Pub Date : 2013-11-01DOI: 10.1109/AUCC.2013.6697309
H. Nasir, E. Weyer
Data based modelling is an important tool in the operation and management of rivers. In this paper, we compare Prediction Error Methods (PEM) and Subspace Identification Methods (SIM) for system identification of rivers. PEM can incorporate the available prior information and can accommodate the non-linearities in the model structure with ease. The models obtained by SIM are linear, and it is generally difficult to incorporate prior information, but SIM is well suited to MIMO systems such as rivers. In this paper, we simulate a few typical river scenarios and use the simulated data to obtain PEM and SIM based models. The models are compared using several measures and for the scenarios considered it is found that PEM has an edge over SIM.
{"title":"Comparison of prediction error methods and subspace identification methods for rivers","authors":"H. Nasir, E. Weyer","doi":"10.1109/AUCC.2013.6697309","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697309","url":null,"abstract":"Data based modelling is an important tool in the operation and management of rivers. In this paper, we compare Prediction Error Methods (PEM) and Subspace Identification Methods (SIM) for system identification of rivers. PEM can incorporate the available prior information and can accommodate the non-linearities in the model structure with ease. The models obtained by SIM are linear, and it is generally difficult to incorporate prior information, but SIM is well suited to MIMO systems such as rivers. In this paper, we simulate a few typical river scenarios and use the simulated data to obtain PEM and SIM based models. The models are compared using several measures and for the scenarios considered it is found that PEM has an edge over SIM.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"183 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131530075","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697240
Timothy L. Molloy, J. Ford
Machine vision is emerging as a viable sensing approach for mid-air collision avoidance (particularly for small to medium aircraft such as unmanned aerial vehicles). In this paper, using relative entropy rate concepts, we propose and investigate a new change detection approach that uses hidden Markov model filters to sequentially detect aircraft manoeuvres from morphologically processed image sequences. Experiments using simulated and airborne image sequences illustrate the performance of our proposed algorithm in comparison to other sequential change detection approaches applied to this application.
{"title":"HMM relative entropy rate concepts for vision-based aircraft manoeuvre detection","authors":"Timothy L. Molloy, J. Ford","doi":"10.1109/AUCC.2013.6697240","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697240","url":null,"abstract":"Machine vision is emerging as a viable sensing approach for mid-air collision avoidance (particularly for small to medium aircraft such as unmanned aerial vehicles). In this paper, using relative entropy rate concepts, we propose and investigate a new change detection approach that uses hidden Markov model filters to sequentially detect aircraft manoeuvres from morphologically processed image sequences. Experiments using simulated and airborne image sequences illustrate the performance of our proposed algorithm in comparison to other sequential change detection approaches applied to this application.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130385541","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697246
F. Taringoo, D. Nešić, Y. Tan, P. Dower
An averaging result for periodic dynamical systems evolving on Euclidean spaces is extended to those evolving on (differentiable) Riemannian manifolds. Using standard tools from differential geometry, a perturbation result for time-varying dynamical systems is developed that measures closeness of trajectories via a suitable metric on a finite time horizon. This perturbation result is then extended to bound excursions in the trajectories of periodic dynamical systems from those of their respective averages, on an infinite time horizon, yielding the specified averaging result. Some simple examples further illustrating this result are also presented.
{"title":"Closeness of solutions and averaging for nonlinear systems on Riemannian manifolds","authors":"F. Taringoo, D. Nešić, Y. Tan, P. Dower","doi":"10.1109/AUCC.2013.6697246","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697246","url":null,"abstract":"An averaging result for periodic dynamical systems evolving on Euclidean spaces is extended to those evolving on (differentiable) Riemannian manifolds. Using standard tools from differential geometry, a perturbation result for time-varying dynamical systems is developed that measures closeness of trajectories via a suitable metric on a finite time horizon. This perturbation result is then extended to bound excursions in the trajectories of periodic dynamical systems from those of their respective averages, on an infinite time horizon, yielding the specified averaging result. Some simple examples further illustrating this result are also presented.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130097904","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697295
M. Lees, R. Ellen, P. Brodie
A significant portion of industrial automatic control is powered by PID controllers. However there is little published literature on the details and quantity of controller types used in industry. Food and beverage represents an important segment of manufacturing in Australia. This paper presents a review of the automatic/regulatory control topology in one of Australia's largest breweries. Details of the site's 505 PID loops as well as the industrial networked control systems are included. As there is very little published material of this type it makes an important contribution to the existing literature. It is intended that this material can assist further research by providing evidence-based information on the quantity of controller types used in this segment of industry and details on some of the current issues and opportunities.
{"title":"The control of beer production: Insights into the controller topology of a large Australian brewery","authors":"M. Lees, R. Ellen, P. Brodie","doi":"10.1109/AUCC.2013.6697295","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697295","url":null,"abstract":"A significant portion of industrial automatic control is powered by PID controllers. However there is little published literature on the details and quantity of controller types used in industry. Food and beverage represents an important segment of manufacturing in Australia. This paper presents a review of the automatic/regulatory control topology in one of Australia's largest breweries. Details of the site's 505 PID loops as well as the industrial networked control systems are included. As there is very little published material of this type it makes an important contribution to the existing literature. It is intended that this material can assist further research by providing evidence-based information on the quantity of controller types used in this segment of industry and details on some of the current issues and opportunities.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124783982","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697267
B. Arain, M. Warren, Xilin Yang, L. Gonzalez, Luis Mejías Alvarez, B. Upcroft
This paper presents a system which enhances the capabilities of a light general aviation aircraft to land autonomously in case of an unscheduled event such as engine failure. The proposed system will not only increase the level of autonomy for the general aviation aircraft industry but also increase the level of dependability. Safe autonomous landing in case of an engine failure with a certain level of reliability is the primary focus of our work as both safety and reliability are attributes of dependability. The system is designed for a light general aviation aircraft but can be extended for dependable unmanned aircraft systems. The underlying system components are computationally efficient and provides continuous situation assessment in case of an emergency landing. The proposed system is undergoing an evaluation phase using an experimental platform (Cessna 172R) in real world scenarios.
{"title":"Autonomous forced landing system for light general aviation aircraft in unknown environments","authors":"B. Arain, M. Warren, Xilin Yang, L. Gonzalez, Luis Mejías Alvarez, B. Upcroft","doi":"10.1109/AUCC.2013.6697267","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697267","url":null,"abstract":"This paper presents a system which enhances the capabilities of a light general aviation aircraft to land autonomously in case of an unscheduled event such as engine failure. The proposed system will not only increase the level of autonomy for the general aviation aircraft industry but also increase the level of dependability. Safe autonomous landing in case of an engine failure with a certain level of reliability is the primary focus of our work as both safety and reliability are attributes of dependability. The system is designed for a light general aviation aircraft but can be extended for dependable unmanned aircraft systems. The underlying system components are computationally efficient and provides continuous situation assessment in case of an emergency landing. The proposed system is undergoing an evaluation phase using an experimental platform (Cessna 172R) in real world scenarios.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124793440","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697318
S. Das, H. Pota, I. Petersen
This paper presents the design and implementation of a multi-input multi-output (MIMO) controller using a resonant controller, an integral controller, and a velocity feedback controller for damping, tracking and cross coupling reduction of a nanopositioner used in most of the scanning probe microscopes (SPMs). The MIMO dynamics identification of the system are done by using measured data and the design of the controller is based on to achieve large bandwidth and small cross coupling effects between the axes of the nanopositioner. The controller design presented in this paper is able to achieve a bandwidth close to the first resonance frequency of a nanopositioner which is five times greater than the bandwidth that can achieved by using a standard integral controller. Experimental images at scanning rates of 62.5 Hz and 125 Hz obtained by using the proposed controller and the built-in proportional-integral (PI) controller in a SPM are given to illustrate the effectiveness of the proposed controller.
{"title":"A MIMO controller design for damping, tracking, and cross coupling reduction of nanopositioners","authors":"S. Das, H. Pota, I. Petersen","doi":"10.1109/AUCC.2013.6697318","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697318","url":null,"abstract":"This paper presents the design and implementation of a multi-input multi-output (MIMO) controller using a resonant controller, an integral controller, and a velocity feedback controller for damping, tracking and cross coupling reduction of a nanopositioner used in most of the scanning probe microscopes (SPMs). The MIMO dynamics identification of the system are done by using measured data and the design of the controller is based on to achieve large bandwidth and small cross coupling effects between the axes of the nanopositioner. The controller design presented in this paper is able to achieve a bandwidth close to the first resonance frequency of a nanopositioner which is five times greater than the bandwidth that can achieved by using a standard integral controller. Experimental images at scanning rates of 62.5 Hz and 125 Hz obtained by using the proposed controller and the built-in proportional-integral (PI) controller in a SPM are given to illustrate the effectiveness of the proposed controller.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130322585","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697268
Y. Yong, A. Bazaei, S. Moheimani
Conventionally, raster-based trajectory is used in atomic force microscopy (AFM) for scanning applications. A triangle reference, which is one of the two input signals used to construct the raster trajectory, contains high order harmonics of its fundamental frequency that can excite the mechanical resonant modes of a nanopositioner. To achieve video-rate scanning, high-bandwidth nanopositioners with lateral dominant modes above 20 kHz are often required when using the raster-pattern in order to avoid vibrations. In this paper, we achieve video-rate scanning on a 11.3-kHz nanopositioner using a smooth scan trajectory known as Lissajous-scan pattern. The Lissajous trajectory can be constructed by tracking two monotonic sinusoidal waveforms on the lateral axes of the nanopositioner. Using the internal model (IM) controllers, good tracking performance of 2-kHz sinusoids was achieved. High-quality AFM images of a calibration specimen were successfully recorded at 18 frames/s using the proposed Lissajous trajectory and control strategies.
{"title":"Control of a high-speed nanopositioner for Lissajous-scan video-rate AFM","authors":"Y. Yong, A. Bazaei, S. Moheimani","doi":"10.1109/AUCC.2013.6697268","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697268","url":null,"abstract":"Conventionally, raster-based trajectory is used in atomic force microscopy (AFM) for scanning applications. A triangle reference, which is one of the two input signals used to construct the raster trajectory, contains high order harmonics of its fundamental frequency that can excite the mechanical resonant modes of a nanopositioner. To achieve video-rate scanning, high-bandwidth nanopositioners with lateral dominant modes above 20 kHz are often required when using the raster-pattern in order to avoid vibrations. In this paper, we achieve video-rate scanning on a 11.3-kHz nanopositioner using a smooth scan trajectory known as Lissajous-scan pattern. The Lissajous trajectory can be constructed by tracking two monotonic sinusoidal waveforms on the lateral axes of the nanopositioner. Using the internal model (IM) controllers, good tracking performance of 2-kHz sinusoids was achieved. High-quality AFM images of a calibration specimen were successfully recorded at 18 frames/s using the proposed Lissajous trajectory and control strategies.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126124081","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697289
A. Neshastehriz, I. Shames, M. Cantoni
This paper considers the problem of following open-loop trajectories that are in some sense optimal for a nominal load schedule. A Model Predictive Control (MPC) scheme is formulated to adjust the nominal open-loop control based on measurements taken at each time-step, with a view to mitigating uncertainty in the schedule. Analysis results are derived to establish recursive feasibility of the receding horizon scheme and to prove closed-loop stability for an appropriate set of initial conditions. An equivalent affine disturbance feedback parametrisation of the adjustment policy is provided for efficient computation. Simulation results for a short stretch of an irrigation channel demonstrate the effectiveness of the scheme.
{"title":"Model predictive control for a class of systems with uncertainty in scheduled load","authors":"A. Neshastehriz, I. Shames, M. Cantoni","doi":"10.1109/AUCC.2013.6697289","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697289","url":null,"abstract":"This paper considers the problem of following open-loop trajectories that are in some sense optimal for a nominal load schedule. A Model Predictive Control (MPC) scheme is formulated to adjust the nominal open-loop control based on measurements taken at each time-step, with a view to mitigating uncertainty in the schedule. Analysis results are derived to establish recursive feasibility of the receding horizon scheme and to prove closed-loop stability for an appropriate set of initial conditions. An equivalent affine disturbance feedback parametrisation of the adjustment policy is provided for efficient computation. Simulation results for a short stretch of an irrigation channel demonstrate the effectiveness of the scheme.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114932579","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697284
P. Dower, W. McEneaney
A new approach for solving two-point boundary value problems for conservative infinite dimensional systems is investigated. This new approach seeks to exploit the principle of stationary action in reformulating and solving such problems in the framework of optimal control. A specific and highly simplified problem involving a one dimensional wave equation is considered. The construction of a solution to an attendant optimal control problem is identified as crucial in applying this new approach.
{"title":"A fundamental solution for an infinite dimensional two-point boundary value problem via the principle of stationary action","authors":"P. Dower, W. McEneaney","doi":"10.1109/AUCC.2013.6697284","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697284","url":null,"abstract":"A new approach for solving two-point boundary value problems for conservative infinite dimensional systems is investigated. This new approach seeks to exploit the principle of stationary action in reformulating and solving such problems in the framework of optimal control. A specific and highly simplified problem involving a one dimensional wave equation is considered. The construction of a solution to an attendant optimal control problem is identified as crucial in applying this new approach.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116494821","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 : 2013-11-01DOI: 10.1109/AUCC.2013.6697301
Zhiyong Sun, S. Mou, B. Anderson, A. Morse
Gradient control laws can be used for effectively achieving undirected formation shape, by assuming that interagent distances between a certain set of joint agent pairs can be accurately specified and measured. This paper examines the formation behavior in a 3-D space context in the case that the neighboring agent pairs have slightly differing views or estimates about the desired interagent distances they are tasked to maintain. It is shown, by using a tetrahedron formation example, that the final formation shape will be slightly distorted as compared to the desired one. Further, in general each agent's motion will be a combination of rotation and translation. Specifically, a helical movement can be observed in the presence of distance mismatch.
{"title":"Non-robustness of gradient control for 3-D undirected formations with distance mismatch","authors":"Zhiyong Sun, S. Mou, B. Anderson, A. Morse","doi":"10.1109/AUCC.2013.6697301","DOIUrl":"https://doi.org/10.1109/AUCC.2013.6697301","url":null,"abstract":"Gradient control laws can be used for effectively achieving undirected formation shape, by assuming that interagent distances between a certain set of joint agent pairs can be accurately specified and measured. This paper examines the formation behavior in a 3-D space context in the case that the neighboring agent pairs have slightly differing views or estimates about the desired interagent distances they are tasked to maintain. It is shown, by using a tetrahedron formation example, that the final formation shape will be slightly distorted as compared to the desired one. Further, in general each agent's motion will be a combination of rotation and translation. Specifically, a helical movement can be observed in the presence of distance mismatch.","PeriodicalId":177490,"journal":{"name":"2013 Australian Control Conference","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127025464","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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