This paper presents a neural-network solution to the problem of parking of a vision-guided automobile vehicle. Using training experiments with 3-D parking profiles extracted from a sequence of images, the vehicle learns and generalizes its behavior, when recognizing free parking slots and manoeuvering inside a parking slot. Using a modular set of functions, implemented by neural networks trained in simulated environments, the vehicle accomplishes parking tasks in various parking situations.<>
{"title":"Parking a vision-guided automobile vehicle","authors":"A. Driss, V. Rodrigues, P. Cohens","doi":"10.1109/CCA.1994.381269","DOIUrl":"https://doi.org/10.1109/CCA.1994.381269","url":null,"abstract":"This paper presents a neural-network solution to the problem of parking of a vision-guided automobile vehicle. Using training experiments with 3-D parking profiles extracted from a sequence of images, the vehicle learns and generalizes its behavior, when recognizing free parking slots and manoeuvering inside a parking slot. Using a modular set of functions, implemented by neural networks trained in simulated environments, the vehicle accomplishes parking tasks in various parking situations.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115625334","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}
An estimation methodology is proposed to estimate the states and some kinetic parameters in a lipase production process. The state vector is composed of the biomass -X- and two substrates, an intracellular one -Sin- and an extracellular one -So-. It is estimated by an online measurement of the oxygen uptake rate. As the problem is too complex to be solved by a single stable observer, the estimation problem is divided in three subproblems, solved by estimation algorithms proved to be convergent. These algorithms use a minimal modelling of the process. It provides the estimation of the whole state and of two kinetic parameters, the specific biomass growth rate and the absorption rate of the substrate by the cells, considering the general equations of the dynamical model and the mass balance of the substrate in the bioreactor. This paper presents the design of the estimation algorithms and discusses their results in simulation and on experimental data from a pilot plan.<>
提出了一种估计脂肪酶生产过程状态和动力学参数的估计方法。状态向量由生物量- x -和两个底物组成，细胞内的- sin -和细胞外的- so -。它是通过在线测量吸氧速率来估计的。由于问题过于复杂，单稳定观测器无法解决，因此将估计问题分为三个子问题，用证明收敛的估计算法求解。这些算法使用了过程的最小模型。考虑动力学模型的一般方程和生物反应器中底物的质量平衡，给出了整个状态和细胞对底物的比生物量生长率和吸收率两个动力学参数的估计。本文介绍了估计算法的设计，并讨论了它们在仿真和试验数据上的结果。
{"title":"Estimation of state variables and kinetic parameters in an enzyme production process by using minimal modelling","authors":"S. Charbonnier, A. Chéruy","doi":"10.1109/CCA.1994.381283","DOIUrl":"https://doi.org/10.1109/CCA.1994.381283","url":null,"abstract":"An estimation methodology is proposed to estimate the states and some kinetic parameters in a lipase production process. The state vector is composed of the biomass -X- and two substrates, an intracellular one -Sin- and an extracellular one -So-. It is estimated by an online measurement of the oxygen uptake rate. As the problem is too complex to be solved by a single stable observer, the estimation problem is divided in three subproblems, solved by estimation algorithms proved to be convergent. These algorithms use a minimal modelling of the process. It provides the estimation of the whole state and of two kinetic parameters, the specific biomass growth rate and the absorption rate of the substrate by the cells, considering the general equations of the dynamical model and the mass balance of the substrate in the bioreactor. This paper presents the design of the estimation algorithms and discusses their results in simulation and on experimental data from a pilot plan.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123094095","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}
The evolution of modern day aircraft increases the interaction between aeroelastic dynamics and control laws, known as aeroservoelasticity. An integrated flight control system without structural filters is proposed in order to achieve good handling qualities and increase structural mode damping. In the first step sensor and actuator location is studied, and in a second step the use of the linear quadratic regulator with output feedback for the synthesis of the control law.<>
{"title":"Design of flight control system for an aeroelastic aircraft","authors":"F. Kubica, T. Livet","doi":"10.1109/CCA.1994.381445","DOIUrl":"https://doi.org/10.1109/CCA.1994.381445","url":null,"abstract":"The evolution of modern day aircraft increases the interaction between aeroelastic dynamics and control laws, known as aeroservoelasticity. An integrated flight control system without structural filters is proposed in order to achieve good handling qualities and increase structural mode damping. In the first step sensor and actuator location is studied, and in a second step the use of the linear quadratic regulator with output feedback for the synthesis of the control law.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114681445","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}
The influence of the choices of state variables when designing linear optimal controllers for low speed magnetically suspended (Maglev) vehicles is examined. The design process takes account of both random and deterministic track inputs, and shows that the controllers which are produced by a LQG approach do not in general give a satisfactory response for deterministic inputs. The performance for a number of state space formulations is evaluated, and compared in the context of the suspension design requirements. Two of the formulations include the effect of integral control to reduce the low frequency errors and improve the response to deterministic inputs.<>
{"title":"State variable constraints on the performance of optimal Maglev suspension controllers","authors":"J. Paddison, C. Macleod, R. Goodall","doi":"10.1109/CCA.1994.381399","DOIUrl":"https://doi.org/10.1109/CCA.1994.381399","url":null,"abstract":"The influence of the choices of state variables when designing linear optimal controllers for low speed magnetically suspended (Maglev) vehicles is examined. The design process takes account of both random and deterministic track inputs, and shows that the controllers which are produced by a LQG approach do not in general give a satisfactory response for deterministic inputs. The performance for a number of state space formulations is evaluated, and compared in the context of the suspension design requirements. Two of the formulations include the effect of integral control to reduce the low frequency errors and improve the response to deterministic inputs.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125140702","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}
This paper is concerned with the linear-quadratic optimal control of a rod whose damping mechanism is described in terms of fractional derivatives. A state-space representation of the original system is obtained by a suitable transformation. This transformation is based on the description of the heredity of the system through an additional state variable and thereby allows the solution of the quadratic optimal control problem to be simply determined. Some numerical simulations are provided also with the aim of demonstrating the legitimacy of the approach in the experimental field.<>
{"title":"Optimal control for fractionally damped flexible systems","authors":"B. Mbodje, G. Montseny, J. Audounet, P. Benchimol","doi":"10.1109/CCA.1994.381303","DOIUrl":"https://doi.org/10.1109/CCA.1994.381303","url":null,"abstract":"This paper is concerned with the linear-quadratic optimal control of a rod whose damping mechanism is described in terms of fractional derivatives. A state-space representation of the original system is obtained by a suitable transformation. This transformation is based on the description of the heredity of the system through an additional state variable and thereby allows the solution of the quadratic optimal control problem to be simply determined. Some numerical simulations are provided also with the aim of demonstrating the legitimacy of the approach in the experimental field.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126763008","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}
This paper presents a design of motion control systems via H/sub /spl infin//-partial state feedback. There are some difficulties such as limitation of the plant poles at the origin or pole/zero cancellations in the design of motion control with the H/sub /spl infin//-mixed sensitivity problem. These difficulties can be solved by using partial state feedback control when the plant internal states are available. Partial state feedback control, which uses measurable states besides outputs, has the advantage that the number of pole/zero cancellations can be reduced.<>
{"title":"Design of motion control systems via H/sub /spl infin//-partial state feedback","authors":"S. Miyamoto, S. Arinaga","doi":"10.1109/CCA.1994.381440","DOIUrl":"https://doi.org/10.1109/CCA.1994.381440","url":null,"abstract":"This paper presents a design of motion control systems via H/sub /spl infin//-partial state feedback. There are some difficulties such as limitation of the plant poles at the origin or pole/zero cancellations in the design of motion control with the H/sub /spl infin//-mixed sensitivity problem. These difficulties can be solved by using partial state feedback control when the plant internal states are available. Partial state feedback control, which uses measurable states besides outputs, has the advantage that the number of pole/zero cancellations can be reduced.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115093911","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}
This paper proposes a new design method for sampled-data I-PD control systems for main use in self-tuning control. Further, this paper applies it to self-tuning control of a cray-dryer in the cement raw meal process. The proposed design method can be extended to sampled-data decoupled I-PD control system design with multirate sampling periods.<>
{"title":"A design method for sampled-data I-PD control systems and its application to self-tuning control of cement raw meal process","authors":"K. Suyama, T. Aizawa, N. Takechi","doi":"10.1109/CCA.1994.381316","DOIUrl":"https://doi.org/10.1109/CCA.1994.381316","url":null,"abstract":"This paper proposes a new design method for sampled-data I-PD control systems for main use in self-tuning control. Further, this paper applies it to self-tuning control of a cray-dryer in the cement raw meal process. The proposed design method can be extended to sampled-data decoupled I-PD control system design with multirate sampling periods.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122300339","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}
There is a need for distributed manufacturing systems which use low-priced PC computers and, especially when the control software costs are comparable to the hardware costs. The recent developments in PC-computer operating systems has opened new possibilities to create easy to update modular systems. There are multitasking, memory protected operating systems like OS/2 and WINDOWS NT in the market. This article presents a software structure, which gives additional possibilities to create modular, distributable, asynchronous software components, and where updates are easier and can be done online. The paper first lists some important characteristics of an ideal modular software package and then describes the modular software structure and how the modularity characteristics are implemented.<>
{"title":"A modular software architecture for manufacturing control","authors":"R. Majapuro, A. Hovi","doi":"10.1109/CCA.1994.381292","DOIUrl":"https://doi.org/10.1109/CCA.1994.381292","url":null,"abstract":"There is a need for distributed manufacturing systems which use low-priced PC computers and, especially when the control software costs are comparable to the hardware costs. The recent developments in PC-computer operating systems has opened new possibilities to create easy to update modular systems. There are multitasking, memory protected operating systems like OS/2 and WINDOWS NT in the market. This article presents a software structure, which gives additional possibilities to create modular, distributable, asynchronous software components, and where updates are easier and can be done online. The paper first lists some important characteristics of an ideal modular software package and then describes the modular software structure and how the modularity characteristics are implemented.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122420041","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}
The development of biochemical engineering towards integrated bioprocesses have influenced the demands of the applied control environment. In the pilot-plant of GBF we use a controller area network (CAN) based field-bus network to interconnect the decentralized process control computers under real-time conditions. In this paper the implementation and the performance of the CAN field-bus in an hierarchical automation concept is outlined. While some fermenters and downstream devices are connected to the network directly via an A/D converter and bus access in a so-called mini-module, other fermenters are automated with decentralized process computers which act as bus nodes with full functionality. A master computer interconnects several sub-nets and supervises the proper operating of all network components. In addition, a database is handled from this master, where all objects in the network, representing measured, controlled or online calculated variables, are specified. The CAN application layer enables an open communication from CAN-modules of different manufacturers. The CAN-message-specification allows the description of the data transfer between the individual user programs via a client/server model.<>
{"title":"Flexible automation of a biotechnological pilot-plant with real-time network","authors":"K. Gollmer, C. Posten","doi":"10.1109/CCA.1994.381280","DOIUrl":"https://doi.org/10.1109/CCA.1994.381280","url":null,"abstract":"The development of biochemical engineering towards integrated bioprocesses have influenced the demands of the applied control environment. In the pilot-plant of GBF we use a controller area network (CAN) based field-bus network to interconnect the decentralized process control computers under real-time conditions. In this paper the implementation and the performance of the CAN field-bus in an hierarchical automation concept is outlined. While some fermenters and downstream devices are connected to the network directly via an A/D converter and bus access in a so-called mini-module, other fermenters are automated with decentralized process computers which act as bus nodes with full functionality. A master computer interconnects several sub-nets and supervises the proper operating of all network components. In addition, a database is handled from this master, where all objects in the network, representing measured, controlled or online calculated variables, are specified. The CAN application layer enables an open communication from CAN-modules of different manufacturers. The CAN-message-specification allows the description of the data transfer between the individual user programs via a client/server model.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114604028","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}
The use of mathematical models in enhancing the performance of building services systems is discussed. In particular a full-scale HVAC system is studied to demonstrate the potential of such methods with emphasis on the controller design. The paper objectively assesses the model-based predictive on/off control strategy against the standard on/off controller by directly comparing the implementational results from the test system.<>
{"title":"Model-based control for HVAC applications","authors":"G. Virk, D. Loveday","doi":"10.1109/CCA.1994.381251","DOIUrl":"https://doi.org/10.1109/CCA.1994.381251","url":null,"abstract":"The use of mathematical models in enhancing the performance of building services systems is discussed. In particular a full-scale HVAC system is studied to demonstrate the potential of such methods with emphasis on the controller design. The paper objectively assesses the model-based predictive on/off control strategy against the standard on/off controller by directly comparing the implementational results from the test system.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128717748","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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