Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547719
M. Díaz-Cacho, E. Delgado, A. Barreiro
In this paper, we analyze the relationship between network performance and NCS or teleoperated systems. A new middleware solution called Network Adaptive Deadband is presented, to relate network status and NCS status. Network Adaptive Deadband relates a TCPFriendly flow control algoritm with the deadband filtering solution for NCS data. Based on selected design parameters, an experimental methodology is studied to find the relationship between network consumption and deadband. Application and transport agents for NS2 are developed to simulate a granty crane teleoperated platform and a mass-spring NCS. Results illustrate the succesfull share of public network resources.
{"title":"Internet Adaptive Deadband for NCS and teleoperation","authors":"M. Díaz-Cacho, E. Delgado, A. Barreiro","doi":"10.1109/MED.2010.5547719","DOIUrl":"https://doi.org/10.1109/MED.2010.5547719","url":null,"abstract":"In this paper, we analyze the relationship between network performance and NCS or teleoperated systems. A new middleware solution called Network Adaptive Deadband is presented, to relate network status and NCS status. Network Adaptive Deadband relates a TCPFriendly flow control algoritm with the deadband filtering solution for NCS data. Based on selected design parameters, an experimental methodology is studied to find the relationship between network consumption and deadband. Application and transport agents for NS2 are developed to simulate a granty crane teleoperated platform and a mass-spring NCS. Results illustrate the succesfull share of public network resources.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121012993","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547682
Z. Khan, D. Genon-Catalot, J. Thiriet
This paper describes a joint approach for control and communication network design for the application of bilateral teleoperation system (BTS). By ensuring a QoS oriented network architecture, a better quality of control (QoC) can be guaranteed despite the presence of time delays and packet losses. In this work, a joint approach is presented for the co-design problem to observe the improvements in QoC by network QoS for the bilateral teleoperation application.
{"title":"A co-design approach for bilateral teleoperation over hybrid network","authors":"Z. Khan, D. Genon-Catalot, J. Thiriet","doi":"10.1109/MED.2010.5547682","DOIUrl":"https://doi.org/10.1109/MED.2010.5547682","url":null,"abstract":"This paper describes a joint approach for control and communication network design for the application of bilateral teleoperation system (BTS). By ensuring a QoS oriented network architecture, a better quality of control (QoC) can be guaranteed despite the presence of time delays and packet losses. In this work, a joint approach is presented for the co-design problem to observe the improvements in QoC by network QoS for the bilateral teleoperation application.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"4 15","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113963310","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547751
S. El Beid, S. Doubabi
This work proposes a Self-Scheduled Fuzzy Control (SSFC) of PWM DC-DC Converters. The main difficulty in controlling these systems stems from their non linear nature as their switched circuit topology entails different modes of operation. Based on the Takagi-Sugeno Fuzzy Modelling approach with the duty ratio as premise variable, the converter model can be derived in every operating point. For each local model, a state feedback based control law is designed by the way of the PDC (Parallel Distributed Compensation) and LQR (Linear Quadratic Regulator) techniques. The nonlinear feature of the transfer function relating the output voltage to the duty ratio, caused by the inductor ESR, is handled by a Piece wise Affine (PWA) approximation using TS method of fuzzy inference. Finally, simulation results from a PWM Buck-Boost converter illustrate the efficiency of the proposed approach.
{"title":"Self-Scheduled Fuzzy Control of PWM DC-DC Converters","authors":"S. El Beid, S. Doubabi","doi":"10.1109/MED.2010.5547751","DOIUrl":"https://doi.org/10.1109/MED.2010.5547751","url":null,"abstract":"This work proposes a Self-Scheduled Fuzzy Control (SSFC) of PWM DC-DC Converters. The main difficulty in controlling these systems stems from their non linear nature as their switched circuit topology entails different modes of operation. Based on the Takagi-Sugeno Fuzzy Modelling approach with the duty ratio as premise variable, the converter model can be derived in every operating point. For each local model, a state feedback based control law is designed by the way of the PDC (Parallel Distributed Compensation) and LQR (Linear Quadratic Regulator) techniques. The nonlinear feature of the transfer function relating the output voltage to the duty ratio, caused by the inductor ESR, is handled by a Piece wise Affine (PWA) approximation using TS method of fuzzy inference. Finally, simulation results from a PWM Buck-Boost converter illustrate the efficiency of the proposed approach.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"82 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113970393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547840
Raymond Ghandour, A. Victorino, M. Doumiati, A. Charara
Recent statistics show that a large number of traffic accidents occur due to a loss of control on vehicle by the driver. This is mainly due to a loss of friction between tire and road. Many of these accidents could be avoided by introducing ADAS (Advanced Driver Assistance Systems) based on the detection of loss of tire/road friction. Friction (more specifically the maximum coefficient of friction) which is a parameter of tire/road interaction, mainly depends on the state of the road (dry, wet, snow, ice) and is closely related to the efforts at the tire level. In this paper, we propose, a new method for the estimation of the maximum tire/road friction coefficient, to automatically detect possible state of loss of friction which result in an abrupt change on the road state. This method is based on an iterative quadratic minimization of the error between the developed lateral force and the model of tire/road interaction. Results validate the application of the method.
{"title":"Tire/road friction coefficient estimation applied to road safety","authors":"Raymond Ghandour, A. Victorino, M. Doumiati, A. Charara","doi":"10.1109/MED.2010.5547840","DOIUrl":"https://doi.org/10.1109/MED.2010.5547840","url":null,"abstract":"Recent statistics show that a large number of traffic accidents occur due to a loss of control on vehicle by the driver. This is mainly due to a loss of friction between tire and road. Many of these accidents could be avoided by introducing ADAS (Advanced Driver Assistance Systems) based on the detection of loss of tire/road friction. Friction (more specifically the maximum coefficient of friction) which is a parameter of tire/road interaction, mainly depends on the state of the road (dry, wet, snow, ice) and is closely related to the efforts at the tire level. In this paper, we propose, a new method for the estimation of the maximum tire/road friction coefficient, to automatically detect possible state of loss of friction which result in an abrupt change on the road state. This method is based on an iterative quadratic minimization of the error between the developed lateral force and the model of tire/road interaction. Results validate the application of the method.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122694734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547753
A. Fuxman, I. Aksikas, J. Forbes, R. Hayes, S. Hristo
This paper deals with linear-quadratic control problem for a catalytic flow reversal reactor using an infinite dimensional Hilbert space representation of the system. A LQ-controller is developed on the basis of the catalytic reactor with unidirectional flow. The controller is formulated to keep the distribution of the temperature along the axis of the reactor at stationary state by using the fluid flow velocity. We study the application of the controller on the catalytic reactor with reverse flow operation. We take advantage of the two-time scale characteristic of catalytic tubular reactors to develop a controller that requires only the measurement of the temperature along the axis of the reactor. Using the infinite dimensional state space, a state LQ-feedback operator is computed via the solution of a Riccati differential equation. The developed controller is tested numerically for the catalytic combustion of lean methane emissions in CFRR unit and implemented for a reactor configuration at the CANMET Energy Technology Centre Varennes, Quebec, Canada, and currently experimental tests are underway.
{"title":"LQ-control of a flow reversal reactor for the catalytic combustion of fugitive methane emissions","authors":"A. Fuxman, I. Aksikas, J. Forbes, R. Hayes, S. Hristo","doi":"10.1109/MED.2010.5547753","DOIUrl":"https://doi.org/10.1109/MED.2010.5547753","url":null,"abstract":"This paper deals with linear-quadratic control problem for a catalytic flow reversal reactor using an infinite dimensional Hilbert space representation of the system. A LQ-controller is developed on the basis of the catalytic reactor with unidirectional flow. The controller is formulated to keep the distribution of the temperature along the axis of the reactor at stationary state by using the fluid flow velocity. We study the application of the controller on the catalytic reactor with reverse flow operation. We take advantage of the two-time scale characteristic of catalytic tubular reactors to develop a controller that requires only the measurement of the temperature along the axis of the reactor. Using the infinite dimensional state space, a state LQ-feedback operator is computed via the solution of a Riccati differential equation. The developed controller is tested numerically for the catalytic combustion of lean methane emissions in CFRR unit and implemented for a reactor configuration at the CANMET Energy Technology Centre Varennes, Quebec, Canada, and currently experimental tests are underway.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122943549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547823
A. Agovic, Samuel C. Levine, N. Papanikolopoulos, A. Tewfik
We present results from our research into assistive robots for highly unstructured environments. The concrete type of robot we studied is a robotic scrub nurse (RSN) for microsurgery. In microsurgery the surgeon works behind a microscope and must maintain field of view as much as possible. The task of managing and delivering instruments to the surgeon rests with the scrub nurse. During our attempt to design a robot which could automate this delicate but repetitive task we have identified the robot interface to instruments and human subjects as the essential component and have made that the central topic of our work. Special attention was paid to the robot-human interface at the haptic level. To that end we designed and evaluated a shape conforming grasp mechanism to act as a soft touch interface constantly adapting to the human touch. Such approach is uncommon in the robotic industry where per- task adapter-style exchangeable grasping mechanisms are mounted on the robot for each run. While industrial robots deal with few instruments and must lift heavy weights, this problem domain contains hundreds of instruments and prohibits any type of crushing or cutting movements. Our results show that the application of universal soft touch grippers is justified in environments where humans interface robots.
{"title":"Haptic interface design considerations for scrub nurse robots in microsurgery","authors":"A. Agovic, Samuel C. Levine, N. Papanikolopoulos, A. Tewfik","doi":"10.1109/MED.2010.5547823","DOIUrl":"https://doi.org/10.1109/MED.2010.5547823","url":null,"abstract":"We present results from our research into assistive robots for highly unstructured environments. The concrete type of robot we studied is a robotic scrub nurse (RSN) for microsurgery. In microsurgery the surgeon works behind a microscope and must maintain field of view as much as possible. The task of managing and delivering instruments to the surgeon rests with the scrub nurse. During our attempt to design a robot which could automate this delicate but repetitive task we have identified the robot interface to instruments and human subjects as the essential component and have made that the central topic of our work. Special attention was paid to the robot-human interface at the haptic level. To that end we designed and evaluated a shape conforming grasp mechanism to act as a soft touch interface constantly adapting to the human touch. Such approach is uncommon in the robotic industry where per- task adapter-style exchangeable grasping mechanisms are mounted on the robot for each run. While industrial robots deal with few instruments and must lift heavy weights, this problem domain contains hundreds of instruments and prohibits any type of crushing or cutting movements. Our results show that the application of universal soft touch grippers is justified in environments where humans interface robots.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132616924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547836
Javier A. Ruiz-Cabrera, Vicente Diaz-Salas, R. Morales-Menéndez, L. Garza-Castañón, R. Ramírez-Mendoza
A Magneto-Rheologial (MR) damper exhibits a hysteretic and non-linear behavior. This behavior makes it a challenge to develop a model for the system. The present research is centered on analyzing and comparing three state-of-the-art models for MR dampers. NARX, Semi-Phenomenological, and Phenomenological models were selected. Experimental data was obtained using different input patterns. The models were identified for both constant and variant electric current scenarios. The results showed that road profile patterns allow a better identification of the models. The phenomenological model was found to obtain the best compromise between performance and simplicity.
{"title":"Comparison of MR damper models","authors":"Javier A. Ruiz-Cabrera, Vicente Diaz-Salas, R. Morales-Menéndez, L. Garza-Castañón, R. Ramírez-Mendoza","doi":"10.1109/MED.2010.5547836","DOIUrl":"https://doi.org/10.1109/MED.2010.5547836","url":null,"abstract":"A Magneto-Rheologial (MR) damper exhibits a hysteretic and non-linear behavior. This behavior makes it a challenge to develop a model for the system. The present research is centered on analyzing and comparing three state-of-the-art models for MR dampers. NARX, Semi-Phenomenological, and Phenomenological models were selected. Experimental data was obtained using different input patterns. The models were identified for both constant and variant electric current scenarios. The results showed that road profile patterns allow a better identification of the models. The phenomenological model was found to obtain the best compromise between performance and simplicity.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132831711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547601
G. Calafiore, L. Carlone, Mingzhu Wei
The problem of reconstructing the geometric position of nodes in a networked formation from inter-nodal distance measurements is a complex computational task that involves the minimization of a non-convex and highly multi-modal cost criterion. In this paper, we examine three numerical techniques for attacking this problem, namely an iterative Least-Squares (LS) approach, a Trust-Region (TR) approach, and a Global Continuation (GC) technique based on iterative smoothing. The implementation details of the three methods are discussed in the paper, and extensive numerical simulations are performed in order to highlight the complementary properties of these methods in terms of required computational effort and ability to achieve global convergence.
{"title":"Position estimation from relative distance measurements in multi-agents formations","authors":"G. Calafiore, L. Carlone, Mingzhu Wei","doi":"10.1109/MED.2010.5547601","DOIUrl":"https://doi.org/10.1109/MED.2010.5547601","url":null,"abstract":"The problem of reconstructing the geometric position of nodes in a networked formation from inter-nodal distance measurements is a complex computational task that involves the minimization of a non-convex and highly multi-modal cost criterion. In this paper, we examine three numerical techniques for attacking this problem, namely an iterative Least-Squares (LS) approach, a Trust-Region (TR) approach, and a Global Continuation (GC) technique based on iterative smoothing. The implementation details of the three methods are discussed in the paper, and extensive numerical simulations are performed in order to highlight the complementary properties of these methods in terms of required computational effort and ability to achieve global convergence.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132909326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547799
Gaurang Shah, S. Engell
Model Predictive Control (MPC) is widely used in the process industries. A successful implementation of MPC involves the setting of a considerable number of parameters which must be appropriately tuned. Despite a number of publications on MPC tuning, there is a lack of a systematic approach that relates MPC tuning to linear control theory. In this paper, a systematic tuning of the prediction horizon, the control horizon and the penalty weights is discussed such that desired closed-loop pole and zero locations result as long as the constraints are not active. We verify our approach on two challenging examples.
{"title":"Tuning MPC for desired closed-loop performance for SISO systems","authors":"Gaurang Shah, S. Engell","doi":"10.1109/MED.2010.5547799","DOIUrl":"https://doi.org/10.1109/MED.2010.5547799","url":null,"abstract":"Model Predictive Control (MPC) is widely used in the process industries. A successful implementation of MPC involves the setting of a considerable number of parameters which must be appropriately tuned. Despite a number of publications on MPC tuning, there is a lack of a systematic approach that relates MPC tuning to linear control theory. In this paper, a systematic tuning of the prediction horizon, the control horizon and the penalty weights is discussed such that desired closed-loop pole and zero locations result as long as the constraints are not active. We verify our approach on two challenging examples.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133450302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547670
J. Ishihara, M. Terra, João P. Cerri, A.L.P. Manfrim
For stability analysis of discrete-time descriptor systems, various generalized Lyapunov equations have been proposed in the literature. However, positiveness of the solutions for these well known Lyapunov equations are not biunivocaly related to causal state trajectories that go to zero as the time goes to infinity, even under observability assumptions. We propose in this paper two new Lyapunov equations to deal with this problem. As these Lyapunov equations depend on two unknown matrices, P and R, solutions are a prime concern in this approach. In this paper we propose an algorithm to solve these new Lyapunov equations for stability test of descriptor systems.
{"title":"A new procedure to solve generalized Lyapunov equations","authors":"J. Ishihara, M. Terra, João P. Cerri, A.L.P. Manfrim","doi":"10.1109/MED.2010.5547670","DOIUrl":"https://doi.org/10.1109/MED.2010.5547670","url":null,"abstract":"For stability analysis of discrete-time descriptor systems, various generalized Lyapunov equations have been proposed in the literature. However, positiveness of the solutions for these well known Lyapunov equations are not biunivocaly related to causal state trajectories that go to zero as the time goes to infinity, even under observability assumptions. We propose in this paper two new Lyapunov equations to deal with this problem. As these Lyapunov equations depend on two unknown matrices, P and R, solutions are a prime concern in this approach. In this paper we propose an algorithm to solve these new Lyapunov equations for stability test of descriptor systems.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134644938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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