A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are p...
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A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are proposed for the approximation of the decentralized part of the control and the on-line improvement of the overall control problem. A state space model is used to predict the corresponding local indoor temperature over a long-range time-period and approximate models are used to predict the interactions among the subsystems. The sun radiation and outdoor temperature are treated as external disturbances that affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.
This paper proposes a decentralized model - based predictive controller approach for the design of discrete-time control systems for the regulation of the air temperature and heat supply in greenhouses. A state space ...
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This paper proposes a decentralized model - based predictive controller approach for the design of discrete-time control systems for the regulation of the air temperature and heat supply in greenhouses. A state space model is used at the greenhouse to predict the corresponding indoor temperature over a long-range time period. The sun radiation and outdoor temperature are treated as external disturbances tliat affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.
Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to ...
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Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collaborative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.
This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively th...
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This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.
Data acquisition and learning capabilities are necessary for an intelligent system operating in unstructured, dynamically changing environments. For this purpose, a method for the effective use of multiple sensors mus...
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Data acquisition and learning capabilities are necessary for an intelligent system operating in unstructured, dynamically changing environments. For this purpose, a method for the effective use of multiple sensors must be developed. This paper shows how multisensor fusion can be accomplished by neural networks. It first summarizes the conventional fusion techniques and consequently describes the use of neural networks for sensor fusion as well as their advantages. Finally, an application is presented where a neural network is used to fuse the signals of several sensors, of different type, for material identification purposes.
An on-line fault detection and diagnosis system, based on a fuzzy qualitative simulation algorithm, is presented. In order to test the performance and reliability of the system a computational TURBO C++ program with a...
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An on-line fault detection and diagnosis system, based on a fuzzy qualitative simulation algorithm, is presented. In order to test the performance and reliability of the system a computational TURBO C++ program with a hierarchical structure, has been developed. The fuzzy representation of qualitative values is more general than ordinary interval representation, since it can represent not only the information stated by a well defined real interval but also the knowledge embedded in the soft boundaries of the interval. Single and double simultaneous abrupt faults have been considered, and successful results have been obtained in simulation studies conducted with a mixing process.
Controller design for Flexible Manufacturing Systems (FMS) is addressed within a systems theory-basea framework, which allows the separation of the workcell (comprised of machines and resources to be controlled), and ...
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Controller design for Flexible Manufacturing Systems (FMS) is addressed within a systems theory-basea framework, which allows the separation of the workcell (comprised of machines and resources to be controlled), and the controller (consisting of the decision-making scheduler). This point of view is particularly profitable for teaching FMS design to Control Engineering students, who are familiar with the feedback control principles. The design algorithm uses standard manufacturing engineering tools to produce a rule-based controller that is described mathematically in terms of matrix equations, yielding the Petri net and max/plus representations of the closed-loop FMS. This matrix approach is exploited to develop a MATLAB software which implements new functions for idempotent calculus in the semiring (R∪{-∞},max,+), and offers a large flexibility in changing the operating conditions and design specifications.
The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, ...
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The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, by developing a specific mathematIcs, the Manufactunng Algebra (MA), for modelling and controlling the production processes of discrete manufacturing systems. As a key feature, the MA models can be bottom-up aggregated starting from the very detailed levels used in simulation, thus making poSSIble a coherent model hierarchy at the base of the design and realization of Hierarchical control strategies and architectures. The formulation of the original mathematical approach and its validation criteria are outlined in the paper. For a deeper understanding, the mterested reader can take advantage of the list of references given at the end.
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