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International Conference on Digital Signal Processing (DSP)

作者： K. Tsirikolias B.G. Mertzios Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace Greece

In this paper we present a method for image feature extraction using coordinate logic filters. Coordinate logic filters constitute a new kind of nonlinear filter, which are closely related to morphological fillers. The key issue to the coordinate logic analysis of images is the methodology of fast successive filtering and managing of the residues. The desired processing is succeeded by executing only direct logic operations among the pixels of the given image. The coordinate logic filters can be easily implemented using logic circuits or cellular automata.

关键词： Feature extraction Filters Binary sequences Filtering Pixel Logic circuits Shape Image analysis Image processing Automatic control

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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Constrained control of Linear Discrete-Time Uncertain systems

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IFAC Proceedings Volumes 1997年第6期30卷 319-324页

作者： Georges Bitsoris Marina Vassilaki Control Systems Laboratory Electrical and Computer Engineering Department University of Patras 26500 Patras Greece Tel. +30-61-997292 Fax. +30-61-997310

In this paper the regulation problem of linear discrete-time systems with uncertain parameters under state and control constraints is studied. In the frrst part of the paper, two theorems concerning necessary and sufficient conditions for the existence of a solution to this problem are presented. Due to the constructive form of the proof of these theorems, these results can be used for the derivation of a control law transferring to the origin any state belonging to a given set of initial states while respecting the state and controI constraints. So, a design technique is developed. By this technique the initial problem. is reduced to simple mathematical programming problems. Dans cet article, on étudie le problème de regulation des systémes linéaires discrets avec des parametres imprécis et contraintes sur la commande et l'état. Dans la première partie de l'article, on présente deux théorèmes concemant les conditions nécessaires et suffisantes pour l'existence d'une solution a ce problème. Grace au caraètere constructive de la démonstration de ces théoremes, ces resultats peuvent etre utilises pour la dérivation d'une lois de commande permettant le transf ère a l'origine de tous les états appartennant à un ensemble donne des états initiaux, sans violer les contraintes sur la commande et l'état.

关键词： Discrete-time linear systems stabilization constrained control uncertain

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A fast and accurate 3-D rangefinder using the Biris technology: the TRID sensor

A fast and accurate 3-D rangefinder using the Biris technolo...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： F. Loranger D. Laurendeau R. Houde Computer Vision and Systems Laboratory (CVSL) Electrical and Computer Engineering Department Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes Canada

In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.

关键词： Robot vision systems Robustness computer vision Application software Robot kinematics Layout Cameras computer industry Costs Geometrical optics

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Emission and drivability tradeoffs in a variable cam timing SI engine with electronic throttle

Emission and drivability tradeoffs in a variable cam timing ...

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American control Conference (ACC)

作者： S.C. Hsieh A.G. Stefanopoulou J.S. Freudenberg K.R. Butts Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Scientific Research Laboratory Ford Motor Company Limited Dearborn MI USA

Tradeoffs between low feedgas emissions and smooth brake torque are discussed in the context of an engine equipped with variable camshaft timing (VCT). The use of VCT lowers the generation of feedgas emissions but adversely affects the torque response. However, with the addition of an electronic throttle and knowledge of online torque, the tradeoffs between emissions and drivability in the VCT engine can be lessened; conventional (nonVCT) engine torque response can be achieved while simultaneously preserving most of the emissions benefits gained by using VCT.

关键词： computer aided manufacturing CADCAM Timing Engines Fuel economy Exhaust systems Actuators Torque control Laboratories Couplings

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A Dynamic Predicting Algorithm for Estimating Bus Arrival Time

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IFAC Proceedings Volumes 1997年第8期30卷 1225-1228页

作者： Edwin M. Reinhoudt S.A. Velastin Delft University of Technology Department of Electrical Engineering Telecommunications and Traffic Control Systems Group Mekelweg 4 2628 CD Delft the Netherlands fax: +31 (15) 278 1774 Department of Electronic & Electrical Engineering Vision and Robotics Laboratory King’s College London Strand London WC2R 2LS United Kingdom fax: +44 (171) 873 2211

In order to maintain a high quality service and keep up with the ever increasing demands in the field of public transport, London Transport Buses (LTB) equipped bus routes in a test area in North London with a new system called Countdown. The system calculates arrival time estimations which inform both the customers and the operators of the company about the running of their buses. The calculations should be as accurate as possible in the interest of customer satisfaction. This paper shows that the use of a dynamic Kalman filter instead of a previously used static averaging algorithm, improves the error distribution up to 7% and often reduces maximum absolute error figures significantly. This technique may also prove to be a useful tool for other predicting systems.

关键词： Measurement Surveillance Estimation Practical Application Results Travel Traffic Information Public Transport

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Internal force-based impedance control for cooperating manipulators

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1996年第1期12卷 78-89页

作者： Bonitz, RG Hsia, TC Systems Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.

关键词： Impedance Force control Motion control Manipulator dynamics Velocity control Robot sensing systems End effectors Kinematics Stability Computational modeling

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Implementation of the velocities of the end-effector with the distributed arithmetic architecture

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1996年第4期17卷 387-417页

作者： Grigoriadis, GK Mertzios, BG Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace 67100 Xanthi Greece

The fast implementation of the linear and of the angular velocities of the end-effector of robotic manipulators, using the distributed arithmetic technique is described. The linear and angular velocities of the end-effector as well as the positional and the orientational Jacobian matrices is calculated by a cascade configuration of two pipelined arrays. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the linear and angular velocities of the end-effector is described, while the serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic computer architecture may be used in the real-time operation of the robot control system that requires the on-line computation of the position, of the linear and angular velocities of the end-effector and of the Jacobian matrix.

关键词： robot kinematics linear velocity angular velocity positional and orientational Jacobian matrices fast implementation pipelining distributed arithmetic and end-effector

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Fast algorithms for basic processing and analysis operations on block-represented binary images

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PATTERN RECOGNITION LETTERS 1996年第14期17卷 1437-1450页

作者： Spiliotis, IM Mertzios, BG Automatic Control Systems Laboratory Department of Electrical and Computer Engineering. Democritus University of Thrace Xanthi 67100 Greece

This paper describes a binary image representation scheme, called Image Block Representation and presents new algorithms for a number of basic binary image processing and analysis operations, which are rapidly implemented on block-represented binary images. The main purpose of the Image Block Representation is to provide an efficient binary image representation that permits the execution of operations on image areas instead of image points.

关键词： image block representation image normalization image measurements logic operations

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Improved performance model reference adaptive control with parameter mismatch compensation

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IEEE TRANSACTIONS ON AUTOMATIC control 1996年第2期41卷 224-228页

作者： Papadakis, INM Thomopoulos, SCA Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University University Park PA USA

An adaptive controller with improved performance characteristics is introduced. The proposed controller extends recent results in this area since it achieves performance improvement of the zero-state output error in t... 详细信息

关键词： performance characteristics compensated model reference adaptive control performance boost PERFORMANCE MODELING adaptive controller outlet error adaptive control

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