Pub Date : 1989-11-06DOI: 10.1109/IECON.1989.69705
T. Fukuda, M. Buss, Y. Kawauchi
The dynamically reconfigurable robotic system is a novel kind of robotic system that can reconfigure itself to optimal structure depending on purpose and environment. To realize this concept, the authors propose CEBOT (cellular robotics). They explain the necessity of communication in both the docked and undocked states for CEBOT as an autonomous decentralized coordinated system and propose a method for achieving this. They show the necessity of coordination control and compare two autonomous docking methods. They define a communication protocol in the undocked state and realize it by an optical sensor. They then choose and realize a communication protocol in the docked state.<>
{"title":"Communication system of cellular robot: CEBOT","authors":"T. Fukuda, M. Buss, Y. Kawauchi","doi":"10.1109/IECON.1989.69705","DOIUrl":"https://doi.org/10.1109/IECON.1989.69705","url":null,"abstract":"The dynamically reconfigurable robotic system is a novel kind of robotic system that can reconfigure itself to optimal structure depending on purpose and environment. To realize this concept, the authors propose CEBOT (cellular robotics). They explain the necessity of communication in both the docked and undocked states for CEBOT as an autonomous decentralized coordinated system and propose a method for achieving this. They show the necessity of coordination control and compare two autonomous docking methods. They define a communication protocol in the undocked state and realize it by an optical sensor. They then choose and realize a communication protocol in the docked state.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124322972","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 : 1989-11-06DOI: 10.1109/IECON.1989.69659
S. Battilotti, G. Ulivi
A computing architecture based on digital signal processors (DSPs) is presented for high-performance control applications. This computing system efficiently handles heavy computational loads, which typically arise when controlled plants have fast and nonlinear dynamics. The system is designed on the structure of a hierarchical controller and it consists of a decision level consisting of a general-purpose HOST computer and an actuator level (DSPs) directly connected to the plant. The synchronization and the real-time communications between the HOST and a DSP are implemented by two memory banks alternatively connected to the HOST and the DSP. A complete transparency and a minimum overhead result for the tasks running on the DSP. The system has been tested in a highly demanding robotics application.<>
{"title":"A multimicro system for high performance control applications","authors":"S. Battilotti, G. Ulivi","doi":"10.1109/IECON.1989.69659","DOIUrl":"https://doi.org/10.1109/IECON.1989.69659","url":null,"abstract":"A computing architecture based on digital signal processors (DSPs) is presented for high-performance control applications. This computing system efficiently handles heavy computational loads, which typically arise when controlled plants have fast and nonlinear dynamics. The system is designed on the structure of a hierarchical controller and it consists of a decision level consisting of a general-purpose HOST computer and an actuator level (DSPs) directly connected to the plant. The synchronization and the real-time communications between the HOST and a DSP are implemented by two memory banks alternatively connected to the HOST and the DSP. A complete transparency and a minimum overhead result for the tasks running on the DSP. The system has been tested in a highly demanding robotics application.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125588914","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 : 1989-11-06DOI: 10.1109/IECON.1989.69711
Y. Yamashita
The author proposes a queuing model which is effective in predicting the performance capacities (saturation points) of sequential control systems using service algorithms. In this model, the performance capacity is measured by the average number of service requests in each queue. This model uses the characteristics of a service algorithm of a programmable controller with the assumption that the service requests follow a Poisson process. Numerical examples indicate that the expected performance capacity depends on the service algorithm. It is shown that significant increases in the performance of sequential control applications are brought about by the service algorithm.<>
{"title":"Performance evaluation of a programmable controller","authors":"Y. Yamashita","doi":"10.1109/IECON.1989.69711","DOIUrl":"https://doi.org/10.1109/IECON.1989.69711","url":null,"abstract":"The author proposes a queuing model which is effective in predicting the performance capacities (saturation points) of sequential control systems using service algorithms. In this model, the performance capacity is measured by the average number of service requests in each queue. This model uses the characteristics of a service algorithm of a programmable controller with the assumption that the service requests follow a Poisson process. Numerical examples indicate that the expected performance capacity depends on the service algorithm. It is shown that significant increases in the performance of sequential control applications are brought about by the service algorithm.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132066771","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 : 1989-11-06DOI: 10.1109/IECON.1989.69627
P. Midya, F. Schlereth
A dual power converter is introduced which addresses the problem of output ripple and switching losses in a switched power converter. One stage of the power converter is a conventional PWM (pulse-width modulated) converter, and the other stage is a linear source. The linear source controls the voltage directly, and the output current of the linear stage is used to generate the control signal for the switching stage. This scheme is modeled as a two-stage control system, and the overall response is obtained in terms of the individual transfer functions. The PWM converter supplies most of the current, while the linear source supplies the reverse of the ripple current. Two DC-to-DC buck converters have been designed and implemented, giving excellent ripple suppression and high efficiency at very low switching frequencies.<>
{"title":"Dual switched mode power converter","authors":"P. Midya, F. Schlereth","doi":"10.1109/IECON.1989.69627","DOIUrl":"https://doi.org/10.1109/IECON.1989.69627","url":null,"abstract":"A dual power converter is introduced which addresses the problem of output ripple and switching losses in a switched power converter. One stage of the power converter is a conventional PWM (pulse-width modulated) converter, and the other stage is a linear source. The linear source controls the voltage directly, and the output current of the linear stage is used to generate the control signal for the switching stage. This scheme is modeled as a two-stage control system, and the overall response is obtained in terms of the individual transfer functions. The PWM converter supplies most of the current, while the linear source supplies the reverse of the ripple current. Two DC-to-DC buck converters have been designed and implemented, giving excellent ripple suppression and high efficiency at very low switching frequencies.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134118654","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 : 1989-11-06DOI: 10.1109/IECON.1989.69706
A. Kawamura, K. Miura, T. Ishizawa
It is commonly believed that the suppression of the chattering of the sliding mode control can be achieved only via high sampling frequency of the digital controller. However, the authors propose a novel method of sliding mode control combined with an observer, which results in less chattering with a relatively slow sampling frequency. This approach is applied to the trajectory control of a two-axis SCARA (selective compliance assembly robot arm) robot.<>
{"title":"Trajectory control of two axis SCARA robot by sliding mode control with observer","authors":"A. Kawamura, K. Miura, T. Ishizawa","doi":"10.1109/IECON.1989.69706","DOIUrl":"https://doi.org/10.1109/IECON.1989.69706","url":null,"abstract":"It is commonly believed that the suppression of the chattering of the sliding mode control can be achieved only via high sampling frequency of the digital controller. However, the authors propose a novel method of sliding mode control combined with an observer, which results in less chattering with a relatively slow sampling frequency. This approach is applied to the trajectory control of a two-axis SCARA (selective compliance assembly robot arm) robot.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133188843","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 : 1989-11-06DOI: 10.1109/IECON.1989.69673
A. Ansary, J. A. De Abreu-Garcia
Gerschgorin's circle theorem is used to develop a simple algorithm for identifying time scales in linear systems. The similarity transformation of matrices is then used to partition the system matrix A, with each diagonal block of A corresponding to a different time scale. Sufficient conditions under which this technique is applicable are given. The tractability of this algorithm in comparison to those found in the literature is discussed. The proposed algorithm is particularly useful for reducing the computational cost involved in decoupling a given system into its fast and slow subsystems. Two numerical examples are given to illustrate the use of the method. It is apparent from these examples that this algorithm is simple, computationally cheap, and reliable. However, it may require preliminary transformations of the A matrix to ensure that Gerschgorin's circle theorem can be used.<>
{"title":"A simple algorithm for time scale separation","authors":"A. Ansary, J. A. De Abreu-Garcia","doi":"10.1109/IECON.1989.69673","DOIUrl":"https://doi.org/10.1109/IECON.1989.69673","url":null,"abstract":"Gerschgorin's circle theorem is used to develop a simple algorithm for identifying time scales in linear systems. The similarity transformation of matrices is then used to partition the system matrix A, with each diagonal block of A corresponding to a different time scale. Sufficient conditions under which this technique is applicable are given. The tractability of this algorithm in comparison to those found in the literature is discussed. The proposed algorithm is particularly useful for reducing the computational cost involved in decoupling a given system into its fast and slow subsystems. Two numerical examples are given to illustrate the use of the method. It is apparent from these examples that this algorithm is simple, computationally cheap, and reliable. However, it may require preliminary transformations of the A matrix to ensure that Gerschgorin's circle theorem can be used.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128880671","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 : 1989-11-06DOI: 10.1109/IECON.1989.69670
Y. Shoji, M. Inaba, T. Fukuda
A methodology using the Lyapunov direct method is proposed to analyze the stability of a 1-DOF (degree-of-freedom) manipulator system which is positioned against a deformable wall with collision phenomena. The stability and response of the system are examined by parameter studies of extensive numerical simulations. A Herz-type model with an energy loss parameter was adopted to express the impact force between the manipulator and the wall. Using this model, the stabilization effect of collision was demonstrated using a nonlinear Lyapunov function. The effect is confirmed by the simulation. Therefore, stable positioning of the manipulator against the deformable wall is possible.<>
{"title":"Stable control of robotic manipulator with collision phenomena","authors":"Y. Shoji, M. Inaba, T. Fukuda","doi":"10.1109/IECON.1989.69670","DOIUrl":"https://doi.org/10.1109/IECON.1989.69670","url":null,"abstract":"A methodology using the Lyapunov direct method is proposed to analyze the stability of a 1-DOF (degree-of-freedom) manipulator system which is positioned against a deformable wall with collision phenomena. The stability and response of the system are examined by parameter studies of extensive numerical simulations. A Herz-type model with an energy loss parameter was adopted to express the impact force between the manipulator and the wall. Using this model, the stabilization effect of collision was demonstrated using a nonlinear Lyapunov function. The effect is confirmed by the simulation. Therefore, stable positioning of the manipulator against the deformable wall is possible.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129378828","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 : 1989-11-06DOI: 10.1109/IECON.1989.69622
T. Nishimura, H. Kiwaki, P. Maranesi
A novel current sourced ultrasonic carrier PWM (pulse-width modulated) converter using an insulated gate bipolar transistor (IGBT) with self-aligned DMOS structure is described. The sinusoidal waveform compared with the ultrasonic corrected triangular waveform method is used as the PWM pulse pattern to operate the converter. Because of the ultrasonic PWM carrier frequency, the converter transforms the AC line current waveform into the sinusoidal waveform, the filter connected to the AC side of the converter can be reduced in size, and the displacement factor is improved. When the PWM carrier frequency f/sub c/ is=20.64 kHz, the displacement factor is improved compared with f/sub c/=4.08 kHz.<>
{"title":"A novel current sourced ultrasonic carrier PWM converter with the IGBT in the near future","authors":"T. Nishimura, H. Kiwaki, P. Maranesi","doi":"10.1109/IECON.1989.69622","DOIUrl":"https://doi.org/10.1109/IECON.1989.69622","url":null,"abstract":"A novel current sourced ultrasonic carrier PWM (pulse-width modulated) converter using an insulated gate bipolar transistor (IGBT) with self-aligned DMOS structure is described. The sinusoidal waveform compared with the ultrasonic corrected triangular waveform method is used as the PWM pulse pattern to operate the converter. Because of the ultrasonic PWM carrier frequency, the converter transforms the AC line current waveform into the sinusoidal waveform, the filter connected to the AC side of the converter can be reduced in size, and the displacement factor is improved. When the PWM carrier frequency f/sub c/ is=20.64 kHz, the displacement factor is improved compared with f/sub c/=4.08 kHz.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129824672","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 : 1989-11-06DOI: 10.1109/IECON.1989.69688
S. Kumaran, J. Decotignie
The field bus is considered from the application layer point of view on the basis of practical experience involving the connection of a machine-tool to its controller. The user needs are detailed, showing that multiple polling cycles are required. A novel algorithm to ensure multicycle operations which proves to have a very low computational complexity is described. It is compared with a conventional scheduling algorithm. The possible influence of multicycles on the application layer services is discussed, and a set of primitives that are sufficient, efficient, and easy to use for a nonnetwork specialist are detailed.<>
{"title":"Multicycle operations in a field bus: application layer implications","authors":"S. Kumaran, J. Decotignie","doi":"10.1109/IECON.1989.69688","DOIUrl":"https://doi.org/10.1109/IECON.1989.69688","url":null,"abstract":"The field bus is considered from the application layer point of view on the basis of practical experience involving the connection of a machine-tool to its controller. The user needs are detailed, showing that multiple polling cycles are required. A novel algorithm to ensure multicycle operations which proves to have a very low computational complexity is described. It is compared with a conventional scheduling algorithm. The possible influence of multicycles on the application layer services is discussed, and a set of primitives that are sufficient, efficient, and easy to use for a nonnetwork specialist are detailed.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132977541","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 : 1989-11-06DOI: 10.1109/IECON.1989.69634
R. Habib, A.M.H. Sungoor
A novel scheme for designing a discrete robust predictive PID controller considering computational delays is developed. The authors present an analysis of the concepts involved in designing both the predictor and control elements in such a manner as to make due allowance for the computational time associated within the PID algorithm in estimating the output of the controller at one or more sampling periods from the pivotal point. Simulation results on different process models make possible a comparison of the resultant robust controller with the normal predictive and standard PID controllers. The effect of the sampling periods on the step responses of the designed controller are considered. Numerical examples indicate that the proposed control scheme performed better than the conventional and other existing predictive PID structures for the representative process models.<>
{"title":"Implicit design of a predictive PID controller with computational delay effect","authors":"R. Habib, A.M.H. Sungoor","doi":"10.1109/IECON.1989.69634","DOIUrl":"https://doi.org/10.1109/IECON.1989.69634","url":null,"abstract":"A novel scheme for designing a discrete robust predictive PID controller considering computational delays is developed. The authors present an analysis of the concepts involved in designing both the predictor and control elements in such a manner as to make due allowance for the computational time associated within the PID algorithm in estimating the output of the controller at one or more sampling periods from the pivotal point. Simulation results on different process models make possible a comparison of the resultant robust controller with the normal predictive and standard PID controllers. The effect of the sampling periods on the step responses of the designed controller are considered. Numerical examples indicate that the proposed control scheme performed better than the conventional and other existing predictive PID structures for the representative process models.<<ETX>>","PeriodicalId":384081,"journal":{"name":"15th Annual Conference of IEEE Industrial Electronics Society","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132042819","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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