Pub Date : 2003-12-10DOI: 10.1109/ICIT.2003.1290743
M. Baczynski, J. Baczynski
This paper is devoted to the experimental, low cost master part of teleoperation system. The slave device of the system-commercially available industrial robot IRp6 manipulates objects according to commands expressed by the proper human operator manipulations. The experimental set-up has been configured as a typical master-slave robotic system to try the concept of the simple master manipulator based on the very popular small hand computer "Personal Digital Assistant Palm IIIc" (PDA) supported by two standard encoders, CCD camera and simple electronics. The designed device enables to control the slave manipulator in very intuitive manner with visual feedback. Looking at the 256 colour TFT display and manoeuvring the PDA the operator is able to define the direction vector to the desired target position. Pressing buttons of PDA causes that distance from end effector of slave manipulator to target point increases or decreases in real time. In that way the operator in a few steps moves the end effector to requested point of the workspace. The described master manipulator has been tested successfully in the laboratory teleoperator system. Experiments confirmed usefulness of the unit for handling in real time various objects in the teleoperator workspace in very easy, natural and instinctive way.
{"title":"Palm IIIc as advanced, low cost master part of teleoperation system","authors":"M. Baczynski, J. Baczynski","doi":"10.1109/ICIT.2003.1290743","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290743","url":null,"abstract":"This paper is devoted to the experimental, low cost master part of teleoperation system. The slave device of the system-commercially available industrial robot IRp6 manipulates objects according to commands expressed by the proper human operator manipulations. The experimental set-up has been configured as a typical master-slave robotic system to try the concept of the simple master manipulator based on the very popular small hand computer \"Personal Digital Assistant Palm IIIc\" (PDA) supported by two standard encoders, CCD camera and simple electronics. The designed device enables to control the slave manipulator in very intuitive manner with visual feedback. Looking at the 256 colour TFT display and manoeuvring the PDA the operator is able to define the direction vector to the desired target position. Pressing buttons of PDA causes that distance from end effector of slave manipulator to target point increases or decreases in real time. In that way the operator in a few steps moves the end effector to requested point of the workspace. The described master manipulator has been tested successfully in the laboratory teleoperator system. Experiments confirmed usefulness of the unit for handling in real time various objects in the teleoperator workspace in very easy, natural and instinctive way.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"60 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":"134415006","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.2003.1290398
N. Mabrouk, F. Fnaiech, K. Al-Haddad, S. Rahmani
In this paper, a sliding mode control approach is developed to control a three-phase three-wire voltage source inverter with neutral connection operating as a shunt active power filter (SAPF). Contrarily, to a previous work of Cardenas et al [V. Cardenas et al., 1998], the authors applied the sliding mode control on a nonlinear model namely bilinear model developed in the (d, q) fame. A new modelling approach is proposed based on Fourier Transform applied to the inverter leading a state space model in the (a, b, c) frame. This modelling alternative is quite simple to handle and exhibit good dynamic response, robustness, and stability. Simulation results using Matlab power system blockset highlight the effectiveness of this new modelling approach.
本文提出了一种滑模控制方法来控制三相三线制电压源逆变器作为并联有源电力滤波器(SAPF)。相反，与Cardenas等人先前的工作[V]。Cardenas et al.， 1998]，作者将滑模控制应用于(d, q)成名的非线性模型即双线性模型。提出了一种基于傅里叶变换的逆变器(A, b, c)帧状态空间模型建模方法。这种建模方法处理起来非常简单，并且表现出良好的动态响应、鲁棒性和稳定性。基于Matlab的电力系统模块集仿真结果验证了该建模方法的有效性。
{"title":"Sliding mode control of a 3-phase-shunt active power filter","authors":"N. Mabrouk, F. Fnaiech, K. Al-Haddad, S. Rahmani","doi":"10.1109/ICIT.2003.1290398","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290398","url":null,"abstract":"In this paper, a sliding mode control approach is developed to control a three-phase three-wire voltage source inverter with neutral connection operating as a shunt active power filter (SAPF). Contrarily, to a previous work of Cardenas et al [V. Cardenas et al., 1998], the authors applied the sliding mode control on a nonlinear model namely bilinear model developed in the (d, q) fame. A new modelling approach is proposed based on Fourier Transform applied to the inverter leading a state space model in the (a, b, c) frame. This modelling alternative is quite simple to handle and exhibit good dynamic response, robustness, and stability. Simulation results using Matlab power system blockset highlight the effectiveness of this new modelling approach.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"605 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":"133342510","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.2003.1290257
S. Kunimitsu, K. Kawabata, H. Asama, T. Mishima
The authors propose an expanding technique for template matching to detect the object under the outdoor environment. The edge image is used under the outdoor environment. The template converts the edge image into the binary edge image and the template of the binary edge image is matched to an unknown edge image. As a result, change in the edge image is robust compared with template matching between the edge images. In this paper, the outline of the proposed technique and the effectiveness of that based on the experimental result are shown.
{"title":"Detection of object under outdoor environment with binary edge template and its application to automatic cranes","authors":"S. Kunimitsu, K. Kawabata, H. Asama, T. Mishima","doi":"10.1109/ICIT.2003.1290257","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290257","url":null,"abstract":"The authors propose an expanding technique for template matching to detect the object under the outdoor environment. The edge image is used under the outdoor environment. The template converts the edge image into the binary edge image and the template of the binary edge image is matched to an unknown edge image. As a result, change in the edge image is robust compared with template matching between the edge images. In this paper, the outline of the proposed technique and the effectiveness of that based on the experimental result are shown.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"29 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":"130561920","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.2003.1290806
J. Primožič, R. Svecko
The article describes control in refrigeration systems. The goal of the article is to support refrigeration systems design and to define optimum parameters which influence refrigerating systems respectively. Basic task in my investigation was also an analysis of present offers and producers of control equipment for refrigeration systems. This equipment can be divided into two segments: the equipment for control simple refrigeration systems which consists of electronic thermostats for controlling elements of refrigeration rooms and miniature microprocessor devices used for controlling smallest compressor aggregates. The advantages of this equipment are its his wide consumption, low cost and simple usage. Its disadvantages are inappropriateness for complex refrigeration systems in the sense of increasing COP and electrical energy economizing. Regarding all these facts, the main emphasis of my article is on the regulation of complex refrigeration systems with the usage of programmable microprocessors and SCADA (supervisory control and data acquisition) systems.
{"title":"Control in refrigeration systems","authors":"J. Primožič, R. Svecko","doi":"10.1109/ICIT.2003.1290806","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290806","url":null,"abstract":"The article describes control in refrigeration systems. The goal of the article is to support refrigeration systems design and to define optimum parameters which influence refrigerating systems respectively. Basic task in my investigation was also an analysis of present offers and producers of control equipment for refrigeration systems. This equipment can be divided into two segments: the equipment for control simple refrigeration systems which consists of electronic thermostats for controlling elements of refrigeration rooms and miniature microprocessor devices used for controlling smallest compressor aggregates. The advantages of this equipment are its his wide consumption, low cost and simple usage. Its disadvantages are inappropriateness for complex refrigeration systems in the sense of increasing COP and electrical energy economizing. Regarding all these facts, the main emphasis of my article is on the regulation of complex refrigeration systems with the usage of programmable microprocessors and SCADA (supervisory control and data acquisition) systems.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"21 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":"121943619","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.2003.1290399
S. Uran, M. Milanović
The DC-DC conversion principle is a part of many electronics devices and is a subject of many research projects which are looking for the best control. In the search for the best control of a buck converter control line regulation should be considered in addition to load regulation. With ordinary PI controllers the dynamic response of the buck converter output voltage caused by load change is slow and exhibits large dynamic deviations from the desired steady state output value. With state space controller the dynamic response of the buck converter exhibits fast load response with small dynamic deviations from the desired steady state output value. Unfortunately dynamic response of state space controller to input voltage step change (line regulation) does not meet desired performance. It exhibits steady state error. Therefore an approach with outer PI controller in addition to the internal state space controller and disturbance observer based control approach have been considered.
{"title":"Advanced control of buck converter","authors":"S. Uran, M. Milanović","doi":"10.1109/ICIT.2003.1290399","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290399","url":null,"abstract":"The DC-DC conversion principle is a part of many electronics devices and is a subject of many research projects which are looking for the best control. In the search for the best control of a buck converter control line regulation should be considered in addition to load regulation. With ordinary PI controllers the dynamic response of the buck converter output voltage caused by load change is slow and exhibits large dynamic deviations from the desired steady state output value. With state space controller the dynamic response of the buck converter exhibits fast load response with small dynamic deviations from the desired steady state output value. Unfortunately dynamic response of state space controller to input voltage step change (line regulation) does not meet desired performance. It exhibits steady state error. Therefore an approach with outer PI controller in addition to the internal state space controller and disturbance observer based control approach have been considered.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"96 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":"125989951","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.2003.1290384
E.F. da Silva, E.B. dos Santos, P.C.M. Machado, M.A.A. de Oliveria
In this paper, a methodology for the vector control for linear induction motor by considering end effects is presented. A comparison with the traditional induction motor model is also performed.
本文提出了一种考虑末端效应的直线感应电机矢量控制方法。并与传统的感应电机模型进行了比较。
{"title":"Vector control for linear induction motor","authors":"E.F. da Silva, E.B. dos Santos, P.C.M. Machado, M.A.A. de Oliveria","doi":"10.1109/ICIT.2003.1290384","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290384","url":null,"abstract":"In this paper, a methodology for the vector control for linear induction motor by considering end effects is presented. A comparison with the traditional induction motor model is also performed.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"16 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":"122003155","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.2003.1290248
D. Hou, Zekui Zhou, Guangxin Zhang
Fouling is one of key problems to design and operate heat exchanger. To many batch heat exchangers (BHE), their fouling resistance changed periodically because of the alternation of batch washing and CIP washing. For on-line measuring the BHE fouling resistance, a novel soft-sensing approach based on FNN (fuzzy neural network) and OED (orthogonal experimental design) was investigated. The BHE fouling resistance is modeled by two parts: the increase of short-term fouling in one batch and the long-term irreversible fouling at the beginning of the batch. A brewery wort evaporator in multi-phase flow was taken as the case. OED were designed to select out the key parameters influencing the long-term fouling and the short-term fouling respectively. Two FNN networks are trained to learn the formation trends of the short-term fouling and the long-term fouling respectively. The experimental results and the comparison to experimental formula show the soft-sensing approach is effective.
{"title":"On-line measurement for the BHE fouling of brewery wort evaporator using a soft sensing approach","authors":"D. Hou, Zekui Zhou, Guangxin Zhang","doi":"10.1109/ICIT.2003.1290248","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290248","url":null,"abstract":"Fouling is one of key problems to design and operate heat exchanger. To many batch heat exchangers (BHE), their fouling resistance changed periodically because of the alternation of batch washing and CIP washing. For on-line measuring the BHE fouling resistance, a novel soft-sensing approach based on FNN (fuzzy neural network) and OED (orthogonal experimental design) was investigated. The BHE fouling resistance is modeled by two parts: the increase of short-term fouling in one batch and the long-term irreversible fouling at the beginning of the batch. A brewery wort evaporator in multi-phase flow was taken as the case. OED were designed to select out the key parameters influencing the long-term fouling and the short-term fouling respectively. Two FNN networks are trained to learn the formation trends of the short-term fouling and the long-term fouling respectively. The experimental results and the comparison to experimental formula show the soft-sensing approach is effective.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"7 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":"124850209","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.2003.1290226
F. Rashidi, M. Rashidi
The main purpose of this paper is to apply the nonlinear sliding-mode control combined with fuzzy logic approach to the speed control of induction motor. Our proposed method can achieve very robust and satisfactory performance and could be used to get the desired performance levels. The response time was also very fast despite the fact that the control strategy was based on bounded rationality. To evaluate the usefulness of the proposed method, we compare the response of this method with fuzzy PD controller. The simulation results show that our method has the better control performance than fuzzy PD controller.
{"title":"Robust sliding mode speed control with fuzzy approach for induction motors","authors":"F. Rashidi, M. Rashidi","doi":"10.1109/ICIT.2003.1290226","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290226","url":null,"abstract":"The main purpose of this paper is to apply the nonlinear sliding-mode control combined with fuzzy logic approach to the speed control of induction motor. Our proposed method can achieve very robust and satisfactory performance and could be used to get the desired performance levels. The response time was also very fast despite the fact that the control strategy was based on bounded rationality. To evaluate the usefulness of the proposed method, we compare the response of this method with fuzzy PD controller. The simulation results show that our method has the better control performance than fuzzy PD controller.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"67 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":"125489519","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.2003.1290747
Andrej OlenSek, Zlatko MatjaEiC, Tadej Bajd
In the paper a muscle contracture emulation system for the purposes of studying impact of muscle contractures on human gait is presented. The muscle contracture emulation system was designed to imitate gait of a patient with locomotion disorder originating primarily from muscle contractures in a neurologically and orthopaedically intact person. It is designed to emulate contractures of two ankle plantar flexor muscles soleus and gastrocnemius, but can be simply expanded to other major muscles. Given the emulated muscle contracture as a primary source of an artificially induced gait irregularity, a VICON analysis motion system was used for analysing the resulting gait patterns and separating primary from secondary changes in the gait of intact individuals.
{"title":"Muscle contracture emulation system","authors":"Andrej OlenSek, Zlatko MatjaEiC, Tadej Bajd","doi":"10.1109/ICIT.2003.1290747","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290747","url":null,"abstract":"In the paper a muscle contracture emulation system for the purposes of studying impact of muscle contractures on human gait is presented. The muscle contracture emulation system was designed to imitate gait of a patient with locomotion disorder originating primarily from muscle contractures in a neurologically and orthopaedically intact person. It is designed to emulate contractures of two ankle plantar flexor muscles soleus and gastrocnemius, but can be simply expanded to other major muscles. Given the emulated muscle contracture as a primary source of an artificially induced gait irregularity, a VICON analysis motion system was used for analysing the resulting gait patterns and separating primary from secondary changes in the gait of intact individuals.","PeriodicalId":193510,"journal":{"name":"IEEE International Conference on Industrial Technology, 2003","volume":"2 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":"130168411","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.2003.1290767
I. Flegar, D. Pelin
The modes of operation of the boost converter controlled by naturally-sampled constant frequency pulse-width modulation in discontinuous conduction mode of operation are determined. Bifurcation diagrams as a principal tool for the qualitative evaluation of behaviour of non-linear dynamical systems are used. It is shown that the boost converter considered here can be driven into chaos through a process of period doubling by varying some parameters of the boost converter: the input voltage, the capacitance of the output condenser, the inductance of the input inductor, period of external sawtooth ramp voltage (period of operation) and the load resistance.
{"title":"Bifurcation diagrams - insight into the modes of operation of a boost converter","authors":"I. Flegar, D. Pelin","doi":"10.1109/ICIT.2003.1290767","DOIUrl":"https://doi.org/10.1109/ICIT.2003.1290767","url":null,"abstract":"The modes of operation of the boost converter controlled by naturally-sampled constant frequency pulse-width modulation in discontinuous conduction mode of operation are determined. Bifurcation diagrams as a principal tool for the qualitative evaluation of behaviour of non-linear dynamical systems are used. It is shown that the boost converter considered here can be driven into chaos through a process of period doubling by varying some parameters of the boost converter: the input voltage, the capacitance of the output condenser, the inductance of the input inductor, period of external sawtooth ramp voltage (period of operation) and the load resistance.","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":"128894379","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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