Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044452
Ashley Napier, S. Gayadeen, S. Duncan
Synchrotron light sources can produce very intense beams of X-rays and ultra violet light for a range of applications, including protein crystallography, materials characterization and high resolution imaging. The Diamond Light Source is a 3rd generation synchrotron that has recently been constructed near Oxford, United Kingdom, which produces a 3 GeV electron beam in a ring of circumference of over 560 m. A key requirement of the process is that the vertical and horizontal location of the beam should be controlled to within 10% of the beam size, which corresponds to the RMS variation being less than 12.3 μm in the horizontal direction and 0.6 μm in the vertical direction. The beam location is subjected to disturbances caused by the effects of Insertion Devices and the effect of ground motion, particularly between 16 Hz and 30 Hz, where the ground motion is amplified by the resonances of the girders supporting the ring magnets. To achieve the specification, a fast beam stabilization feedback system is used to regulate the horizontal and vertical position of the beam in the presence of disturbances in the range 1 Hz to 100 Hz, using 170 sensors and actuators in both planes, positioned around the ring at a sampling rate of 10 kHz. This paper describes the design of the controller for this system and the results from the implementation are shown.
{"title":"Fast orbit beam stabilisation for a synchrotron","authors":"Ashley Napier, S. Gayadeen, S. Duncan","doi":"10.1109/CCA.2011.6044452","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044452","url":null,"abstract":"Synchrotron light sources can produce very intense beams of X-rays and ultra violet light for a range of applications, including protein crystallography, materials characterization and high resolution imaging. The Diamond Light Source is a 3rd generation synchrotron that has recently been constructed near Oxford, United Kingdom, which produces a 3 GeV electron beam in a ring of circumference of over 560 m. A key requirement of the process is that the vertical and horizontal location of the beam should be controlled to within 10% of the beam size, which corresponds to the RMS variation being less than 12.3 μm in the horizontal direction and 0.6 μm in the vertical direction. The beam location is subjected to disturbances caused by the effects of Insertion Devices and the effect of ground motion, particularly between 16 Hz and 30 Hz, where the ground motion is amplified by the resonances of the girders supporting the ring magnets. To achieve the specification, a fast beam stabilization feedback system is used to regulate the horizontal and vertical position of the beam in the presence of disturbances in the range 1 Hz to 100 Hz, using 170 sensors and actuators in both planes, positioned around the ring at a sampling rate of 10 kHz. This paper describes the design of the controller for this system and the results from the implementation are shown.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"211 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132692376","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044427
R. Ruiz-Cruz, E. Sánchez, A. Loukianov, R. Harley
This paper proposes a control scheme based on the block control technique using sliding modes, for a doubly fed induction generator connected to an infinity bus. This control scheme is compared with a linear control using PIs. Simulation results in PSCAD/EMTDC are included to illustrate the applicability of the scheme. A comparison between the PI controller and the proposed block controller is presented, from which, it is verified that our approach is faster to reach the speed reference.
{"title":"Discrete-time block control for a doubly fed induction generator coupled to a wind turbine","authors":"R. Ruiz-Cruz, E. Sánchez, A. Loukianov, R. Harley","doi":"10.1109/CCA.2011.6044427","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044427","url":null,"abstract":"This paper proposes a control scheme based on the block control technique using sliding modes, for a doubly fed induction generator connected to an infinity bus. This control scheme is compared with a linear control using PIs. Simulation results in PSCAD/EMTDC are included to illustrate the applicability of the scheme. A comparison between the PI controller and the proposed block controller is presented, from which, it is verified that our approach is faster to reach the speed reference.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134064759","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044417
Qi Luo, K. Ariyur
The implementation of smart-grid functionality facilitates both real-time monitoring of consumption and realtime pricing (RTP). Its potential lies mainly in reducing the need for more base load power plants, integrating renewables, and reducing the cost of operation for utilities by smoothing out demand and minimizing power wastage. The integration of renewable sources makes the power supply stochastic and real time pricing makes demand stochastic. We can thus face significant supply-demand imbalances. We show it is possible, at least in theory, to stabilize both the demand and scales of the grid through making RTP attractive, and through exploiting natural phenomena and human habits. Our method can accomplish these goals without calling for costly grid storage. We show how even simple pricing contract can ease consumer acceptance of RTP, something the utilities have not been able to sell to their costumers. We exploit regularities in consumer habits to derive the statistics of power usage over different time scales and show supply and demand statistics can be matched over these different time scales. Thus, we show that solar power production can be matched with the power consumption of air-conditioning, wind power supply can be matched with consumption from weekly consumer needs such as laundry or once per day needs such as dishwashers and water heaters. We conclude with a discission of sensing and control requirements to achieve these goals.
{"title":"Smart grid stabilization approaches","authors":"Qi Luo, K. Ariyur","doi":"10.1109/CCA.2011.6044417","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044417","url":null,"abstract":"The implementation of smart-grid functionality facilitates both real-time monitoring of consumption and realtime pricing (RTP). Its potential lies mainly in reducing the need for more base load power plants, integrating renewables, and reducing the cost of operation for utilities by smoothing out demand and minimizing power wastage. The integration of renewable sources makes the power supply stochastic and real time pricing makes demand stochastic. We can thus face significant supply-demand imbalances. We show it is possible, at least in theory, to stabilize both the demand and scales of the grid through making RTP attractive, and through exploiting natural phenomena and human habits. Our method can accomplish these goals without calling for costly grid storage. We show how even simple pricing contract can ease consumer acceptance of RTP, something the utilities have not been able to sell to their costumers. We exploit regularities in consumer habits to derive the statistics of power usage over different time scales and show supply and demand statistics can be matched over these different time scales. Thus, we show that solar power production can be matched with the power consumption of air-conditioning, wind power supply can be matched with consumption from weekly consumer needs such as laundry or once per day needs such as dishwashers and water heaters. We conclude with a discission of sensing and control requirements to achieve these goals.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134227205","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044414
C. Spelta, I. Boniolo, G. Alli, S. Savaresi, Massimo Vanzulli
This paper focuses on a new electric and compact vehicle with a differential steering and a sensitive plantar as driving command. The mechanical, electronic and software architecture are presented. A special focus is given to the sensitive surface of the vehicle chassis which allows the user to drive the vehicle by unbalancing his or her center-of-gravity (COG). The design of the plantar is herein outlined: the electronic system is described and the algorithm to estimate the COG position is proposed. Some experimental results about the sensitive plantar are reported.
{"title":"A planar electric vehicle with differential steering and a plantar command","authors":"C. Spelta, I. Boniolo, G. Alli, S. Savaresi, Massimo Vanzulli","doi":"10.1109/CCA.2011.6044414","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044414","url":null,"abstract":"This paper focuses on a new electric and compact vehicle with a differential steering and a sensitive plantar as driving command. The mechanical, electronic and software architecture are presented. A special focus is given to the sensitive surface of the vehicle chassis which allows the user to drive the vehicle by unbalancing his or her center-of-gravity (COG). The design of the plantar is herein outlined: the electronic system is described and the algorithm to estimate the COG position is proposed. Some experimental results about the sensitive plantar are reported.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"208 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122584005","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044514
Eloy García, G. Vitaioli, P. Antsaklis
This paper presents a control design approach for the reference input tracking problem over networks. Plant uncertainties are considered and the Model-Based Networked Control Systems (MB-NCS) framework is used in order to obtain an estimate of the state of the plant between sensor sampling intervals. The results in this paper not only provide a bound on the tracking error but they also allow the networked system to operate in open-loop mode for longer intervals compared to typical approaches that use only a zero-order-hold (ZOH) in the controller/actuator node. This mode of operation reduces time delays and packet dropouts and releases the network to be used for other tasks.
{"title":"Model-based tracking control over networks","authors":"Eloy García, G. Vitaioli, P. Antsaklis","doi":"10.1109/CCA.2011.6044514","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044514","url":null,"abstract":"This paper presents a control design approach for the reference input tracking problem over networks. Plant uncertainties are considered and the Model-Based Networked Control Systems (MB-NCS) framework is used in order to obtain an estimate of the state of the plant between sensor sampling intervals. The results in this paper not only provide a bound on the tracking error but they also allow the networked system to operate in open-loop mode for longer intervals compared to typical approaches that use only a zero-order-hold (ZOH) in the controller/actuator node. This mode of operation reduces time delays and packet dropouts and releases the network to be used for other tasks.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115961033","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044448
P. Giani, F. Todeschini, Stefano Corbetta, M. Tanelli, S. Savaresi, L. Fabbri
This paper addresses the analysis of the gear shifting maneuver for motorcycles and it constitutes, to our best knowledge, the first contribute to study this aspect in two-wheeled vehicles. Specifically, a comparison between automatic and manual gear shifting is discussed, based on which some cost functions are proposed to quantitatively evaluate the maneuver quality from measured data. Based on such cost functions, we are able to automatically classify the performed maneuver and label it with a quality attribute matching that assigned by the rider.
{"title":"Control-oriented analysis and quality assessment of gear shifting in motorcycles","authors":"P. Giani, F. Todeschini, Stefano Corbetta, M. Tanelli, S. Savaresi, L. Fabbri","doi":"10.1109/CCA.2011.6044448","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044448","url":null,"abstract":"This paper addresses the analysis of the gear shifting maneuver for motorcycles and it constitutes, to our best knowledge, the first contribute to study this aspect in two-wheeled vehicles. Specifically, a comparison between automatic and manual gear shifting is discussed, based on which some cost functions are proposed to quantitatively evaluate the maneuver quality from measured data. Based on such cost functions, we are able to automatically classify the performed maneuver and label it with a quality attribute matching that assigned by the rider.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117034273","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044419
R. Filali, C. A. Badea, S. Tebbani, D. Dumur, D. Pareau, F. Lopes
Microalgae present a very promising alternative for carbon dioxide mitigation strategies. These unicellular photosynthetic microorganisms fix carbon dioxide efficiently, converting it into biomass and high-value compounds. One of the control system challenges is to maximize carbon dioxide consumption by maintaining the cellular concentration to an optimal value in the exponential phase. In this paper, we propose a software sensor for the biomass concentration of Chlorella vulgaris culture in a continuous photobioreactor with uncertain model parameters. From Total Inorganic Carbon measurements, the interval observer can provide a guaranteed upper and lower bound for the cellular concentration using the available interval of the uncertain initial condition, model parameters and measurements. Numerical simulations and experimental validation are included to illustrate the performance of the proposed estimation strategy.
{"title":"Interval observer for Chlorella vulgaris culture in a photobioreactor","authors":"R. Filali, C. A. Badea, S. Tebbani, D. Dumur, D. Pareau, F. Lopes","doi":"10.1109/CCA.2011.6044419","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044419","url":null,"abstract":"Microalgae present a very promising alternative for carbon dioxide mitigation strategies. These unicellular photosynthetic microorganisms fix carbon dioxide efficiently, converting it into biomass and high-value compounds. One of the control system challenges is to maximize carbon dioxide consumption by maintaining the cellular concentration to an optimal value in the exponential phase. In this paper, we propose a software sensor for the biomass concentration of Chlorella vulgaris culture in a continuous photobioreactor with uncertain model parameters. From Total Inorganic Carbon measurements, the interval observer can provide a guaranteed upper and lower bound for the cellular concentration using the available interval of the uncertain initial condition, model parameters and measurements. Numerical simulations and experimental validation are included to illustrate the performance of the proposed estimation strategy.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114099154","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044426
David Tick, Jinglin Shen, Yinghua Zhang, N. Gans
This paper presents a sensor fusion implementation to improve the accuracy of robot localization by combining multiple visual odometry approaches with wheel and IMU odometry. Discrete and continuous Homography Matrices are used to recover robot pose and velocity from image sequences of tracked feature points. The camera's limited field of view is addressed by chaining vision-based motion estimates. As feature points leave the field of view, new features are acquired and tracked. When a new set of points is needed, the motion estimate is reinitialized and chained to the previous state estimate. An extended Kalman filter fuses measurements from the robot's wheel encoders with those from visual and inertial measurement systems. Time varying matrices in the extended Kalman filter compensate for known changes in sensor accuracy, including periods when visual features cannot be reliably tracked. Experiments are performed to validate the approach.
{"title":"Chained fusion of discrete and continuous epipolar geometry with odometry for long-term localization of mobile robots","authors":"David Tick, Jinglin Shen, Yinghua Zhang, N. Gans","doi":"10.1109/CCA.2011.6044426","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044426","url":null,"abstract":"This paper presents a sensor fusion implementation to improve the accuracy of robot localization by combining multiple visual odometry approaches with wheel and IMU odometry. Discrete and continuous Homography Matrices are used to recover robot pose and velocity from image sequences of tracked feature points. The camera's limited field of view is addressed by chaining vision-based motion estimates. As feature points leave the field of view, new features are acquired and tracked. When a new set of points is needed, the motion estimate is reinitialized and chained to the previous state estimate. An extended Kalman filter fuses measurements from the robot's wheel encoders with those from visual and inertial measurement systems. Time varying matrices in the extended Kalman filter compensate for known changes in sensor accuracy, including periods when visual features cannot be reliably tracked. Experiments are performed to validate the approach.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126835975","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044388
Kevin McDonough, I. Kolmanovsky, Dimitar Filev, D. Yanakiev, Steven Szwabowski, J. Michelini, M. Abou-nasr
This paper considers modeling of vehicle driving conditions using transition probability models (TPMs) for applications of dynamic optimization. The properties of transition probabilities for vehicle speed, vehicle acceleration, and road grade are discussed based on the analysis and experimental vehicle data. The KL-divergence is shown to provide an effective metric that can differentiate similar driving conditions from dissimilar ones.
{"title":"Modeling of vehicle driving conditions using transition probability models","authors":"Kevin McDonough, I. Kolmanovsky, Dimitar Filev, D. Yanakiev, Steven Szwabowski, J. Michelini, M. Abou-nasr","doi":"10.1109/CCA.2011.6044388","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044388","url":null,"abstract":"This paper considers modeling of vehicle driving conditions using transition probability models (TPMs) for applications of dynamic optimization. The properties of transition probabilities for vehicle speed, vehicle acceleration, and road grade are discussed based on the analysis and experimental vehicle data. The KL-divergence is shown to provide an effective metric that can differentiate similar driving conditions from dissimilar ones.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126179949","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 : 2011-10-13DOI: 10.1109/CCA.2011.6044469
Lun-Hui Lee, Pei-Hsiang Huang, Yu-Cheng Shih, Sung-Chih Ku, Cheng-Yuan Chang
Using visual tracking technology by CCD sensor instead of high speed computational resources to measure the fast dynamic systems is not easy. This paper proposes a simple and effective method to do the image processing, catching this dynamic movement in real-time and controlling the overhead crane. Visual tracking based on color histograms will compare the color in a model image with the color in image sequences to track the dynamic object. Once it tracked, the sensing data will be sent to the adaptive fuzzy sliding mode controller (AFSMC) to control the overhead cranes. The merits of it include the robustness and model free properties of the sliding mode and fuzzy logic controllers; adaptable slopes of the sliding surface are also presented to enhance the control results.
{"title":"Adaptive fuzzy sliding mode control to overhead crane by CCD sensor","authors":"Lun-Hui Lee, Pei-Hsiang Huang, Yu-Cheng Shih, Sung-Chih Ku, Cheng-Yuan Chang","doi":"10.1109/CCA.2011.6044469","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044469","url":null,"abstract":"Using visual tracking technology by CCD sensor instead of high speed computational resources to measure the fast dynamic systems is not easy. This paper proposes a simple and effective method to do the image processing, catching this dynamic movement in real-time and controlling the overhead crane. Visual tracking based on color histograms will compare the color in a model image with the color in image sequences to track the dynamic object. Once it tracked, the sensing data will be sent to the adaptive fuzzy sliding mode controller (AFSMC) to control the overhead cranes. The merits of it include the robustness and model free properties of the sliding mode and fuzzy logic controllers; adaptable slopes of the sliding surface are also presented to enhance the control results.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126200082","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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