Pub Date : 2003-12-10DOI: 10.1109/ICIT.2003.1290754
E. Martín, C. Ferrer
Developing electro-thermal models using VHDL-AMS is a new approach to solve problems that were found in the development of different systems. One of these systems can be a DC DC converter, which is the one that has been studied and presented now. A study of the distribution of power consumption which is the problem considered has been developed, considering the devices that present the higher power consumption percentage. The ma or part of the electrical thermal models are constructed using VHDL-AMS (analogue mixed signal) modelling language. VHDL-AMS is an extension of VHDL, which is a system level modelling language known as the 176.1-1 standard.
{"title":"DC DC converter modelling with VHDL-AMS","authors":"E. Martín, C. Ferrer","doi":"10.1109/ICIT.2003.1290754","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290754","url":null,"abstract":"Developing electro-thermal models using VHDL-AMS is a new approach to solve problems that were found in the development of different systems. One of these systems can be a DC DC converter, which is the one that has been studied and presented now. A study of the distribution of power consumption which is the problem considered has been developed, considering the devices that present the higher power consumption percentage. The ma or part of the electrical thermal models are constructed using VHDL-AMS (analogue mixed signal) modelling language. VHDL-AMS is an extension of VHDL, which is a system level modelling language known as the 176.1-1 standard.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127103361","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290826
Guixiang Zhang, A. Schmidhofer, A. Schmid
Electrical vehicles are well recognised for zero emission operation but have severe limitations in practical application due to the restricted energy capacity of batteries. For long operating distances highest overall efficiency is required. DC machines are still considered for cost saving applications when standard machines can be used for small electrical vehicles, especially when modernising existing DC machine cars without changing the mechanics. An efficiency optimised power conversion system with main emphasis on choppers and the power-optimised operation is described. The sources of losses are DC connection lines, fuses, magnetically operated circuit breakers, the drive converter, the auxiliary supply converter (e.g. for lights), the connection lines from converter to motor, the motor and the mechanical power train. All these losses are defined and calculated. The efforts, expenditures and final results for loss minimisation are presented. The MOSFET chopper is designed for highest efficiency with low on-state and switching losses. Despite the fundamental disadvantages of DC motors (rotor windings cooling, commutator, problematic operation at standstill) the overall system can be competitive with AC drives. The described loss minimisation measures increase efficiency remarkable especially for low battery voltages.
{"title":"Efficiency optimisation at DC drives for small electrical vehicles","authors":"Guixiang Zhang, A. Schmidhofer, A. Schmid","doi":"10.1109/ICIT.2003.1290826","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290826","url":null,"abstract":"Electrical vehicles are well recognised for zero emission operation but have severe limitations in practical application due to the restricted energy capacity of batteries. For long operating distances highest overall efficiency is required. DC machines are still considered for cost saving applications when standard machines can be used for small electrical vehicles, especially when modernising existing DC machine cars without changing the mechanics. An efficiency optimised power conversion system with main emphasis on choppers and the power-optimised operation is described. The sources of losses are DC connection lines, fuses, magnetically operated circuit breakers, the drive converter, the auxiliary supply converter (e.g. for lights), the connection lines from converter to motor, the motor and the mechanical power train. All these losses are defined and calculated. The efforts, expenditures and final results for loss minimisation are presented. The MOSFET chopper is designed for highest efficiency with low on-state and switching losses. Despite the fundamental disadvantages of DC motors (rotor windings cooling, commutator, problematic operation at standstill) the overall system can be competitive with AC drives. The described loss minimisation measures increase efficiency remarkable especially for low battery voltages.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127208766","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290232
F. Batzias, N. Nikolaou, A. Kakos
Mixing is a very common industrial process; the resulting mixture may be either a final or an intermediate product, of predetermined content for each constituent, according to certain quality specifications. During the production process within an agro-industrial complex, raw materials (usually highly inhomogeneous and sensitive by nature) from external inventories, distributed in the time/space domain, should cater for the internal ones that feed the mixer. The aim of the present work is the computer-aided optimisation of such a combined industrial process by (a) continuously locating transhipment points, (b) determining the optimal routing of raw materials, (c) reshuffling the external inventory list and (d) obtaining the minimal operating cost provided through a custom-developed module, namely the external inventory cost optimiser which is fed with real-time data obtained by the coupled use of a geographical information system (GIS) with a Global Positioning System (GPS). To accomplish such tasks, a hybrid genetic algorithm (GA) is employed featuring specific myopic rules. A case study is also presented referring to the design of an ethanol production unit located in the Thessaly plane of Central Greece where the number of inventories varies. In addition, the impacts of certain unpredictable events on raw material concentration (e.g. deterioration of residues quality, etc) are discussed.
{"title":"Computer aided optimisation of an agro-industrial complex consisting of processes and inventories by means of a custom-developed hybrid genetic algorithm","authors":"F. Batzias, N. Nikolaou, A. Kakos","doi":"10.1109/ICIT.2003.1290232","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290232","url":null,"abstract":"Mixing is a very common industrial process; the resulting mixture may be either a final or an intermediate product, of predetermined content for each constituent, according to certain quality specifications. During the production process within an agro-industrial complex, raw materials (usually highly inhomogeneous and sensitive by nature) from external inventories, distributed in the time/space domain, should cater for the internal ones that feed the mixer. The aim of the present work is the computer-aided optimisation of such a combined industrial process by (a) continuously locating transhipment points, (b) determining the optimal routing of raw materials, (c) reshuffling the external inventory list and (d) obtaining the minimal operating cost provided through a custom-developed module, namely the external inventory cost optimiser which is fed with real-time data obtained by the coupled use of a geographical information system (GIS) with a Global Positioning System (GPS). To accomplish such tasks, a hybrid genetic algorithm (GA) is employed featuring specific myopic rules. A case study is also presented referring to the design of an ethanol production unit located in the Thessaly plane of Central Greece where the number of inventories varies. In addition, the impacts of certain unpredictable events on raw material concentration (e.g. deterioration of residues quality, etc) are discussed.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114419766","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290792
K. Macek, I. Petrović, E. Ivanjko
In this paper we present a motion planning approach of indoor mobile robots based on integration of A* path planning algorithm and dynamic window local obstacle avoidance method. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementally updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX mobile robot (manufacturer ActivMedia Robotics) using laser range sensor.
{"title":"An approach to motion planning of indoor mobile robots","authors":"K. Macek, I. Petrović, E. Ivanjko","doi":"10.1109/ICIT.2003.1290792","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290792","url":null,"abstract":"In this paper we present a motion planning approach of indoor mobile robots based on integration of A* path planning algorithm and dynamic window local obstacle avoidance method. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementally updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX mobile robot (manufacturer ActivMedia Robotics) using laser range sensor.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114488569","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290781
S. Blažič, I. Škrjanc, S. Gerkšič, G. Dolanc, S. Strmcnik, M. Hadjiski, A. Stathaki
The paper presents the identification issues of the self-tuning nonlinear controller ASPECT* (advanced control algorithms for programmable logic controllers). The controller is implemented on a simple PLC platform with an extra mathematical coprocessor but is intended for the advanced control of complex processes. The model of the controlled plant is obtained by means of experimental modelling using an online learning procedure that combines model identification with pre-and post-identification steps that provide reliable operation. It is shown that acceptable performance of the system is obtained despite the difficult conditions it may encounter, such as nonlinearity of the plant, slowly varying parameters of the plant, high level noise etc.
{"title":"On-line fuzzy identification for advanced intelligent controller","authors":"S. Blažič, I. Škrjanc, S. Gerkšič, G. Dolanc, S. Strmcnik, M. Hadjiski, A. Stathaki","doi":"10.1109/ICIT.2003.1290781","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290781","url":null,"abstract":"The paper presents the identification issues of the self-tuning nonlinear controller ASPECT* (advanced control algorithms for programmable logic controllers). The controller is implemented on a simple PLC platform with an extra mathematical coprocessor but is intended for the advanced control of complex processes. The model of the controlled plant is obtained by means of experimental modelling using an online learning procedure that combines model identification with pre-and post-identification steps that provide reliable operation. It is shown that acceptable performance of the system is obtained despite the difficult conditions it may encounter, such as nonlinearity of the plant, slowly varying parameters of the plant, high level noise etc.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"500 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117026150","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290738
V. Pera, F. Sa, P. Afonso, R. Ferreira
We present in this article experimental results obtained with an automatic speech recogniser developed for a speaker dependent and continuous speech alphanumeric recognition application based on the European Portuguese language. An audio-visual speech recognition approach was followed to design and build this system. Besides the well known complementary between the acoustic and the visual information for speech recognition purposes, the visual features are obviously immune to any acoustic disturbance, thus making the system more robust in acoustically contaminated environments. The results presented clearly show that the inclusion of a video stream, using a multi-stream decoding formalism, decreases the word error rate in approximately 56%/sub rel/ over a wide range of acoustical signal-noise ratio.
{"title":"Audio-visual speech recognition in a Portuguese language based application","authors":"V. Pera, F. Sa, P. Afonso, R. Ferreira","doi":"10.1109/ICIT.2003.1290738","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290738","url":null,"abstract":"We present in this article experimental results obtained with an automatic speech recogniser developed for a speaker dependent and continuous speech alphanumeric recognition application based on the European Portuguese language. An audio-visual speech recognition approach was followed to design and build this system. Besides the well known complementary between the acoustic and the visual information for speech recognition purposes, the visual features are obviously immune to any acoustic disturbance, thus making the system more robust in acoustically contaminated environments. The results presented clearly show that the inclusion of a video stream, using a multi-stream decoding formalism, decreases the word error rate in approximately 56%/sub rel/ over a wide range of acoustical signal-noise ratio.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"2004 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128505448","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290763
L. McFetridge, M. Ibrahim
The Agoraphilic algorithm is a reactive local navigation technique based on the potential fields methodology. The algorithm employs attractive, virtual forces generated by the surrounding free-space. These attractive forces effectively drive the robot toward the areas of greatest free space, while a fuzzy weighting function is applied to add bias to the free-space toward the goal location. The ability to focus the forces in such a way is utilized for behavior based control. The force shaping property can be exploited to create a number of primitive behaviors and provide an alternative behavior fusion technique.
{"title":"Behavior fusion via free-space force shaping","authors":"L. McFetridge, M. Ibrahim","doi":"10.1109/ICIT.2003.1290763","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290763","url":null,"abstract":"The Agoraphilic algorithm is a reactive local navigation technique based on the potential fields methodology. The algorithm employs attractive, virtual forces generated by the surrounding free-space. These attractive forces effectively drive the robot toward the areas of greatest free space, while a fuzzy weighting function is applied to add bias to the free-space toward the goal location. The ability to focus the forces in such a way is utilized for behavior based control. The force shaping property can be exploited to create a number of primitive behaviors and provide an alternative behavior fusion technique.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128748520","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290262
R. Blecha, Z. Bradác
This paper deals with the modern methods of stationary industrial robots control by the using of multi-processor system. Distributed control system is the system where the problem solving or control process is distributed between several nodes. These nodes have to able to execute the specific operation and process the analogue or digital signals. That control system conception requires very fast and reliable communication. On the base of these requirements the CAN (controller area network) was selected. The system is modular; it allows connection of another CPU board (e.g. radio communication module) for concrete task.
{"title":"Distributed control system for robotic manipulators","authors":"R. Blecha, Z. Bradác","doi":"10.1109/ICIT.2003.1290262","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290262","url":null,"abstract":"This paper deals with the modern methods of stationary industrial robots control by the using of multi-processor system. Distributed control system is the system where the problem solving or control process is distributed between several nodes. These nodes have to able to execute the specific operation and process the analogue or digital signals. That control system conception requires very fast and reliable communication. On the base of these requirements the CAN (controller area network) was selected. The system is modular; it allows connection of another CPU board (e.g. radio communication module) for concrete task.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121155575","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290353
S. Rao, V. Utkin
A unified simulation methodology for electric networks using sliding mode theory and Simulink/MATLAB is developed in this paper. In particular, large networks with linear, time-invariant elements such as resistances, capacitors and inductances are considered. By this approach, the need to solve a set of both algebraic and differential equations is eliminated and the problem is reduced to solving a set of only differential equations. The methodology is unified and networks which are dynamic and static with respect to current are considered.
{"title":"Development of a unified simulation methodology for electric networks using sliding modes","authors":"S. Rao, V. Utkin","doi":"10.1109/ICIT.2003.1290353","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290353","url":null,"abstract":"A unified simulation methodology for electric networks using sliding mode theory and Simulink/MATLAB is developed in this paper. In particular, large networks with linear, time-invariant elements such as resistances, capacitors and inductances are considered. By this approach, the need to solve a set of both algebraic and differential equations is eliminated and the problem is reduced to solving a set of only differential equations. The methodology is unified and networks which are dynamic and static with respect to current are considered.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114232945","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 : 2003-12-10DOI: 10.1109/ICIT.2003.1290254
N. Saito, S. Kajikawa, H. Okano
In this paper, we propose a new type of contact force sensor. This sensor can detect contact location and can measure four-axis contact forces. The contact part of this sensor is composed of a silicon rubber, allowing this sensor to contact to objects softly. The structure of this sensor and the methods for calculating the contact location and the four-axis contact forces are proposed. A flexible structure is one of the characteristics of this sensor. We confirm if this character is available to absorb impact force when the sensor and environment are in contact. In addition, the effectiveness of this sensor in a task involving the grasping of an object by a robot hand is also demonstrated.
{"title":"Development of a flexible structural contact force sensor for a grasping task by robot hand","authors":"N. Saito, S. Kajikawa, H. Okano","doi":"10.1109/ICIT.2003.1290254","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290254","url":null,"abstract":"In this paper, we propose a new type of contact force sensor. This sensor can detect contact location and can measure four-axis contact forces. The contact part of this sensor is composed of a silicon rubber, allowing this sensor to contact to objects softly. The structure of this sensor and the methods for calculating the contact location and the four-axis contact forces are proposed. A flexible structure is one of the characteristics of this sensor. We confirm if this character is available to absorb impact force when the sensor and environment are in contact. In addition, the effectiveness of this sensor in a task involving the grasping of an object by a robot hand is also demonstrated.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128106099","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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