Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268799
K. Kuhnert
Navigation is an essential task in autonomous vehicle guidance. Basically, two different approaches for mapping the environment have been proposed. Geometric maps model the world in one rigid coordinate system yielding the problem that precise global measurements become necessary to establish a map. Topological maps rely only on local measurements and often suffice to guide a vehicle on its path. The author discusses the interrelation of local measurements and global ones. Local measurements can be obtained by 'internal' sensors like odometers or gyroscopes. Their error behavior is modelled by a systematical differential error and a random error portion. Often, global measurements are obtained optically (e.g. by laser triangulation or a landmark recognition). The point is that these systems reference directly to fixed external positions.<>
{"title":"Elastic nets and vision-based autonomous navigation","authors":"K. Kuhnert","doi":"10.1109/ISIE.1993.268799","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268799","url":null,"abstract":"Navigation is an essential task in autonomous vehicle guidance. Basically, two different approaches for mapping the environment have been proposed. Geometric maps model the world in one rigid coordinate system yielding the problem that precise global measurements become necessary to establish a map. Topological maps rely only on local measurements and often suffice to guide a vehicle on its path. The author discusses the interrelation of local measurements and global ones. Local measurements can be obtained by 'internal' sensors like odometers or gyroscopes. Their error behavior is modelled by a systematical differential error and a random error portion. Often, global measurements are obtained optically (e.g. by laser triangulation or a landmark recognition). The point is that these systems reference directly to fixed external positions.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128831246","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268757
K. Oguchi
Three power converter topologies with 12-step input voltages are proposed. The advantage common to the three topologies is that they can operate at very low switching frequencies, i.e. three times the supply power line frequency. The converters proposed are suitable for mid- or high-power applications.<>
{"title":"Characteristics of a three-phase converter with 12-step input voltages","authors":"K. Oguchi","doi":"10.1109/ISIE.1993.268757","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268757","url":null,"abstract":"Three power converter topologies with 12-step input voltages are proposed. The advantage common to the three topologies is that they can operate at very low switching frequencies, i.e. three times the supply power line frequency. The converters proposed are suitable for mid- or high-power applications.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"506 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116698597","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268781
H. Palaz, F. Kurugollu, I. O. Bucak
The development of a real-time advanced dynamic robot arm controller which is cost-effective, compact and flexible is described for a six joint arm. It utilizes IBM PC-AT as a host computer and was configurated with up to seven digital signal processors. First, the controller interprets high-level control commands from the IBM PC-AT and performs a robot arm control computation based on the Newton-Euler equations which are known to be the most efficient algorithm for multiprocessor systems. Implementation of a parallel algorithm of the dynamic control law based on Newton-Euler formulation is proposed on the PARADISE multiprocessor system. The design of hardware and software for the controller is discussed in more detail.<>
{"title":"Parallel processing of the Newton-Euler equations of robot arm motion on a network of TMS320C25 processors","authors":"H. Palaz, F. Kurugollu, I. O. Bucak","doi":"10.1109/ISIE.1993.268781","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268781","url":null,"abstract":"The development of a real-time advanced dynamic robot arm controller which is cost-effective, compact and flexible is described for a six joint arm. It utilizes IBM PC-AT as a host computer and was configurated with up to seven digital signal processors. First, the controller interprets high-level control commands from the IBM PC-AT and performs a robot arm control computation based on the Newton-Euler equations which are known to be the most efficient algorithm for multiprocessor systems. Implementation of a parallel algorithm of the dynamic control law based on Newton-Euler formulation is proposed on the PARADISE multiprocessor system. The design of hardware and software for the controller is discussed in more detail.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122485525","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268707
A. Sikorski, T. Citko
A new configuration of a quasi-resonant DC link inverter is presented in this paper. This system is characterized by the simple configuration of the resonant circuit stimulated for oscillation only at the moments of the transistors' switching. As an introduction, a description of the process of transistor commutation and the manner of control of the system are presented.<>
{"title":"Manner of the control of the new configuration of quasi-resonant DDC link inverter","authors":"A. Sikorski, T. Citko","doi":"10.1109/ISIE.1993.268707","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268707","url":null,"abstract":"A new configuration of a quasi-resonant DC link inverter is presented in this paper. This system is characterized by the simple configuration of the resonant circuit stimulated for oscillation only at the moments of the transistors' switching. As an introduction, a description of the process of transistor commutation and the manner of control of the system are presented.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126521222","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268836
R. Marschalko, M. Weinhold
The applied control strategies use all the allowed switching operations of the semiconductor devices such that the converter has a line-friendly performance. High dynamic and satisfactory steady-state performances of the converter were obtained. The authors analyse the effect of different PWM methods on the thermal conditions of the IGBT converter. A complex digital computer program was implemented with the object of the instantaneous and steady-state temperature computing for the semiconductor devices. Three modulation methods, symmetrical sinusoidal, Hanning and 60 degrees flat-top modulation, are compared and different power semiconductors, heat sinks and cooling methods can be taken into account. Details are presented about the thermal models, the mathematical apparatus and the programs. Comparative diagrams are prepared with the computed results. Consequently, the selection of the appropriate modulation method, from thermal point of view, becomes possible. The comparison result is also presented.<>
{"title":"Thermal investigations for a three-phase AC-to-DC PWM converter","authors":"R. Marschalko, M. Weinhold","doi":"10.1109/ISIE.1993.268836","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268836","url":null,"abstract":"The applied control strategies use all the allowed switching operations of the semiconductor devices such that the converter has a line-friendly performance. High dynamic and satisfactory steady-state performances of the converter were obtained. The authors analyse the effect of different PWM methods on the thermal conditions of the IGBT converter. A complex digital computer program was implemented with the object of the instantaneous and steady-state temperature computing for the semiconductor devices. Three modulation methods, symmetrical sinusoidal, Hanning and 60 degrees flat-top modulation, are compared and different power semiconductors, heat sinks and cooling methods can be taken into account. Details are presented about the thermal models, the mathematical apparatus and the programs. Comparative diagrams are prepared with the computed results. Consequently, the selection of the appropriate modulation method, from thermal point of view, becomes possible. The comparison result is also presented.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127473534","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268772
B.V. Sahpaski, T. Jakimov, S.A. Mircevski
The authors deal with the solution of a thyristor chopper for the speed control of a DC series motor for mine locomotive drives. They describe the basic functions and a way of driving of the chopper. The differences between chopper control and relay contactor control are underlined. The chopper's basis functions and its driving equipment are illustrated with the results of tests carried out on the constructed device.<>
{"title":"Substitution of relay-contactor control with chopper control for locomotives in mining industry","authors":"B.V. Sahpaski, T. Jakimov, S.A. Mircevski","doi":"10.1109/ISIE.1993.268772","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268772","url":null,"abstract":"The authors deal with the solution of a thyristor chopper for the speed control of a DC series motor for mine locomotive drives. They describe the basic functions and a way of driving of the chopper. The differences between chopper control and relay contactor control are underlined. The chopper's basis functions and its driving equipment are illustrated with the results of tests carried out on the constructed device.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132596108","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268791
F. Ismail, S. Wahsh, A. Mohamed, H. Elsimary
This paper describes the problem of designing the real time optimal efficiency control of a variable reluctance motor (VRM) operating at the desired torque speed. An application of a neural network is proposed to perform optimization of the motor excitation such that the drive efficiency is maximized subject to the torque speed requirements. The most interesting feature of the proposed neuromorphic controller is the possibility of adapting computation of the optimal control in real-time for the drive system.<>
{"title":"Optimal control of variable reluctance motor by neural network","authors":"F. Ismail, S. Wahsh, A. Mohamed, H. Elsimary","doi":"10.1109/ISIE.1993.268791","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268791","url":null,"abstract":"This paper describes the problem of designing the real time optimal efficiency control of a variable reluctance motor (VRM) operating at the desired torque speed. An application of a neural network is proposed to perform optimization of the motor excitation such that the drive efficiency is maximized subject to the torque speed requirements. The most interesting feature of the proposed neuromorphic controller is the possibility of adapting computation of the optimal control in real-time for the drive system.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131945239","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268802
A. Bogdan, T. Citko
The proposition of the space vector method for the control of the voltage three-phase inverter is presented. The concept of this method is based on the estimation of one of seven converter states by means of reciprocal position of vectors of reference and real output currents. The position of these vectors is described by the appropriate phase angle, the value of which defines the matrix of switching states. This matrix was estimated by computer simulation of the inverter loaded by an AC motor.<>
{"title":"The new space vector control method of the convertor","authors":"A. Bogdan, T. Citko","doi":"10.1109/ISIE.1993.268802","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268802","url":null,"abstract":"The proposition of the space vector method for the control of the voltage three-phase inverter is presented. The concept of this method is based on the estimation of one of seven converter states by means of reciprocal position of vectors of reference and real output currents. The position of these vectors is described by the appropriate phase angle, the value of which defines the matrix of switching states. This matrix was estimated by computer simulation of the inverter loaded by an AC motor.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130949178","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268834
P. Korondi
The author discusses the tolerance band control of a UPS system. The control strategies of the AC-DC converter providing sinusoidal input current and that of the DC-AC converter providing sinusoidal output voltage are discussed. The widely used 'triangular' and the proposed 'rhomboid' switching strategies of tolerance band control are compared by computer simulations. The tolerance band control strategies are unified as an approximation of a special type of sliding mode control.<>
{"title":"Comparison of two types of the tolerance band controlled converters","authors":"P. Korondi","doi":"10.1109/ISIE.1993.268834","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268834","url":null,"abstract":"The author discusses the tolerance band control of a UPS system. The control strategies of the AC-DC converter providing sinusoidal input current and that of the DC-AC converter providing sinusoidal output voltage are discussed. The widely used 'triangular' and the proposed 'rhomboid' switching strategies of tolerance band control are compared by computer simulations. The tolerance band control strategies are unified as an approximation of a special type of sliding mode control.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"163 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114044775","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 : 1993-06-01DOI: 10.1109/ISIE.1993.268732
H. Eren, J. Goh
The frequency and amplitude of signals generated by the electrodes of DC type flowmeters are demonstrated to be affected by the particles in slurries flowing in closed pipes. A low cost spectrum analyser has been configured to extract the frequency component which then can be used to monitor density of the slurry.<>
{"title":"Slurry density measurements using low-cost spectrum analysers","authors":"H. Eren, J. Goh","doi":"10.1109/ISIE.1993.268732","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268732","url":null,"abstract":"The frequency and amplitude of signals generated by the electrodes of DC type flowmeters are demonstrated to be affected by the particles in slurries flowing in closed pipes. A low cost spectrum analyser has been configured to extract the frequency component which then can be used to monitor density of the slurry.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121205607","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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