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IEEE Conference on Decision and control

作者： F. Carli T. Chen A. Chiuso L. Ljung G. Pillonetto Dept. of Information Engineering Universty of Padova Italy Division of Automatic Control Linköping University Division of Automatic Control Linköping University Sweden

ISBN: (纸本)9781467320658

A Bayesian formulation of system identification problems has become popular recently; this is mainly due to the introduction of a family of prior descriptions (kernels) which encode structural properties of dynamical systems such as stability. The simplest instance of this kernel prescribes that the impulse response coefficients are independent random variables with exponentially decaying variance. Selecting the most suitable kernel within this class, which involves tuning the rate at which variance decay, is an important step. This paper studies the properties of the so-called “marginal likelihood” approach providing an interpretation in terms of Mean Squared Error properties of the resulting estimators.

关键词： Kernel Estimation Vectors Bayesian methods Finite impulse response filter Noise Equations

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Distributed Manufacturing control with Extended CNP Interaction of Intelligent Products

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IFAC Proceedings Volumes 2012年第6期45卷 734-739页

作者： Theodor Borangiu Silviu Raileanu Damien Trentesaux Thierry Berger Iulia Iacob Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Romania (Tel: +40 21 4029314 TEMPO-CNRS University of Valenciennes and Hainaut-Cambrésis France

This paper describes the heterarchical control aspect of a semi-heterarchical control architecture. The theory of the proposed solution is based on the product-driven automation and on the holonic manufacturing concepts. Regarding the practical implementation aspects the proposed solution is based on the new advances in IT and electronics which made possible attaching Intelligent Embedded Devices to almost all of the elements of a Flexible Manufacturing System. In this framework the structure of the control model is presented and using elements defined here the FIPA Contract Net Protocol is extended in order to accommodate some physical and synchronization issues.

关键词： Contract Net Protocol distributed control holonic manufacturing intelligent product product-driven automation embedded devices

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Robust LMI control of a Buck-Boost Converter with Low Ripple Propagation

Robust LMI Control of a Buck-Boost Converter with Low Ripple...

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Mediterranean Conference on control & Automation

作者： J.V. Inglés P. Garcés R. Leyva Dept. of Electronic Electrical and Automatic Control Engineering Universitat Rovira i Virgili Tarragona Spain

ISBN: (纸本)9781467325301

This paper proposes a new robust control strategy to prevent the current ripple propagation into the dc-dc converter input, thus avoiding converter malfunctions. Concretely, we apply the new strategy to a buck-boost converter. The strategy is based on LMI control and use readily, fast convex optimization algorithms to obtain the solution. The control objective is maximizing the current disturbance rejection, where current ripple propagation and usual, prescribed dynamic performances are ensured. The paper describes the control design procedure, besides an illustrative example and simulation verifications. Simulation waveforms are in perfect agreement with objective function and performances constraints of the control design. That is, the current ripple propagation is almost zero and other prescribed constraints are satisfied.

关键词： Robust LMI control Buck-Boost Converter Low Ripple Propagation

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Open Robot control for Services in Construction

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IFAC Proceedings Volumes 2012年第6期45卷 865-870页

作者： Theodor Borangiu Marco Ceccarelli Florin Anton Silvia Anton Giuseppe Carbone Octavian Stocklosa Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Romania (Tel: +40 21 4029314 LARM University of Cassino Cassino (Fr) Italy East Electric Bucharest Romania

The paper describes open control architecture for a mobile platform with inclination control moving in construction sites and carrying a robotic arm for bricklaying services. The control system for this 12-axis construction robot is open both from the point of view of hardware structure and of basic software and application development, thus allowing rapid deployment automation solutions with service orientation for construction tasks. The navigation and locating of the mobile platform, the motion control of the robotic arm, as well as robot learning and human-robot interaction are embedded in a multiprocessor system developed around a NI Motion control solution for which a structured programming language was developed. The elements of the basic software system design (RTOS, multitasking and operating modes) are described. The parameters for application programs are automatically computed from CAD production data generated in a 3-stage Knowledge Base Technology System (KBTS) from civil engineering projects and data bases for construction materials and building site organization.

关键词： Robot control Motion control multiprocessor systems RTOS Construction services

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Fault tolerant component management platform over Data Distribution Service

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IFAC Proceedings Volumes 2012年第4期45卷 218-223页

作者： Aitor Agirre Elisabet Estévez Marga Marcos Ikerlan-IK4 Research Alliance Arizmendiarrieta 2 20500 Arrasate Spain Dept. Of Electronics and Automatic Engineering EPS Jaén Universidad de Jaén Jaén Spain Dept. Of Automatic Control and Systems Engineering ETSI Bilbao UPV/EHU Bilbao Spain

Distributed Real Time Systems (DRTS) are evolving to a higher level of complexity in terms of heterogeneity, dynamism and QoS constraints, as they must interact with an increasingly demanding environment. In an scenario with distributed applications running over different hardware platforms and networks, middleware technologies that provide real-time or QoS support are gaining importance, as they ease the development and deployment of complex distributed applications in heterogeneous networks while ensuring certain time and QoS constraints. In this sense, distribution middleware technologies like Data Distribution Service (DDS) have emerged, adding extensive QoS support to traditional middleware advantages. This paper proposes a component based applications management platform built on top of DDS that provides an easy way to deploy, configure and manage component based distributed applications, while ensuring the fulfillment of certain QoS aspects.

关键词： Middleware QoS DDS Fault-tolerance Distributed systems

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Gas Turbine Fuel Valve Diagnostics

Gas Turbine Fuel Valve Diagnostics

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IEEE Aerospace Conference

作者： M. Amir Eleffendi Robin Purshouse Andrew R. Mills Automatic Control and Systems Engineering Dept. University of Sheffield Sheffield S1 3JD UK

ISBN: (纸本)9781457705564

To meet increasingly demanding efficiency and environmental requirements, new fuel system designs are needed but these may introduce severe heat management issues. Fuel system temperature is consequently becoming a growing reliability concern. The health monitoring capability under development in this paper is seen as an important element for such systems in the future. This paper develops high fidelity modelling of fuel system degradation phenomena using data from a large-scale experimental apparatus. A Stribeck friction characteristic, modelled by a numerically efficient algorithm, was determined and validated with the collected data. This is used as a credible degradation model for the effects of fuel system degradation. Fusion of the degradation model with a fuel system model enables representative data suitable for fault diagnosis algorithm development to be generated. Fault diagnosis algorithms are developed and tested against the synthetic fault data.

关键词： degradation model FUEL SYSTEM Stribeck friction Data Collection Methods fault diagnosis algorithm

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CP-driven modelling for multi-modal cyclic transport systems

CP-driven modelling for multi-modal cyclic transport systems

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Bocewicz, G. Wójcik, R. Banaszak, Z. Dept. of Computer Science and Management Koszalin University of Technology Sniadeckich 2 75-453 Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland Dept. of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

ISBN: (纸本)9783902661982

This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network Infrastructure (TNI) can be modeled as a network of lines providing cyclic routes for particular kinds of stream-like moving transportation means. Lines are connected by common shared change stations. Depending on TNI timetabling the time of the trip of passengers following different itineraries may dramatically differ, e.g. the same distances along the north-south, and east-west directions may require different travel time. So, the mine question regards of TNI schedulability, e.g. the guarantee the same distances in arbitrarily assumed directions will require approximate traveled time. Considered timetabling problem belongs to NP-hard ones. The declarative model of TNI enabling to formulate cyclic scheduling problem in terms of the constraint satisfaction one is our main contribution. At last, the simulated results manifest the promising properties of the proposed model. © 2012 IFAC.

关键词： Travel time

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The transient impulse response modeling method and the local polynomial method for nonparametric system identification

The transient impulse response modeling method and the local...

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Universite Libre de Bruxelles

作者： Gevers, Michel Hägg, Per Hjalmarsson, Håkan Pintelon, Rik Schoukens, Johan CESAME Université Catholique de Louvain B1348 Louvain la Neuve Belgium Dept. ELEC Vrije Universiteit Brussel Pleinlaan 2 B1050 Brussels Belgium Automatic Control Lab. and ACCESS School of Electrical Engineering KTH SE-100 44 Stockholm Sweden

ISBN: (纸本)9783902823069

This paper analyzes two recent methods for the nonparametric estimation of the Frequency Response Function (FRF) from input-output data using Prediction Error identification. Such FRF estimate can be the main goal of the identification exercise, or it can be a tool for the computation of a nonparametric estimate of the noise spectrum. We show that the choice of the method depends on the signal to noise ratio and on the objective. The method that delivers the best FRF estimate may not deliver the best estimate of the noise spectrum. Our theoretical analysis is illustrated by simulations. © 2012 IFAC.

关键词： Signal to noise ratio

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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Mean-squared error experiment design for linear regression models

Mean-squared error experiment design for linear regression m...

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Universite Libre de Bruxelles

作者： Eckhard, Diego Hjalmarsson, Hakan Rojas, Cristian R. Gevers, Michel Department of Electrical Engineering Universidade Federal do Rio Grande do Sul Brazil Automatic Control Lab. and ACCESS School of Electrical Engineering KTH SE-100 44 Stockholm Sweden CESAME Université catholique de Louvain B1348 Louvain la Neuve Belgium Dept. ELEC Vrije Universiteit Brüssel Pleinlaan 2 BIO50 Brussels Belgium

ISBN: (纸本)9783902823069

This work solves an experiment design problem for a linear regression problem using a reduced order model. The quality of the model is assessed using a mean square error measure that depends linearly on the parameters. The designed input signal ensures a predefined quality of the model while minimizing the input energy. © 2012 IFAC.

关键词： Mean square error

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