Pub Date : 2011-03-14DOI: 10.1109/ICIT.2011.5754409
Thao Tran Phuong, C. Mitsantisuk, K. Ohishi
Sensorless force sensation by disturbance observer has been widely employed in numerous applications due to its superiority to the measurement by a force sensor. This paper introduces the development of the disturbance observer to obtain the high performance force sensing with a wideband force sensation. In this paper, a multi-sensor data fusion by Kalman-filter algorithm is exploited for velocity estimation which plays the role of an input of the disturbance observer. The combination of multi-sensor-based Kalman-filter and the disturbance observer provides the enhanced force sensing performance and the effective noise reduction. The proposed method is implemented in FPGA with the sampling period of 5 µs. Experimental results confirm the feasibility of the proposed method.
{"title":"Multi-sensor fusion in Kalman-filter for high performance force sensing","authors":"Thao Tran Phuong, C. Mitsantisuk, K. Ohishi","doi":"10.1109/ICIT.2011.5754409","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754409","url":null,"abstract":"Sensorless force sensation by disturbance observer has been widely employed in numerous applications due to its superiority to the measurement by a force sensor. This paper introduces the development of the disturbance observer to obtain the high performance force sensing with a wideband force sensation. In this paper, a multi-sensor data fusion by Kalman-filter algorithm is exploited for velocity estimation which plays the role of an input of the disturbance observer. The combination of multi-sensor-based Kalman-filter and the disturbance observer provides the enhanced force sensing performance and the effective noise reduction. The proposed method is implemented in FPGA with the sampling period of 5 µs. Experimental results confirm the feasibility of the proposed method.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"225 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132071458","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754390
Young Jin Lee, Dong-Seop Han, G. Han, Kwon-Soon Lee
In this paper, a horizontal transfer robot system is designed using hydraulic system and some electronic sensors and a synchronized control method is applied to control each robot. An aligning system is also designed to align between rail and truck. Proposed system would be useful as an intermodal transportation system that is significantly considered as enhanced technique or future railroad Logistics. This system can reduce complicated job process in the railroad based transportation and relevant logistic cost in economic viewpoint.
{"title":"A development of dual mode trailer system with horizontal transfer robot and aligning system","authors":"Young Jin Lee, Dong-Seop Han, G. Han, Kwon-Soon Lee","doi":"10.1109/ICIT.2011.5754390","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754390","url":null,"abstract":"In this paper, a horizontal transfer robot system is designed using hydraulic system and some electronic sensors and a synchronized control method is applied to control each robot. An aligning system is also designed to align between rail and truck. Proposed system would be useful as an intermodal transportation system that is significantly considered as enhanced technique or future railroad Logistics. This system can reduce complicated job process in the railroad based transportation and relevant logistic cost in economic viewpoint.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123063491","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754371
A. G. Abo-Khalil
In this paper, a novel control algorithm for optimal operating efficiency of induction generators for wind power generation is presented. The proposed method is based on the flux level reduction, where the flux level is computed from the machine model for the optimum d-axis current of the generator. For the vector-controlled induction generator, the d-axis current controls the excitation level in order to minimize the generator loss while the q-axis current controls the generator torque, by which the speed of the induction generator is controlled according to the variation of the wind speed in order to produce the maximum output power. An experimental setup has been implemented in laboratory to validate the theoretical development. The experimental results show that the loss minimization process is more effective at low wind speed and that the percent of power saving can approach to 25%. Experimental results are shown to verify the validity of the proposed scheme.
{"title":"Model-based optimal efficiency control of induction generators for wind power systems","authors":"A. G. Abo-Khalil","doi":"10.1109/ICIT.2011.5754371","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754371","url":null,"abstract":"In this paper, a novel control algorithm for optimal operating efficiency of induction generators for wind power generation is presented. The proposed method is based on the flux level reduction, where the flux level is computed from the machine model for the optimum d-axis current of the generator. For the vector-controlled induction generator, the d-axis current controls the excitation level in order to minimize the generator loss while the q-axis current controls the generator torque, by which the speed of the induction generator is controlled according to the variation of the wind speed in order to produce the maximum output power. An experimental setup has been implemented in laboratory to validate the theoretical development. The experimental results show that the loss minimization process is more effective at low wind speed and that the percent of power saving can approach to 25%. Experimental results are shown to verify the validity of the proposed scheme.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123765615","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754346
F. Tian, K. Craig, M. Nagurka
The objective of this work is to demonstrate the use of acceleration feedback to improve the performance of a maglev system, especially in disturbance attenuation. In the single degree-of-freedom (DOF) system studied here, acceleration feedback has the effect of virtually increasing inertia, damping and stiffness. It is shown that it can be used to increase disturbance rejection without sacrificing tracking performance. Both analytical and experimental results demonstrate that disturbance rejection can be improved with acceleration feedback.
{"title":"Disturbance attenuation in a magnetic levitation system with acceleration feedback","authors":"F. Tian, K. Craig, M. Nagurka","doi":"10.1109/ICIT.2011.5754346","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754346","url":null,"abstract":"The objective of this work is to demonstrate the use of acceleration feedback to improve the performance of a maglev system, especially in disturbance attenuation. In the single degree-of-freedom (DOF) system studied here, acceleration feedback has the effect of virtually increasing inertia, damping and stiffness. It is shown that it can be used to increase disturbance rejection without sacrificing tracking performance. Both analytical and experimental results demonstrate that disturbance rejection can be improved with acceleration feedback.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127638594","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754361
Eyad K. Almaita, J. Asumadu
Harmonic estimation is considered the most crucial part in harmonic mitigation process in power system. Artificial intelligent based on pattern recognition techniques is considered one of dependable methods that can effectively realize highly nonlinear functions. In this paper, a radial basis function neural network (RBFNN) is used to dynamically identify and estimate the fundamental, fifth harmonic, and seventh harmonic components in converter waveforms. The fast training algorithm and the small size of the resulted networks, without hindering the performance criteria, prove effectiveness of the proposed method.
{"title":"On-line harmonic estimation in power system based on sequential training radial basis function neural network","authors":"Eyad K. Almaita, J. Asumadu","doi":"10.1109/ICIT.2011.5754361","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754361","url":null,"abstract":"Harmonic estimation is considered the most crucial part in harmonic mitigation process in power system. Artificial intelligent based on pattern recognition techniques is considered one of dependable methods that can effectively realize highly nonlinear functions. In this paper, a radial basis function neural network (RBFNN) is used to dynamically identify and estimate the fundamental, fifth harmonic, and seventh harmonic components in converter waveforms. The fast training algorithm and the small size of the resulted networks, without hindering the performance criteria, prove effectiveness of the proposed method.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124803429","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754419
D. Livshits, Y. Wiseman
Operating Systems of Embedded Devices can manage application data more effectively. This directed us to consider a new dynamic memory management approach for GPS and similar embedded systems. The uniqueness of the suggested approach is shifting elements of the application to the Operating System with the aim of manage application data more effectively. A key component of an application is caching its data with the purpose of preventing excessive memory accesses and allocations. The suggested approach called “Cache Based Dynamic Memory Management” - CBDMM proposes to move the caching component from the application to the Operating Systems. We present CBDMM design, discusses its advantages and show encouraged benchmarking results.
{"title":"Cache based dynamic memory management for GPS","authors":"D. Livshits, Y. Wiseman","doi":"10.1109/ICIT.2011.5754419","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754419","url":null,"abstract":"Operating Systems of Embedded Devices can manage application data more effectively. This directed us to consider a new dynamic memory management approach for GPS and similar embedded systems. The uniqueness of the suggested approach is shifting elements of the application to the Operating System with the aim of manage application data more effectively. A key component of an application is caching its data with the purpose of preventing excessive memory accesses and allocations. The suggested approach called “Cache Based Dynamic Memory Management” - CBDMM proposes to move the caching component from the application to the Operating Systems. We present CBDMM design, discusses its advantages and show encouraged benchmarking results.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123660868","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754364
M. Novak, J. Novak, Z. Cerovsky, J. Chysky
This paper presents some specific issues of a high speed permanent magnet synchronous motor control used in a combustion engine supercharger system. A description of a method designed to limit the load angle of synchronous motor in high speed is given. Also experimental results in dynamic states are shown. In these states mainly acceleration times and energy intensity with correlation on motor current and field weakening were examined. Dynamic properties were tested for a power supply with both high and low internal resistance. The experimental setup description is given and test results for speed up to 42 000 RPM are shown.
{"title":"Dynamic properties of high-speed electrical motor supercharger","authors":"M. Novak, J. Novak, Z. Cerovsky, J. Chysky","doi":"10.1109/ICIT.2011.5754364","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754364","url":null,"abstract":"This paper presents some specific issues of a high speed permanent magnet synchronous motor control used in a combustion engine supercharger system. A description of a method designed to limit the load angle of synchronous motor in high speed is given. Also experimental results in dynamic states are shown. In these states mainly acceleration times and energy intensity with correlation on motor current and field weakening were examined. Dynamic properties were tested for a power supply with both high and low internal resistance. The experimental setup description is given and test results for speed up to 42 000 RPM are shown.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116500034","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754381
S. Cavalieri
KNXnet/IP system allows integration of different KNX networks through an IP network, used as fast backbone. Integration is realised by a particular device called KNXnet/IP Router. Due to the very limited transmission speeds foreseen for the KNX networks, the KNXnet/IP router may represent a bottleneck in routing telegrams coming from the IP network whose destination is a KNX device located in the relevant KNX network. The aim of the paper is to analyse the effect of congestion of KNXnet/IP Routers on the information flow between KNX devices attached to different KNX networks through an IP backbone.
{"title":"Analysing congestion in KNXnet/IP communication system","authors":"S. Cavalieri","doi":"10.1109/ICIT.2011.5754381","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754381","url":null,"abstract":"KNXnet/IP system allows integration of different KNX networks through an IP network, used as fast backbone. Integration is realised by a particular device called KNXnet/IP Router. Due to the very limited transmission speeds foreseen for the KNX networks, the KNXnet/IP router may represent a bottleneck in routing telegrams coming from the IP network whose destination is a KNX device located in the relevant KNX network. The aim of the paper is to analyse the effect of congestion of KNXnet/IP Routers on the information flow between KNX devices attached to different KNX networks through an IP backbone.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127362435","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754391
V. Andaluz, V. T. Rampinelli, F. Roberti, R. Carelli
This paper presents a multi-layer scheme for coordinated cooperative control of mobile manipulators, for transporting a common object. Each layer works as an independent module, dealing with a specific part of the problem of coordination and cooperation, thus giving more flexibility to the system. A methodology to avoid obstacles in the trajectory of any mobile manipulator is designed based on the concept of mechanical impedance of the interaction robots-environment, without deforming the virtual structure and maintaining its desired trajectory. Stability is proved by using Lyapunov's method. Simulation results show a good performance of the proposed controller as proved by the theoretical design.
{"title":"Coordinated cooperative control of mobile manipulators","authors":"V. Andaluz, V. T. Rampinelli, F. Roberti, R. Carelli","doi":"10.1109/ICIT.2011.5754391","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754391","url":null,"abstract":"This paper presents a multi-layer scheme for coordinated cooperative control of mobile manipulators, for transporting a common object. Each layer works as an independent module, dealing with a specific part of the problem of coordination and cooperation, thus giving more flexibility to the system. A methodology to avoid obstacles in the trajectory of any mobile manipulator is designed based on the concept of mechanical impedance of the interaction robots-environment, without deforming the virtual structure and maintaining its desired trajectory. Stability is proved by using Lyapunov's method. Simulation results show a good performance of the proposed controller as proved by the theoretical design.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129150680","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754416
J. Graham Kirkpatrick, S. Mark Halpin, J. Taylor
This paper will discuss the design and implementation of an integrated circuit controller for the development of a three phase reactive power compensator. An integrated circuit approach is desired as it provides for a more streamlined and economically advantageous design to reactive power compensation. Various methods are available to compensate reactive power levels utilizing different sources of reactive power, however this controller will be constructed around an insulated gate bipolar transistor (IGBT) switched capacitor bank designed for reactive power compensation. The primary components considered in the proposed controller design will consist of an analog-to-digital converter (ADC) for signal capture and a robust microcontroller unit (MCU) for data manipulation and logic control.
{"title":"Reactive power compensation controller design utilizing an integrated circuit approach","authors":"J. Graham Kirkpatrick, S. Mark Halpin, J. Taylor","doi":"10.1109/ICIT.2011.5754416","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754416","url":null,"abstract":"This paper will discuss the design and implementation of an integrated circuit controller for the development of a three phase reactive power compensator. An integrated circuit approach is desired as it provides for a more streamlined and economically advantageous design to reactive power compensation. Various methods are available to compensate reactive power levels utilizing different sources of reactive power, however this controller will be constructed around an insulated gate bipolar transistor (IGBT) switched capacitor bank designed for reactive power compensation. The primary components considered in the proposed controller design will consist of an analog-to-digital converter (ADC) for signal capture and a robust microcontroller unit (MCU) for data manipulation and logic control.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"369 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131576219","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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