Pub Date : 2011-03-14DOI: 10.1109/ICIT.2011.5754418
F. Beltrán-Carbajal, E. Chavez-Conde, A. Favela-Contreras, R. Chávez-Bracamontes
In this article is presented a differential flatness-based observer-control scheme for active nonlinear vehicle suspension systems subject to unknown exogenous disturbance excitations due to irregular road surfaces. Two active vibration controllers are proposed for hydraulic or electromagnetic suspension systems, which only require position measurements. The nonlinear effects, parameter variations, exogenous disturbances and possibly input un-modeled dynamics are lumped into an unknown bounded time-varying disturbance input signal affecting the differentially flat linear vehicle suspension system dynamics. The lumped disturbance signal and some time derivatives of the flat output are estimated by using a flat output-based linear high-gain dynamic observer. The proposed observer-control design methodology considered that the perturbation signal can be locally approximated by a family of Taylor polynomials. Some numerical simulation results are provided to show the efficiency, effectiveness and robust performance of the feedforward and feedback linearization control scheme for a nonlinear quarter-vehicle active suspension model.
{"title":"Active nonlinear vehicle suspension control based on real-time estimation of perturbation signals","authors":"F. Beltrán-Carbajal, E. Chavez-Conde, A. Favela-Contreras, R. Chávez-Bracamontes","doi":"10.1109/ICIT.2011.5754418","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754418","url":null,"abstract":"In this article is presented a differential flatness-based observer-control scheme for active nonlinear vehicle suspension systems subject to unknown exogenous disturbance excitations due to irregular road surfaces. Two active vibration controllers are proposed for hydraulic or electromagnetic suspension systems, which only require position measurements. The nonlinear effects, parameter variations, exogenous disturbances and possibly input un-modeled dynamics are lumped into an unknown bounded time-varying disturbance input signal affecting the differentially flat linear vehicle suspension system dynamics. The lumped disturbance signal and some time derivatives of the flat output are estimated by using a flat output-based linear high-gain dynamic observer. The proposed observer-control design methodology considered that the perturbation signal can be locally approximated by a family of Taylor polynomials. Some numerical simulation results are provided to show the efficiency, effectiveness and robust performance of the feedforward and feedback linearization control scheme for a nonlinear quarter-vehicle active suspension model.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"24 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":"125839955","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.2011.5754410
Takeshi Okura, S. Katsura
Recently, haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the bilateral control with a master-slave system is used widely. When the plural systems are operated, it is desirable that the system carries out a complementary work autonomously in order to realize the desired task of the operator. Therefore, in this paper, the control technique that considers work and control structure hierarchically is proposed. By this method, the operator can concentrate on a desired task while a system realizes adaptation to the environment autonomously. In this paper, one-to-many bilateral control is realized. The bilateral remote control could be realized while the slave system adapts to the environment autonomously. Moreover, the operator can operate the system without minding the change of the environmental configuration and posture.
{"title":"Null-space control considering environment condition in bilateral teleoperation","authors":"Takeshi Okura, S. Katsura","doi":"10.1109/ICIT.2011.5754410","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754410","url":null,"abstract":"Recently, haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the bilateral control with a master-slave system is used widely. When the plural systems are operated, it is desirable that the system carries out a complementary work autonomously in order to realize the desired task of the operator. Therefore, in this paper, the control technique that considers work and control structure hierarchically is proposed. By this method, the operator can concentrate on a desired task while a system realizes adaptation to the environment autonomously. In this paper, one-to-many bilateral control is realized. The bilateral remote control could be realized while the slave system adapts to the environment autonomously. Moreover, the operator can operate the system without minding the change of the environmental configuration and posture.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"17 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":"125460663","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.2011.5754342
H. Chaoui, P. Sicard
In this paper, we introduce an observer-based state of charge (SOC) estimator for batteries. The estimation strategy is based on the battery's state space model. This representation makes stability analysis easier for the proposed estimation technique. Unlike other estimation strategies, only battery terminal voltage and current measurements are required. Simulation results highlight the performance of the proposed estimator in determining the SOC with high accuracy. Robustness to uncertainties such as parameter variations and battery aging effects is also verified.
{"title":"Accurate state of charge (SOC) estimation for batteries using a reduced-order observer","authors":"H. Chaoui, P. Sicard","doi":"10.1109/ICIT.2011.5754342","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754342","url":null,"abstract":"In this paper, we introduce an observer-based state of charge (SOC) estimator for batteries. The estimation strategy is based on the battery's state space model. This representation makes stability analysis easier for the proposed estimation technique. Unlike other estimation strategies, only battery terminal voltage and current measurements are required. Simulation results highlight the performance of the proposed estimator in determining the SOC with high accuracy. Robustness to uncertainties such as parameter variations and battery aging effects is also verified.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"71 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":"130352102","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.2011.5754399
Alan Broun, M. Studley
Induced motion provides a cheap and reliable way of segmenting an object from the background within an image. As such it has potential applications to a wide variety of machine vision systems. This paper presents a system that segments an object from the background by inducing a sinusoidal motion and then searching for the signal in the resulting optical flow. The effectiveness of the system is evaluated using ROC curves and shown to be reliable and robust in the presence of distractor motions.
{"title":"Low cost automatic object segmentation by detecting a signature motion within an optical flow signal","authors":"Alan Broun, M. Studley","doi":"10.1109/ICIT.2011.5754399","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754399","url":null,"abstract":"Induced motion provides a cheap and reliable way of segmenting an object from the background within an image. As such it has potential applications to a wide variety of machine vision systems. This paper presents a system that segments an object from the background by inducing a sinusoidal motion and then searching for the signal in the resulting optical flow. The effectiveness of the system is evaluated using ROC curves and shown to be reliable and robust in the presence of distractor motions.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"151 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":"123263630","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.2011.5754374
E. Ahmed, M. Shoyama
Recently, maximum power point trackers (MPPTs) that based on single variable (IPV or VPV) have a great attention. That is due to their simplicity and easiness in implementation, when compared to the other tracking techniques. In this paper, two methods have been proposed to design a variable step size MPPT using only a single current sensor for stand-alone battery storage PV systems. These methods utilize only the relationship between the PV array measured current and the converter duty cycle (D) in order to adapt automatically the step change in the duty cycle to reach the maximum power point (MPP) of the PV array. A comparison has been held between the proposed methods to investigate their performance in transient and steady state as well using PSIM software. Furthermore, a hardware implementation for one of the proposed methods has presented using field programmable gate arrays (FPGAs) to verify the performance of the suggested schemes.
{"title":"Single variable based variable step size maximum power point tracker for stand-alone battery storage PV systems","authors":"E. Ahmed, M. Shoyama","doi":"10.1109/ICIT.2011.5754374","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754374","url":null,"abstract":"Recently, maximum power point trackers (MPPTs) that based on single variable (IPV or VPV) have a great attention. That is due to their simplicity and easiness in implementation, when compared to the other tracking techniques. In this paper, two methods have been proposed to design a variable step size MPPT using only a single current sensor for stand-alone battery storage PV systems. These methods utilize only the relationship between the PV array measured current and the converter duty cycle (D) in order to adapt automatically the step change in the duty cycle to reach the maximum power point (MPP) of the PV array. A comparison has been held between the proposed methods to investigate their performance in transient and steady state as well using PSIM software. Furthermore, a hardware implementation for one of the proposed methods has presented using field programmable gate arrays (FPGAs) to verify the performance of the suggested schemes.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"57 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":"123995261","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.2011.5754411
Tatsuhito Watanabe, S. Katsura
A person operating a mobile robot in a remote environment receives a realistic visual feedback about the condition of the road on where the mobile robot is moving. A categorization of the road condition is necessary to evaluate the condition for safe and comfortable driving. For this purpose, the mobile robot should be capable of recognizing and classifying the condition of the road surfaces. In a previous research, author proposed a method to recognize the type of the road surfaces on the basis of the friction between the mobile robot and the road surfaces. The friction is estimated by a reaction torque observer, and a Support Vector Machine (SVM) is used to classify the surfaces. In this paper, SVM is calculated on-line, and multi-class classification is realized. Moreover, the operator is given feedback of haptic information by using mobile-hapto system As a result, the operator is given visual and force feedback about road condition. By experiments, the validity of the proposed method is confirmed.
{"title":"On-line recognition of driving road condition using Support Vector Machine","authors":"Tatsuhito Watanabe, S. Katsura","doi":"10.1109/ICIT.2011.5754411","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754411","url":null,"abstract":"A person operating a mobile robot in a remote environment receives a realistic visual feedback about the condition of the road on where the mobile robot is moving. A categorization of the road condition is necessary to evaluate the condition for safe and comfortable driving. For this purpose, the mobile robot should be capable of recognizing and classifying the condition of the road surfaces. In a previous research, author proposed a method to recognize the type of the road surfaces on the basis of the friction between the mobile robot and the road surfaces. The friction is estimated by a reaction torque observer, and a Support Vector Machine (SVM) is used to classify the surfaces. In this paper, SVM is calculated on-line, and multi-class classification is realized. Moreover, the operator is given feedback of haptic information by using mobile-hapto system As a result, the operator is given visual and force feedback about road condition. By experiments, the validity of the proposed method is confirmed.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"11 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":"115329662","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.2011.5754365
S. Kallio, Eero Hartikainen, J. Luukko, O. Pyrhonen
Permanent magnet synchronous generators (PMSG) with full-power converters are becoming more and more popular a choice in wind power conversion systems. This paper presents a real-time emulator for a PMSG drive with a half-controlled bridge. One major advantage of a real-time emulator is that it can be safely used to test the system response in a malfunction of e.g. a speed sensor. The emulator is implemented on a digital signal processor (DSP). Obtained emulation results are verified against measurements with a real PMSG drive system. Results show a good agreement between emulated and measured values.
{"title":"Emulation of PMSG/half-controlled converter combination with digital signal processor","authors":"S. Kallio, Eero Hartikainen, J. Luukko, O. Pyrhonen","doi":"10.1109/ICIT.2011.5754365","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754365","url":null,"abstract":"Permanent magnet synchronous generators (PMSG) with full-power converters are becoming more and more popular a choice in wind power conversion systems. This paper presents a real-time emulator for a PMSG drive with a half-controlled bridge. One major advantage of a real-time emulator is that it can be safely used to test the system response in a malfunction of e.g. a speed sensor. The emulator is implemented on a digital signal processor (DSP). Obtained emulation results are verified against measurements with a real PMSG drive system. Results show a good agreement between emulated and measured values.","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":"114755689","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.2011.5754400
Wenting Deng, S. Reeves
A common practical problem when implementing signal model-fitting procedures is that of the frequency local minima. Unfortunately, conventional optimization methods, like Steepest Descent, Newton's Method and Conjugate Gradients (CG) are subject to this problem. What is worse, if the estimated frequency is not correct, the estimated signal amplitude and decay rate will be incorrect. In this paper, we propose a new optimization technique to find the global optimum in frequency estimation. Our method takes advantage of the attenuation characteristics of the signal and is incorporated into the CG algorithm. Various simulation examples illustrate the validity of the proposed approach: it can achieve the global optimal solution of frequency efficiently.
{"title":"Optimization technique for frequency estimation: Avoiding local minima","authors":"Wenting Deng, S. Reeves","doi":"10.1109/ICIT.2011.5754400","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754400","url":null,"abstract":"A common practical problem when implementing signal model-fitting procedures is that of the frequency local minima. Unfortunately, conventional optimization methods, like Steepest Descent, Newton's Method and Conjugate Gradients (CG) are subject to this problem. What is worse, if the estimated frequency is not correct, the estimated signal amplitude and decay rate will be incorrect. In this paper, we propose a new optimization technique to find the global optimum in frequency estimation. Our method takes advantage of the attenuation characteristics of the signal and is incorporated into the CG algorithm. Various simulation examples illustrate the validity of the proposed approach: it can achieve the global optimal solution of frequency efficiently.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"3 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":"124213151","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.2011.5754380
N. Oman, Miha Mozina, Dejan Tomazevic, F. Pernus, B. Likar
A systemic approach to development of process analytical technology (PAT) tools for monitoring the critical quality and performance attributes of the manufacturing process is of great importance in ensuring final product quality in the pharmaceutical industry. The aim of this study was to examine the possibilities for a visual inspection technique as a PAT tool for in-process and on-line monitoring of the coating process of pharmaceutical pellets. The in-process conditions of the Wurster coating system were studied and an experimental visual imaging system that mimics these conditions was set up. Image analysis methods were developed that allow the determination of pellets' coating thickness estimation from the images acquired during the coating process. The results of the proposed visual imaging method were evaluated through comparison with a reference method and a good agreement of the coating thickness estimations by the two methods was found.
{"title":"A study of a visual inspection technique for in-process monitoring of coating of pharmaceutical pellets","authors":"N. Oman, Miha Mozina, Dejan Tomazevic, F. Pernus, B. Likar","doi":"10.1109/ICIT.2011.5754380","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754380","url":null,"abstract":"A systemic approach to development of process analytical technology (PAT) tools for monitoring the critical quality and performance attributes of the manufacturing process is of great importance in ensuring final product quality in the pharmaceutical industry. The aim of this study was to examine the possibilities for a visual inspection technique as a PAT tool for in-process and on-line monitoring of the coating process of pharmaceutical pellets. The in-process conditions of the Wurster coating system were studied and an experimental visual imaging system that mimics these conditions was set up. Image analysis methods were developed that allow the determination of pellets' coating thickness estimation from the images acquired during the coating process. The results of the proposed visual imaging method were evaluated through comparison with a reference method and a good agreement of the coating thickness estimations by the two methods was found.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"125 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":"123721810","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.2011.5754359
A. Fratta, P. Guglielmi, E. Armando, S. Taraborrelli, G. Cristallo
A novel solution for last generation power MOSFETs is proposed for the first time to reduce commutation losses and easy the voltage and current control during hard switching commutations. The proposed structure is easily applicable to any driver topology and it is devoted to the realization of an hard-switched PWM inverter leg based on two power mosfets. The bidirectional conduction capability of unipolar-channel-based power components has been always considered ideal to reduce the conduction losses in inverter-leg structure, particularly when the maximum mosfets conduction losses is less than the body-diode one. Theoretical analysis and experimental results are given to prove the feasibility of the proposed structure.
{"title":"Commutation losses reduction in high voltage power MOSFETs by proper commutation circuit","authors":"A. Fratta, P. Guglielmi, E. Armando, S. Taraborrelli, G. Cristallo","doi":"10.1109/ICIT.2011.5754359","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754359","url":null,"abstract":"A novel solution for last generation power MOSFETs is proposed for the first time to reduce commutation losses and easy the voltage and current control during hard switching commutations. The proposed structure is easily applicable to any driver topology and it is devoted to the realization of an hard-switched PWM inverter leg based on two power mosfets. The bidirectional conduction capability of unipolar-channel-based power components has been always considered ideal to reduce the conduction losses in inverter-leg structure, particularly when the maximum mosfets conduction losses is less than the body-diode one. Theoretical analysis and experimental results are given to prove the feasibility of the proposed structure.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"120 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":"130195329","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：