghai Institute of Theoretical Computing Software Engineering Institute East China Normal University Shanghai 200062 China National Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China

The well-known Generalized Champagne Problem on simultaneous stabilization of linear systems is solved by using complex analysis and Blonders technique. We give a complete answer to the open problem proposed by Patel et al., which automatically includes the solution to the original Champagne Problem. Based on the recent development in automated inequality-type theorem proving, a new stabilizing controller design method is established. Our numerical examples significantly improve the relevant results in the literature.

关键词： linear systems stabilization simultaneous stabilization Champagne Problem Generalized Champagne Problem,complex analysis inequality-type theorem automated theorem proving

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Exact fault and disturbance decoupling by means of direct input reconstruction and estimation of the inverse dynamics

Exact fault and disturbance decoupling by means of direct in...

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Mediterranean Conference on control and automation (MED)

作者： A. Edelmayer J. Bokor Z. Szabo Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The idea of inversion-based direct input reconstruction for robust detection and separation of multiple, possibly simultaneous faults in the presence of external, non-mutually separable disturbances for linear dynamical systems was presented in [1]. In this short paper this concept is pursued further: it is shown how in a specific filtering structure, relying on the inverse representation of the system, a Luenberger state observer can be designed providing estimation of the states of the inverse-based residual generator reverting to disturbance decoupled detection residuals with exact fault separation. This result can be considered as a corollary of the approximate disturbance attenuating solution presented in [1].

关键词： Fault detection Robustness Filtering Filters control systems Design methodology Nonlinear dynamical systems Automatic control Laboratories automation

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Inversion-based Approaches to Robust Fault Detection and Isolation with Applications in Linear systems

Inversion-based Approaches to Robust Fault Detection and Iso...

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International Conference on Computational Cybernetics (ICCC)

作者： A. Edelmayer J. Bokor Z. Szabo Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

In this paper the idea of inversion-based direct input reconstruction for robust detection, separation and estimation of multiple simultaneous faults in the presence of persistent disturbances in linear dynamical systems is presented. In particular, it is shown how in a specific filtering structure a residual generator, relying on the inverse representation of the system, by means of estimation of the inverse dynamics can be designed providing robust fault decoupling. The development of the method and its applicability to earlier not solvable problems is demonstrated based on an aircraft monitoring application example.

关键词： Robustness Fault detection Linear systems Filtering State-space methods Design methodology control systems Nonlinear filters State estimation Nonlinear dynamical systems

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Construction of expanded input space for modeling hysteretic systems

Construction of expanded input space for modeling hysteretic...

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2007 IEEE 22nd International Symposium on Intelligent control, ISIC 2007

作者： Tan, Y. Zhao, X. IEEE Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology 541004 Guilin China Institute of Automation Zhejiang Sci.-Tech. University China

ISBN: (纸本)142440441X

A neural model for hysteresis based on expanded input space is proposed in this article. In this method, the behavior of hysteresis is considered as a dynamic system that can be described by a nonlinear state space equation containing hysteretic state. In order to transfer the multi-valued mapping of hysteresis into a one-to-one mapping, an expanded input space involving the original input variable and a so-called Duhem operator is constructed. Thus, the neural networks can be employed to approximate the relation between the hysteretic state and the output of the system that is also the output of hysteresis. The proposed model has a simple architecture that can be easily implemented for on-line adaptation for the model in case of the unexpected change of operating environment. Furthermore, the dynamic performance of the model is improved because of the existence of Duhem operator. Finally, the method is used to the modeling of hysteresis in a piezoelectric actuator. © 2007 IEEE.

关键词： Hysteresis

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A far-range off-line camera calibration method for stereo lane detection systems

A far-range off-line camera calibration method for stereo la...

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2007 IEEE Instrumentation and Measurement Technology, IMTC 2007 - Synergy of Science and Technology in Instrumentation and Measurement

作者： Bódis-Szomorú, András Dabóczi, Tamás Fazekas, Zoltán Budapest University of Technology and Economics Dept. of Measurement and Information Systems Magyar tudósok krt. 2 H-1117 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)1424410800

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods. © 2007 IEEE.

关键词： Stereo vision

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Optimum feature and extraction for fault diagnosis and prognosis

Optimum feature and extraction for fault diagnosis and progn...

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Artificial Intelligence for Prognostics - Papers from the AAAI Fall Symposium

作者： Saxena, Abhinav Vachtsevanos, George Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 0250 United States School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States

ISBN: (纸本)9781577353478

Fault diagnosis and failure prognosis of critical dynamic systems, such as aircraft and industrial processes, rely on degradation or fatigue models and measurements typically acquired on-line in real-time. Such sensor data must be pre-processed in order to remove artifacts and improve the signal-to-noise ratio. Furthermore, they must be processed appropriately so that useful information in compact form can be extracted and used to detect incipient failures and predict the remaining useful life of failing components. We present a methodology to select an optimum feature vector from a list of candidate features, prioritize and rank them to meet set performance objectives. The enabling technologies include genetic programming tools, data fusion and model-based approaches for feature selection and extraction. We will suggest a multi-core processing environment for the efficient and expedient implementation of these technologies. Performance metrics are defined to assess the efficacy of the methodology. Typical examples from aircraft systems are used to demonstrate the proposed techniques.

关键词： Failure analysis

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Performance Evaluation of Multiple TCP connections in iSCSI

Performance Evaluation of Multiple TCP connections in iSCSI

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IEEE/NASA Goddard Conference on Mass Storage systems and Technologies, (MSST)

作者： Bhargava K. Kancherla Ganesh M. Narayan K. Gopinath Computer Architecture and Systems Laboratory Department of Computer Science and Automation Indian Institute of Science Bangalore India

Storage area networks (SANs) based on fibre channel have been used extensively in the last decade while iSCSI is fast becoming a serious contender due to its reduced costs and unified infrastructure. This work examines the performance of iSCSI with multiple TCP connections. Multiple TCP connections are often used to realize higher bandwidth but there may be no fairness in how bandwidth is distributed. We propose a mechanism to share congestion information across multiple flows in "Fair-TCP" for improved performance. Our results show that Fair-TCP significantly improves the performance for I/O intensive workloads.

关键词： Throughput TCPIP Wide area networks Storage area networks Encapsulation Storage automation Bandwidth Transport protocols Optical fiber cables computer architecture

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A Far-Range Off-line Camera Calibration Method for Stereo Lane Detection systems

A Far-Range Off-line Camera Calibration Method for Stereo La...

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IEEE Instrumentation and Measurement Technology Conference

作者： Andras Bodis-Szomoru Tamas Daboczi Zoltan Fazekas Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungary

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated. Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision. Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods.

关键词： Cameras Calibration Remotely operated vehicles Sensor systems Mobile robots Navigation Lenses Vehicle detection Parameter estimation Position measurement

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